AHRS: Serial output option for AHRS and corresponding serial logger.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1414 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/AHRS/ahrs.c

@@ -60,6 +60,9 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")))
  * @}
  */
 
+// For debugging the raw sensors
+//#define DUMP_RAW
+
 /**
  * @addtogroup AHRS_Definitions 
  * @{
@@ -271,6 +274,28 @@ int main()
     downsample_data();
     converge_insgps();
   }
+   
+#ifdef DUMP_RAW
+    while(1) {
+        int result;
+        uint8_t sync[4] = {7,7,7,7};
+        while( ahrs_state != AHRS_DATA_READY );
+        ahrs_state = AHRS_PROCESSING;
+        
+        downsample_data();
+        ahrs_state = AHRS_IDLE;;
+
+        // Dump raw buffer
+        result = PIOS_COM_SendBuffer(PIOS_COM_AUX, &sync[0], 4); // dump block number
+        result += PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number
+        result += PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &valid_data_buffer[0], ADC_OVERSAMPLE * ADC_CONTINUOUS_CHANNELS * sizeof(valid_data_buffer[0]));
+        if(result == 0)
+            PIOS_LED_Off(LED1);
+        else {
+            PIOS_LED_On(LED1);
+        }
+    }
+#endif
   
   /******************* Main EKF loop ****************************/
   while (1) {

ground/src/experimental/SerialLogger/SerialLogger.pro

@@ -0,0 +1,40 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2010-08-25T23:31:09
+#
+#-------------------------------------------------
+
+QT       += core
+QT       -= gui
+
+TARGET = SerialLogger
+CONFIG   += console
+CONFIG   -= app_bundle
+
+TEMPLATE = app
+
+INCLUDEPATH += ../../libs/qextserialport/src
+
+# event driven device enumeration on windows requires the gui module
+win32:QT               += gui
+
+HEADERS                 = ../../libs/qextserialport/src/qextserialport.h \
+                          ../../libs/qextserialport/src/qextserialenumerator.h \
+                          ../../libs/qextserialport/src/qextserialport_global.h
+SOURCES                 = ../../libs/qextserialport/src/qextserialport.cpp
+
+unix:SOURCES           += ../../libs/qextserialport/src/posix_qextserialport.cpp
+unix:!macx:SOURCES     += ../../libs/qextserialport/src/qextserialenumerator_unix.cpp
+macx {
+  SOURCES          += ../../libs/qextserialport/src/qextserialenumerator_osx.cpp
+  LIBS             += -framework IOKit -framework CoreFoundation
+}
+
+win32 {
+  SOURCES          += ../../libs/qextserialport/src/win_qextserialport.cpp
+  SOURCES          += ../../libs/qextserialport/src/qextserialenumerator_win.cpp
+  DEFINES          += WINVER=0x0501 # needed for mingw to pull in appropriate dbt business...probably a better way to do this
+  LIBS             += -lsetupapi
+}
+
+SOURCES += main.cpp

ground/src/experimental/SerialLogger/main.cpp

@@ -0,0 +1,60 @@
+#include <QtCore/QCoreApplication>
+#include <QDebug>
+#include <QThread>
+#include <QString>
+#include <QFile>
+#include <QTextStream>
+#include <qextserialport.h>
+
+#include <iostream>
+
+class pollSerialPort : public QThread
+{
+public:
+    pollSerialPort(QString dn, QString fn) : device(dn), outFile(fn)
+    {
+    };
+
+    void run()
+    {
+        QByteArray dat;
+        PortSettings Settings;
+        Settings.BaudRate=BAUD57600;
+        Settings.DataBits=DATA_8;
+        Settings.Parity=PAR_NONE;
+        Settings.StopBits=STOP_1;
+        Settings.FlowControl=FLOW_HARDWARE;
+        Settings.Timeout_Millisec=500;
+
+        QextSerialPort serialPort(device, Settings);
+        serialPort.open(QIODevice::ReadOnly);
+
+        QFile file(outFile);
+        if( !file.open( QIODevice::WriteOnly ) )
+        {
+            qDebug() << "Failed to open file: " << outFile;
+          return;
+        }
+
+        QTextStream ts( &file );
+
+        while(1)
+        {
+            dat = serialPort.read(10);
+            qDebug() << dat;
+            ts << dat;
+        }
+    };
+
+protected:
+    QString device;
+    QString outFile;
+};
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    pollSerialPort thread("/dev/tty.usbserial-000014FAB","log.dat"); //argv[0]);
+    thread.start();
+    return a.exec();
+}