#!/usr/bin/env php
.
* ! -----------------------------------------------------------------------------**
* ! $Log: start_gps_compass.php,v $
* ! Revision 1.6 2012/03/14 00:05:41 elphel
* ! 8.2.1 - GPS speed, x353.bit file tested on Eyesis
* !
* ! Revision 1.5 2011/08/13 00:55:14 elphel
* ! support for detection 103595 and 103696 boards, programming the logger
* !
* ! Revision 1.4 2011/01/15 23:22:10 elphel
* ! added 19200
* !
* ! Revision 1.3 2009/02/20 21:49:52 elphel
* ! bugfix - was killing daemons after detection, not before (as should)
* !
* ! Revision 1.2 2009/02/19 22:38:37 elphel
* ! 8.0.2.3 - added several USB serial adapters, nmea->exif support, detection of NMEA GPS at boot
* !
* ! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
* !
* !
* ! Revision 1.2 2008/11/20 07:03:40 elphel
* ! exit value now encodes detected devices
* !
* ! Revision 1.1 2008/04/07 09:14:47 elphel
* ! Discover/startup GPS and compass
* !
*/
// look uptime, sleep if just started (no USB yet)
// require '/usr/html/includes/i2c.inc';
// require 'i2c.inc';
set_include_path ( get_include_path () . PATH_SEPARATOR . '/www/pages/include' );
require 'i2c_include.php';
$config_name = '/etc/elphel393/imu_logger.xml';
$gps_compass_xml = '/www/pages/gps_compass.xml';
$tmp_config = '/var/volatile/html/logger_config.xml';
$exif_php = "/www/pages/exif.php";
$bindir = '/usr/bin/';
$i2cbus = 4;
$ids = scanGrandDaughters ();
$b_index = indexGrandDaughters ( $ids );
// print_r($ids);
// print_r($b_index);
$baud = null;
//$binfile = "/var/imu_config.bin"; // comment out if not needed - debug feature
if (isset ( $b_index [103696] )) {
$baud = $ids [$b_index [103696]] ['baud'];
if ($baud === 0)
$baud == 'auto';
}
$wait_time = 20; // wait for $wait_time if both devices were not found, retry
$compass = null;
$GPS = null;
$verbose = true;
foreach ( $_SERVER ['argv'] as $param ) {
if ((substr ( $param, 0, 2 ) == "-q") || (substr ( $param, 0, 8 ) == "--silent")) {
$verbose = false;
}
}
// / kill those GPS and compass if they are running already
exec ( 'killall -q garminusb2exif' );
exec ( 'killall -q nmea2exif' );
exec ( 'killall -q compass' );
// find_gps_compass();
$devs = find_gps_compass ( $baud );
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
// if ((!$compass || !$GPS) && ((exec('date +%s')+0) <30)) {
if ((count ( $devs ) == 0) && ((exec ( 'date +%s' ) + 0) < 30)) {
if ($verbose)
echo "waiting $wait_time sec for USB devices to start up\n";
sleep ( $wait_time );
if ($verbose)
echo "Retrying detection\n";
$devs = find_gps_compass ( $baud );
}
listSensorDevices ( $devs, $b_index, $ids );
// var_dump($GPS);
// if (file_exists ($sensor_state_file)) $sensor_board=parse_ini_file($sensor_state_file);
// exec ('sync');
$logger_config = null;
$write_config = false;
if (file_exists ( $config_name )) {
if ($verbose)
echo 'Reading IMU logger configuration from ' . $config_name . "\n";
$config_xml = simplexml_load_file ( $config_name );
$logger_config = loggerConfigFromXML ( $config_xml );
} else if (isset ( $b_index [103696] ) || isset ( $b_index [103696] )) {
if ($verbose)
echo "Generating IMU logger configuration\n";
// $default_config=init_default_config();
// $logger_config=init_default_config();
$logger_config = array ();
if (isset ( $GPS ) && isset ( $b_index [103696] )) {
$logger_config ['baud_rate'] = $GPS ['baud'];
$logger_config ['gps_slot'] = $ids [$b_index [103696]] ['port'];
$logger_config ['gps_mode'] = $ids [$b_index [103696]] ['sync'];
}
if (isset ( $b_index [103695] )) {
$logger_config ['imu_slot'] = $ids [$b_index [103695]] ['port'];
$logger_config ['imu_sa'] = $b_index [103695];
}
$write_config = true; // write configuration to /etc after applying defaults
}
if (isset ( $logger_config )) {
// var_dump($logger_config);
$logger_config = combineLoggerConfigs ( $logger_config, init_default_config () );
// var_dump($logger_config);
// var_dump($default_config);
$logger_xml = loggerConfigToXML ( $logger_config );
$conf_file = fopen ( $tmp_config, "w" );
fwrite ( $conf_file, $logger_xml->asXML () );
fclose ( $conf_file );
setup_IMU_logger ( $logger_config );
if ($write_config) {
if ($verbose)
echo 'Writing IMU logger configuration to ' . $config_name . "\n";
$conf_file = fopen ( $config_name, "w" );
fwrite ( $conf_file, $logger_xml->asXML () );
fclose ( $conf_file );
exec ( 'sync' );
}
}
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
$noGPS = ($compass || $GPS) ? "" : "noGPS";
$nocompass = ($compass) ? "" : "nocompass";
$cmd = $exif_php . " init $noGPS $nocompass";
if ($verbose)
echo "Initializing Exif template: $cmd\n";
exec ( $cmd );
if ($GPS) {
if ($verbose)
echo "Starting " . $GPS ["name"] . " as " . $GPS ["file"] . "\n";
if (strpos ( $GPS ['name'], 'NMEA' ) !== false) {
$cmd = $bindir . "nmea2exif " . $GPS ["file"] . " &";
} else {
$cmd = $bindir . "garminusb2exif " . $GPS ["file"] . " &"; // BUG: Not ported!
}
if ($verbose)
echo "exec: $cmd \n";
popen ( $cmd, "r" );
}
if ($compass) {
if ($verbose)
echo "Starting " . $compass ["name"] . " as " . $compass ["file"] . "\n";
exec ( "stty -F " . $compass ["file"] . " -echo speed 19200" );
$cmd = $bindir . "compass " . $compass ["file"] . " &";
if ($verbose)
echo "exec: $cmd \n";
popen ( $cmd, "r" );
}
exit ( (isset ( $b_index [103695] ) ? 4 : 0) | ($compass ? 2 : 0) | ($GPS ? 1 : 0) );
function scanGrandDaughters() {
global $i2cbus;
$ids = array ();
$id = "";
for($i = 2; $i < 8; $i ++) {
$id = i2c_read256b ( 0xa0 + 2 * $i, $i2cbus );
$xml = simplexml_load_string ( $id );
if (($xml !== false) && ($xml->getName () == 'board')) {
$ids [$i] = array ();
foreach ( $xml->children () as $entry ) {
$ids [$i] [$entry->getName ()] = ( string ) $entry;
}
}
}
return $ids;
}
function indexGrandDaughters($ids) {
$index = array ();
foreach ( $ids as $i => $id )
if (isset ( $id ['model'] )) {
$index [$id ['model']] = $i;
}
return $index;
}
// / compass/GPS programs should be killed before detection
// baud=null - search USB Garmin and compass
// baud=auto - try to autodetect baud rate
// baud=number - used specified baud rate, do not wait for the GPS response
function find_gps_compass($baud = null, $timeout = 5) {
global $verbose;
$ttyOptions = array (
'-echo speed 115200',
'-echo speed 57600',
'-echo speed 56000',
'-echo speed 38400',
'-echo speed 19200', // / maybe other options, like '-echo speed 4800 -ixoff'
'-echo speed 9600',
'-echo speed 4800',
'-echo speed 2400'
);
if (isset ( $baud ) && ($baud != 'auto') && ($baud != 0)) {
$ttyOptions = array (
'-echo speed ' . $baud
);
}
// global $GPS, $compass;
$devices = array (
"compass" => array (
array (
"name" => "Ocean Server OS-5000",
"driver" => "cp2101"
)
),
"GPS" => array (
array (
"name" => "Garmin GPS 18 USB",
"driver" => "garmin_gps"
)
)
);
exec ( "ls /sys/bus/usb-serial/devices", $usb_ser_devs ); // ("ttyUSB0","ttyUSB1")
$devs = new SimpleXMLElement ( "" );
$serialDevices = array ();
$compassPresent = false;
$gpsPresent = false;
$driver = array ();
// echo "usb_ser_devs"; var_dump($usb_ser_devs);
foreach ( $usb_ser_devs as $dev ) {
// echo "dev=$dev\n";
$arr = split ( "/", exec ( "ls /sys/bus/usb-serial/devices/" . $dev . "/driver -l" ) );
$driver [$dev] = $arr [count ( $arr ) - 1];
$serialDevices [$dev] = '';
if (! isset ( $baud )) { // if baud is set (auto or number - skip compass, it is 103696)
foreach ( $devices ["compass"] as $d ) {
if ($d ["driver"] == $driver [$dev]) {
$dd = $devs->addChild ( 'compass' );
$dd->addChild ( 'name', $d ["name"] );
$dd->addChild ( 'driver', $d ["driver"] );
$dd->addChild ( 'file', "/dev/" . $dev );
$serialDevices [$dev] = 'compass';
$compassPresent = true;
}
}
}
if ($serialDevices [$dev])
continue;
foreach ( $devices ["GPS"] as $d ) {
if ($d ["driver"] == $driver [$dev]) {
$dd = $devs->addChild ( 'GPS' );
$dd->addChild ( 'name', $d ["name"] );
$dd->addChild ( 'driver', $d ["driver"] );
$dd->addChild ( 'file', "/dev/" . $dev );
$serialDevices [$dev] = 'gps';
$gpsPresent = true;
}
}
}
// / Do we need to look for a NMEA GPS?
if (! $gpsPresent)
foreach ( $serialDevices as $dev => $type )
if (! $type && ! $gpsPresent) {
if ($verbose)
printf ( "could be $dev\n" );
foreach ( $ttyOptions as $ttyOpt ) {
$cmd = 'stty -F /dev/' . $dev . ' ' . $ttyOpt;
if (count ( $ttyOptions ) == 1) { // / single baud option, will not wait for confirmation. Has to be only one serial adapter !!
if ($verbose)
echo "Setting: $cmd\n";
exec ( $cmd );
$gpsPresent = true;
} else {
if ($verbose)
echo "Trying: $cmd\n";
exec ( $cmd );
unset ( $fullOutput );
exec ( 'timeout ' . $timeout . ' cat /dev/' . $dev, $fullOutput ); // &$fullOutput - Fatal error: Call-time pass-by-reference has been removed in php
// var_dump($fullOutput);
foreach ( $fullOutput as $line )
if (strpos ( $line, '$GP' ) === 0) {
$gpsPresent = true;
break;
}
}
if ($gpsPresent) {
$dd = $devs->addChild ( 'GPS' );
$dd->addChild ( 'name', 'NMEA 0183 GPS receiver' );
$dd->addChild ( 'driver', $driver [$dev] );
$dd->addChild ( 'file', "/dev/" . $dev );
$arr = split ( " ", $ttyOpt );
$dd->addChild ( 'baud', $arr [count ( $arr ) - 1] );
$serialDevices [$dev] = 'gps';
if ($verbose)
echo "\nfound NMEA GPS unit\n";
break;
}
// var_dump($fullOutput);
}
}
// / list unused USB serial adapters
foreach ( $serialDevices as $dev => $type )
if (! $type) {
$dd = $devs->addChild ( 'unused' );
$dd->addChild ( 'name', 'USB serial converter' );
$dd->addChild ( 'driver', $driver [$dev] );
$dd->addChild ( 'file', "/dev/" . $dev );
}
return $devs;
}
function listSensorDevices($devs, $b_index, $ids) {
global $GPS, $compass, $gps_compass_xml;
foreach ( $devs->compass as $a ) {
$compass = array (
"file" => ( string ) $a->file,
"name" => ( string ) $a->name
);
break; // use first one
}
foreach ( $devs->GPS as $a ) {
$GPS = array (
"file" => ( string ) $a->file,
"name" => ( string ) $a->name,
"baud" => ( string ) $a->baud
);
if (isset ( $b_index [103696] )) {
$a->addChild ( 'part_number', $ids [$b_index [103696]] ['part'] );
$a->addChild ( 'port', $ids [$b_index [103696]] ['port'] );
$a->addChild ( 'mode', $ids [$b_index [103696]] ['mode'] );
}
break; // use first one
}
$state_file = fopen ( $gps_compass_xml, "w" );
fwrite ( $state_file, $devs->asXML () );
fclose ( $state_file );
}
function loggerConfigToXML($conf) {
$logger_xml = new SimpleXMLElement ( "" );
foreach ( $conf as $key => $value ) {
switch ($key) {
case 'imu_registers' :
$subtree = $logger_xml->addChild ( $key );
for($i = 0; $i < count ( $value ); $i ++) {
$subtree->addChild ( 'R_' . sprintf ( '%02d', $i ), sprintf ( "0x%02x", $value [$i] ) );
}
break;
case 'nmea' :
$subtree = $logger_xml->addChild ( $key );
for($i = 0; $i < count ( $value ); $i ++) {
$sentence = $subtree->addChild ( 'S_' . sprintf ( '%01d', $i ) );
$sentence->addChild ( 'sentence', $value [$i] [0] );
$sentence->addChild ( 'format', $value [$i] [1] );
}
break;
default :
$logger_xml->addChild ( $key, $value );
}
}
return $logger_xml;
}
function loggerConfigFromXML($confXML) {
$conf = array ();
// var_dump($confXML);
foreach ( $confXML as $item ) {
// var_dump($item);
$key = $item->getName ();
switch ($key) {
case 'imu_registers' :
$conf [$key] = array ();
foreach ( $item as $reg ) {
$rname = substr ( $reg->getName (), 2 );
$conf [$key] [$rname + 0] = (( string ) $reg) + 0;
}
break;
case 'nmea' :
$conf [$key] = array ();
foreach ( $item as $reg ) {
$rname = substr ( $reg->getName (), 2 );
$conf [$key] [$rname + 0] = array (
( string ) $reg->sentence,
( string ) $reg->format
);
}
break;
case 'imu_period' :
$conf [$key] = ( string ) $item;
if ($conf [$key] != 'auto')
$conf [$key] += 0;
break;
case 'message' :
$conf [$key] = ( string ) $item;
break;
default :
// $conf[$key]=(int) $item;
$conf [$key] = (( string ) $item) + 0;
}
}
return $conf;
}
function init_default_config() {
$default_config = array (
'imu_period' => 'auto', // 0xFFFFFFFF, // 0 - off, >=0xff000000 - "when ready", else - number of SCLK periods
'sclk_freq' => 5000000, // $clkr_divr= 8, // 80MHz divisor to get half SCLK rate (defaulkt SCLK=5MHz)
'stall' => 2, // SPI stall time in usec
'baud_rate' => 19200, // $rs232_div=80/2/$baud
'imu_slot' => 1,
'gps_slot' => 2,
'gps_mode' => 2, // 0 - pps pos, 1 - pps neg, 2 - start of first sentence after pause, 3 start of sentence
'msg_conf' => 6, // 10, // GPIO bit number for external (odometer) input (+16 - invert polarity). Timestamp uses leading edge, software may write to 56-byte buffer before the trailing edge
'img_sync' => 0xf, // enable logging image acquisition starts (0 - disable), bit per channel
'extra_conf' => 4, // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
'slow_spi' => 0, // set to 1 for slow SPI devices (0 for ADIS-16375)
'imu_sa' => 3, // i2c slave address modifier for the 103695A pca9500
'sleep_busy' => 30000, // microseconds
'imu_registers' => array ( // / Up to 28 total
0x10, // x gyro low
0x12, // x gyro high
0x14, // y gyro low
0x16, // y gyro high
0x18, // z gyro low
0x1a, // z gyro high
0x1c, // x accel low
0x1e, // x accel high
0x20, // y accel low
0x22, // y accel high
0x24, // z accel low
0x26, // z accel high
0x40, // x delta angle low
0x42, // x delta angle high
0x44, // y delta angle low
0x46, // y delta angle high
0x48, // z delta angle low
0x4a, // z delta angle high
0x4c, // x delta velocity low
0x4e, // x delta velocity high
0x50, // y delta velocity low
0x52, // y delta velocity high
0x54, // z delta velocity low
0x56, // z delta velocity high
0x0e, // temperature
0x70, // time m/s
0x72, // time d/h
0x74
), // time y/m
'nmea' => array (
// / first three letters - sentence to log (letters after "$GP"). next "n"/"b" (up to 24 total) - "n" number (will be encoded 4 digits/byte, follwed by "0xF"
// / "b" - byte - all but last will have MSB 0 (& 0x7f), the last one - with MSB set (| 0x80). If there are no characters in the field 0xff will be output
array (
'RMC',
'nbnbnbnnnnb'
),
array (
'GGA',
'nnbnbnnnnbnbbb'
),
array (
'GSA',
'bnnnnnnnnnnnnnnnn'
),
array (
'VTG',
'nbnbnbnb'
)
),
'message' => 'Odometer message'
); // Message - up to 56 bytes
return $default_config;
}
/**
* Combines $conf and $dflt arrays - all driver parameters are overwritten aftre the call
*/
function combineLoggerConfigs($new_conf, $dflt = null) {
global $default_config;
// $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq = 100000000; // 100 MHz in NC393
$data = array ();
$index = 0;
if (! isset ( $dflt )) {
$dflt = $default_config;
}
$conf = $dflt;
if (isset ( $new_conf ))
foreach ( $conf as $key => $oldvalue )
if (isset ( $new_conf [$key] ))
$conf [$key] = $new_conf [$key];
// / fix insufficient data from default
while ( count ( $conf ['imu_registers'] ) < 28 )
$conf ['imu_registers'] [count ( $conf ['imu_registers'] )] = 0; // zero pad if less than 28 registers
// / Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
while ( count ( $conf ['nmea'] ) < 4 ) {
for($i = 0; $i < 4; $i ++) {
$new = true;
for($j = 0; $j < count ( $conf ['nmea'] ); $j ++)
if ($conf ['nmea'] [$j] [0] == $dflt ['nmea'] [$i] [0]) { // compare sentence code last 3 letters
$new = false;
break;
}
if ($new) {
$conf ['nmea'] [count ( $conf ['nmea'] )] = $dflt ['nmea'] [$i];
break;
}
}
}
for($i = 0; $i < 4; $i ++) {
while ( strlen ( $conf ['nmea'] [$i] [0] ) < 3 )
$conf ['nmea'] [$i] [0] .= "A"; // just to avoid errors - nonexistent sentences will not hurt, just never logged
}
return $conf;
}
function setup_IMU_logger($conf) {
global $verbose, $binfile;
// $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq = 100000000; // 100 MHz in NC393
$data = array ();
$index = 0;
// / program period
if (strtolower ( $conf ['imu_period'] ) == 'auto')
$conf ['imu_period'] = 0xffffffff;
else
$conf ['imu_period'] += 0;
$data [$index ++] = $conf ['imu_period'] & 0xff;
$data [$index ++] = ($conf ['imu_period'] >> 8) & 0xff;
$data [$index ++] = ($conf ['imu_period'] >> 16) & 0xff;
$data [$index ++] = ($conf ['imu_period'] >> 24) & 0xff;
// / program SCLK divisor and SPI stall time
$sclk_div = round ( $xclk_freq / $conf ['sclk_freq'] / 2 );
if ($sclk_div < 1)
$sclk_div = 1;
else if ($sclk_div > 255)
$sclk_div = 255;
$conf ['sclk_freq'] = $xclk_freq / $sclk_div / 2;
$stall = (($conf ['stall'] * ($xclk_freq / $sclk_div)) / 1000000);
if ($stall < 1)
$stall = 1; // / does 0 work? need to verify
else if ($stall > 255)
$stall = 255;
$conf ['stall'] = $stall * 1000000 / ($xclk_freq / $sclk_div);
$data [$index ++] = $sclk_div;
$data [$index ++] = $stall;
$data [$index ++] = 0;
$data [$index ++] = 0;
// / Program rs232 baud rate
$rs232_div = round ( $xclk_freq / 2 / $conf ['baud_rate'] );
$conf ['baud_rate'] = $xclk_freq / 2 / $rs232_div;
$data [$index ++] = $rs232_div & 0xff;
$data [$index ++] = ($rs232_div >> 8) & 0xff;
$data [$index ++] = ($rs232_div >> 16) & 0xff;
$data [$index ++] = ($rs232_div >> 24) & 0xff;
// / Program logger configuration (possible to modify only some fields - maybe support it here?)
$logger_conf = 0;
// / #define IMUCR__IMU_SLOT__BITNM 0 // slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
// / #define IMUCR__IMU_SLOT__WIDTH 2
$logger_conf |= (($conf ['imu_slot'] & 0x3) | 0x4) << 0; // / "4" (bit 2 set) here means that the data in bits 0,1 will be applied in the FPGA register
// / #define IMUCR__GPS_CONF__BITNM 3 // slot, where 103695 (imu) bnoard is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
// / #define IMUCR__GPS_CONF__WIDTH 4 // bits 0,1 - slot #, same as for IMU_SLOT, bits 2,3:
// 0 - ext pulse, leading edge,
// 1 - ext pulse, trailing edge
// 2 - start of the first rs232 character after pause
// 3 - start of the last "$" character (start of each NMEA sentence)
$logger_conf |= ((($conf ['gps_slot'] & 0x3) | (($conf ['gps_mode'] & 0x3) << 2)) | 0x10) << 3;
// / #define IMUCR__MSG_CONF__BITNM 8 // source of external pulses to log:
// / #define IMUCR__MSG_CONF__WIDTH 5 // bits 0-3 - number of fpga GPIO input 0..11 (i.e. 0x0a - external optoisolated sync input (J15)
// 0x0f - disable MSG module
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite
// software may set (up to 56 bytes) log message before trailing end of the pulse
$logger_conf |= (($conf ['msg_conf'] & 0x1f) | 0x20) << 8;
// / #define IMUCR__SYN_CONF__BITNM 14 // logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)
// / #define IMUCR__SYN_CONF__WIDTH 1 // 0 - disable, 1 - enable
/// $logger_conf |= (($conf ['img_sync'] & 0x1) | 0x2) << 14;
//NC393 - per channel
$logger_conf |= (($conf ['img_sync'] & 0xf) | 0x10) << 14;
// / #define IMUCR__RST_CONF__BITNM 19 ///< reset module // was 16 in NC353
// / #define IMUCR__RST_CONF__WIDTH 1 // 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)
// / #define IMUCR__DBG_CONF__BITNM 21 ///< several axtra IMU configuration bits (was 18 for NC353)
// / #define IMUCR__DBG_CONF__WIDTH 4 // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
$logger_conf |= (($conf ['extra_conf'] & 0xf) | 0x10) << 21; // was 18 in NC353;
// / next bits used by the driver only, not the FPGA
// / ((SLOW_SPI & 1)<<23) | \
// / (DFLT_SLAVE_ADDR << 24))
//#define IMUCR__SLOW_SPI__BITNM 26 ///< just for the driver, not written to FPGA (was 23 for NC353)
//#define IMUCR__SLOW_SPI__WIDTH 1 ///< 0 - normal, 1 - slow SPI (programmed over i2c)
$logger_conf |= ($conf ['slow_spi'] & 0x1) << 26; // was 23 for NC353
// #define IMUCR__I2C_SA3__BITNM 28 ///< Low 3 bits of the SA7 of the PCA9500 slave address
// #define IMUCR__I2C_SA3__WIDTH 3 ///< Should match jumpers
$logger_conf |= ($conf ['imu_sa'] & 0x7) << 28; // was 24 for NC353
$data [$index ++] = $logger_conf & 0xff; // DWORD 0x03
$data [$index ++] = ($logger_conf >> 8) & 0xff;
$data [$index ++] = ($logger_conf >> 16) & 0xff;
$data [$index ++] = ($logger_conf >> 24) & 0xff;
// / Set time driver will go to sleep if the data is not ready yet (less than full sample in the buffer)
$data [$index ++] = $conf ['sleep_busy'] & 0xff; // DWORD 0x04 (software only)
$data [$index ++] = ($conf ['sleep_busy'] >> 8) & 0xff;
$data [$index ++] = ($conf ['sleep_busy'] >> 16) & 0xff;
$data [$index ++] = ($conf ['sleep_busy'] >> 24) & 0xff;
// / Set IMU register addresses to logger
// echo "1\n";
for($i = 0; $i < 28; $i ++)
$data [$index ++] = $conf ['imu_registers'] [$i]; // truncate to 28
// / Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
// echo "2\n";
for($i = 0; $i < 4; $i ++) {
$d = str_split ( $conf ['nmea'] [$i] [0] );
// print_r($d);
for($j = 0; $j < 3; $j ++)
$data [$index ++] = ord ( $d [$j] );
$d = str_split ( $conf ['nmea'] [$i] [1] );
// print_r($d);
for($j = 0; $j < 29; $j ++)
$data [$index ++] = ($j < count ( $d )) ? ord ( $d [$j] ) : 0;
}
// echo "3\n";
// / Set default message
$d = str_split ( $conf ['message'] );
for($j = 0; $j < 56; $j ++)
$data [$index ++] = ($j < count ( $d )) ? ord ( $d [$j] ) : 0;
// Print the result array as hex data
/*
* print_r($conf);
*
* echo "\n";
* for ($i=0;$iaddChild ('error','No sync capable board detected, use "role=self" for the onboard timer');
// $sxml=$xml->asXML();
?>