====== Serial Device Communications ======

Since the last Streams5 service pack (June 2006) this module has become obsolete. Streams5 device drivers are now capable of outputting real-time data log files for these instruments, so all the control is done from within the SDK (AIRSLoader.dll)

===== Description =====

Our data acquisition system has 3 devices that collect data crucial to the project. The [[wp>gps|GPS]] receiver, the watson [[wp>Inertial_Measurement_System|IMU]], and the [[wp>lidar|laser rangefinder]] all transmit data via an [[wp>rs232|RS232]] interface. The goal of this software module is to record information from all 3 instruments simultaneously with as little data loss and corruption as possible.


===== Software design  =====
==== Config file format ====

//device port addresses

GPS_PORT = COM3

IMU_PORT = COM4

LRF_PORT = COM5

{{documentation:instrumentconfig.txt | Valid configuration file}}

==== Sample output ====

**GPS:**

$GPGGA,153500.00,4223.691324,N,07231.644202,W,1,08,1.3,92.75,M,-33.75,M,,*6D_TIME_TAG_29793371367715184

{{documentation:gps_2006.6.30--15.37.17.109.txt | GPS output file}}

----

**IMU:**

I +088.5 +00.1 188.9 -00.0 +00.0 +00.1 +000.0 +32 040 002_TIME_TAG_29793371308805184

{{documentation:imu_2006.6.30--15.37.17.734.txt | IMU output file}}

----

**LRF:**

00004.1F,11485_TIME_TAG_297933682036367072

{{documentation:lrf_2006.6.30--15.37.18.359.txt | LRF output file}}

----