Xsens / Mbed 2 deprecated MTi-1_example

Example of using Xbus library to communicate with an MTi-1 series device using a full-duplex UART connection.

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Alex Young

Important Information

This example is deprecated and no longer maintained. There are new embedded examples available in the MT SDK folder of the MT Software Suite. For more information please visit: https://xsenstechnologies.force.com/knowledgebase/s/article/Introduction-to-the-MT-SDK-programming-examples-for-MTi-devices

Overview

The example program demonstrates connecting to an MTi-1 series device, restoring communications settings to default if necessary, and configuring the MTi to send data. For an MTi-1 the device is configured to send inertial sensor data, while MTi-2 and MTi-3 devices are configured to output orientation data using the onboard XKF3i filter.

Communication with the MTi-1 series device is implemented using a either a full-duplex UART, I2C or SPI bus. A reset line is used to reset the MTi during initialization. Data is output to a host PC terminal using a second UART.

For more information on the MTi-1 series communication protocol please refer to the datasheet: https://www.xsens.com/download/pdf/documentation/mti-1/mti-1-series_datasheet.pdf

Supported Platforms

The program has been tested on the following mbed platforms:

Using the Example

  1. To use the example program connect one of the supported mbed boards to the host PC and download the application from the mbed online compiler to the target device.
  2. With the mbed board unpowered (USB disconnected) wire the mbed board to the MTi-1 development board. The following connections are required:
    • In all cases:
      • 5V (or 3V3) main supply to VDD (P300-1)
      • MCU IO voltage (IORef) to VDDIO (P300-2)
      • GND to GND (P300-3)
      • MT_NRESET to nRST (P300-5)
    • For I2C communication:
      • MT_SCL to I2C_SCL (P300-9)
      • MT_SDA to I2C_SDA (P300-11)
      • MT_DRDY to DRDY (P300-15)
      • MT_ADD0 to ADD0 (P300-17)
      • MT_ADD1 to ADD1 (P300-19)
      • MT_ADD2 to ADD2 (P300-21)
    • For SPI communication:
      • MT_DRDY to DRDY (P300-15)
      • MT_SCLK to SPI_SCK (P300-17)
      • MT_MISO to SPI_MISO (P300-19)
      • MT_MOSI to SPI_MOSI (P300-21)
      • MT_nCS to SPI_nCS (P300-23)
    • For UART communication:
      • MT_RX to UART_TX (P300-9)
      • MT_TX to UART_RX (P300-11)

For more information on the MTi-1 development board please refer to the MTi-1 series user manual: https://www.xsens.com/download/pdf/documentation/mti-1/mti-1-series_dk_user_manual.pdf

Information

Check the defines at the top of main.cpp to determine which IO pins are used for the MT_xxx connections on each mbed platform.

Information

The active peripheral (I2C, SPI or UART) is selected on the MTi-1 development board through the PSEL0 and PSEL1 switches. Look on the bottom of the development board for the correct settings.

  1. Connect to the target using a serial terminal. The application is configured for:
    • Baudrate = 921600
    • Stop bits = 1
    • No parity bits
    • No flow control
  2. Reset the mbed board.
  3. You should be presented with a simple user interface as shown below: 
MTi-1 series embedded example firmware.
Device ready for operation.
Found device with ID: 03880011.
Device is an MTi-3: Attitude Heading Reference System.
Output configuration set to:
        Packet counter: 65535 Hz
        Sample time fine: 65535 Hz
        Quaternion: 100 Hz
        Status word: 65535 Hz

Press 'm' to start measuring and 'c' to return to config mode.

main.cpp@32:fafe0f42d82b, 2015-05-21 (annotated)

Committer:
Alex Young
Date:
Thu May 21 11:47:29 2015 +0200
Revision:
32:fafe0f42d82b
Parent:
31:ce1ea9ae861e
Child:
34:3d7a6519a256
Extract function for setting output configuration.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex Young 4:98f063b2e6da 1 #include "mbed.h"
Alex Young 25:01356fb59467 2 #include "rtos.h"
Alex Young 4:98f063b2e6da 3 #include "xbusparser.h"
Alex Young 11:8593ba137917 4 #include "xbusmessage.h"
Alex Young 4:98f063b2e6da 5
Alex Young 25:01356fb59467 6 #define MEMORY_POOL_SIZE (4)
Alex Young 26:665d3624f9ab 7 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 25:01356fb59467 8 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 9
Alex Young 4:98f063b2e6da 10 static Serial pc(PA_2, PA_3);
Alex Young 4:98f063b2e6da 11 static Serial mt(PB_9, PB_8);
Alex Young 4:98f063b2e6da 12 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 13
Alex Young 25:01356fb59467 14 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 25:01356fb59467 15 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 26:665d3624f9ab 16 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 17
Alex Young 25:01356fb59467 18 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 19 {
Alex Young 25:01356fb59467 20 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 21 }
Alex Young 25:01356fb59467 22
Alex Young 25:01356fb59467 23 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 24 {
Alex Young 25:01356fb59467 25 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 26 }
Alex Young 4:98f063b2e6da 27
Alex Young 4:98f063b2e6da 28 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 29 {
Alex Young 4:98f063b2e6da 30 while (mt.readable())
Alex Young 4:98f063b2e6da 31 {
Alex Young 4:98f063b2e6da 32 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 33 }
Alex Young 4:98f063b2e6da 34 }
Alex Young 4:98f063b2e6da 35
Alex Young 26:665d3624f9ab 36 XbusMessage const* doTransaction(XbusMessage* m)
Alex Young 11:8593ba137917 37 {
Alex Young 26:665d3624f9ab 38 uint8_t buf[64];
Alex Young 26:665d3624f9ab 39 size_t rawLength = XbusMessage_format(buf, m);
Alex Young 11:8593ba137917 40 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 41 {
Alex Young 11:8593ba137917 42 mt.putc(buf[i]);
Alex Young 11:8593ba137917 43 }
Alex Young 26:665d3624f9ab 44
Alex Young 26:665d3624f9ab 45 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 46 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 47 }
Alex Young 26:665d3624f9ab 48
Alex Young 31:ce1ea9ae861e 49 /*!
Alex Young 31:ce1ea9ae861e 50 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 51 *
Alex Young 31:ce1ea9ae861e 52 * Will automatically free the memory used by a XbusMessage when going out
Alex Young 31:ce1ea9ae861e 53 * of scope.
Alex Young 31:ce1ea9ae861e 54 */
Alex Young 31:ce1ea9ae861e 55 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 56 {
Alex Young 31:ce1ea9ae861e 57 public:
Alex Young 31:ce1ea9ae861e 58 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 59 : m_message(message)
Alex Young 31:ce1ea9ae861e 60 {
Alex Young 31:ce1ea9ae861e 61 }
Alex Young 31:ce1ea9ae861e 62
Alex Young 31:ce1ea9ae861e 63 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 64 {
Alex Young 31:ce1ea9ae861e 65 if (m_message)
Alex Young 31:ce1ea9ae861e 66 {
Alex Young 31:ce1ea9ae861e 67 if (m_message->data)
Alex Young 31:ce1ea9ae861e 68 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 69 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 70 }
Alex Young 31:ce1ea9ae861e 71 }
Alex Young 31:ce1ea9ae861e 72
Alex Young 31:ce1ea9ae861e 73 private:
Alex Young 31:ce1ea9ae861e 74 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 75 };
Alex Young 26:665d3624f9ab 76
Alex Young 29:d9310e7b58b5 77 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 78 {
Alex Young 29:d9310e7b58b5 79 switch (response->mid)
Alex Young 29:d9310e7b58b5 80 {
Alex Young 29:d9310e7b58b5 81 case XMID_GotoConfigAck:
Alex Young 29:d9310e7b58b5 82 pc.printf("Device went to config mode\n");
Alex Young 29:d9310e7b58b5 83 break;
Alex Young 29:d9310e7b58b5 84
Alex Young 29:d9310e7b58b5 85 case XMID_DeviceId:
Alex Young 29:d9310e7b58b5 86 pc.printf("Device ID: %08X\n", *(uint32_t*)response->data);
Alex Young 29:d9310e7b58b5 87 break;
Alex Young 29:d9310e7b58b5 88
Alex Young 29:d9310e7b58b5 89 case XMID_OutputConfig:
Alex Young 29:d9310e7b58b5 90 {
Alex Young 29:d9310e7b58b5 91 pc.printf("Output configuration\n");
Alex Young 29:d9310e7b58b5 92 OutputConfiguration* conf = (OutputConfiguration*)response->data;
Alex Young 29:d9310e7b58b5 93 for (int i = 0; i < response->length; ++i)
Alex Young 29:d9310e7b58b5 94 {
Alex Young 29:d9310e7b58b5 95 pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 29:d9310e7b58b5 96 ++conf;
Alex Young 29:d9310e7b58b5 97 }
Alex Young 29:d9310e7b58b5 98 }
Alex Young 29:d9310e7b58b5 99 break;
Alex Young 29:d9310e7b58b5 100
Alex Young 29:d9310e7b58b5 101 case XMID_Error:
Alex Young 29:d9310e7b58b5 102 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 103 break;
Alex Young 29:d9310e7b58b5 104
Alex Young 29:d9310e7b58b5 105 default:
Alex Young 29:d9310e7b58b5 106 pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 107 break;
Alex Young 29:d9310e7b58b5 108 }
Alex Young 29:d9310e7b58b5 109 }
Alex Young 29:d9310e7b58b5 110
Alex Young 26:665d3624f9ab 111 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 112 {
Alex Young 26:665d3624f9ab 113 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 114 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 115 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 116
Alex Young 26:665d3624f9ab 117 if (response)
Alex Young 26:665d3624f9ab 118 {
Alex Young 29:d9310e7b58b5 119 dumpResponse(response);
Alex Young 26:665d3624f9ab 120 }
Alex Young 26:665d3624f9ab 121 else
Alex Young 26:665d3624f9ab 122 {
Alex Young 26:665d3624f9ab 123 pc.printf("Timeout waiting for response.\n");
Alex Young 26:665d3624f9ab 124 }
Alex Young 11:8593ba137917 125 }
Alex Young 11:8593ba137917 126
Alex Young 11:8593ba137917 127 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 128 {
Alex Young 11:8593ba137917 129 switch (cmd)
Alex Young 11:8593ba137917 130 {
Alex Young 11:8593ba137917 131 case 'c':
Alex Young 11:8593ba137917 132 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 133 break;
Alex Young 11:8593ba137917 134
Alex Young 11:8593ba137917 135 case 'm':
Alex Young 11:8593ba137917 136 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 137 break;
Alex Young 20:38560fa3d2eb 138
Alex Young 20:38560fa3d2eb 139 case 'd':
Alex Young 20:38560fa3d2eb 140 sendCommand(XMID_ReqDid);
Alex Young 20:38560fa3d2eb 141 break;
Alex Young 22:3eab999c5076 142
Alex Young 22:3eab999c5076 143 case 'o':
Alex Young 22:3eab999c5076 144 sendCommand(XMID_ReqOutputConfig);
Alex Young 22:3eab999c5076 145 break;
Alex Young 11:8593ba137917 146 }
Alex Young 11:8593ba137917 147 }
Alex Young 11:8593ba137917 148
Alex Young 24:2cc49dc854e3 149 static void handleDataMessage(struct XbusMessage const* message)
Alex Young 24:2cc49dc854e3 150 {
Alex Young 24:2cc49dc854e3 151 pc.printf("MTData2:");
Alex Young 24:2cc49dc854e3 152 uint16_t counter;
Alex Young 24:2cc49dc854e3 153 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 24:2cc49dc854e3 154 {
Alex Young 24:2cc49dc854e3 155 pc.printf(" Packet counter: %5d", counter);
Alex Young 24:2cc49dc854e3 156 }
Alex Young 24:2cc49dc854e3 157 float ori[4];
Alex Young 24:2cc49dc854e3 158 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 24:2cc49dc854e3 159 {
Alex Young 24:2cc49dc854e3 160 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 24:2cc49dc854e3 161 ori[2], ori[3]);
Alex Young 24:2cc49dc854e3 162 }
Alex Young 24:2cc49dc854e3 163 uint32_t status;
Alex Young 24:2cc49dc854e3 164 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 24:2cc49dc854e3 165 {
Alex Young 24:2cc49dc854e3 166 pc.printf(" Status:%X", status);
Alex Young 24:2cc49dc854e3 167 }
Alex Young 24:2cc49dc854e3 168 pc.printf("\n");
Alex Young 26:665d3624f9ab 169 deallocateMessageData(message->data);
Alex Young 24:2cc49dc854e3 170 }
Alex Young 24:2cc49dc854e3 171
Alex Young 24:2cc49dc854e3 172 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 173 {
Alex Young 15:558d279addd9 174 if (message->mid == XMID_MtData2)
Alex Young 7:c913a7cd5231 175 {
Alex Young 24:2cc49dc854e3 176 handleDataMessage(message);
Alex Young 7:c913a7cd5231 177 }
Alex Young 7:c913a7cd5231 178 else
Alex Young 7:c913a7cd5231 179 {
Alex Young 26:665d3624f9ab 180 XbusMessage* m = g_messagePool.alloc();
Alex Young 26:665d3624f9ab 181 memcpy(m, message, sizeof(XbusMessage));
Alex Young 26:665d3624f9ab 182 g_responseQueue.put(m);
Alex Young 25:01356fb59467 183 }
Alex Young 4:98f063b2e6da 184 }
Alex Young 4:98f063b2e6da 185
Alex Young 4:98f063b2e6da 186 static void configureSerialPorts(void)
Alex Young 4:98f063b2e6da 187 {
Alex Young 4:98f063b2e6da 188 pc.baud(921600);
Alex Young 4:98f063b2e6da 189 pc.format(8, Serial::None, 2);
Alex Young 4:98f063b2e6da 190
Alex Young 4:98f063b2e6da 191 mt.baud(921600);
Alex Young 4:98f063b2e6da 192 mt.format(8, Serial::None, 2);
Alex Young 4:98f063b2e6da 193 mt.attach(mtLowLevelHandler, Serial::RxIrq);
Alex Young 4:98f063b2e6da 194 }
Alex Young 4:98f063b2e6da 195
Alex Young 29:d9310e7b58b5 196 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 197 {
Alex Young 29:d9310e7b58b5 198 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 199 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 200 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 201 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 202 if (didRsp)
Alex Young 29:d9310e7b58b5 203 {
Alex Young 29:d9310e7b58b5 204 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 205 {
Alex Young 29:d9310e7b58b5 206 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 207 }
Alex Young 29:d9310e7b58b5 208 }
Alex Young 29:d9310e7b58b5 209 return deviceId;
Alex Young 29:d9310e7b58b5 210 }
Alex Young 29:d9310e7b58b5 211
Alex Young 32:fafe0f42d82b 212 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 213 {
Alex Young 32:fafe0f42d82b 214 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 215 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 216 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 217 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 218 {
Alex Young 32:fafe0f42d82b 219 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 220 {
Alex Young 32:fafe0f42d82b 221 pc.printf("Output configuration set to:\n");
Alex Young 32:fafe0f42d82b 222 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 223 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 224 {
Alex Young 32:fafe0f42d82b 225 pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 226 ++conf;
Alex Young 32:fafe0f42d82b 227 }
Alex Young 32:fafe0f42d82b 228 return true;
Alex Young 29:d9310e7b58b5 229 }
Alex Young 29:d9310e7b58b5 230 else
Alex Young 29:d9310e7b58b5 231 {
Alex Young 32:fafe0f42d82b 232 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 233 }
Alex Young 32:fafe0f42d82b 234 }
Alex Young 32:fafe0f42d82b 235 else
Alex Young 32:fafe0f42d82b 236 {
Alex Young 32:fafe0f42d82b 237 pc.printf("Failed to set output configuration.\n");
Alex Young 32:fafe0f42d82b 238 }
Alex Young 32:fafe0f42d82b 239 return false;
Alex Young 32:fafe0f42d82b 240 }
Alex Young 29:d9310e7b58b5 241
Alex Young 32:fafe0f42d82b 242 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 243 {
Alex Young 32:fafe0f42d82b 244 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 245
Alex Young 32:fafe0f42d82b 246 if (deviceId)
Alex Young 32:fafe0f42d82b 247 {
Alex Young 32:fafe0f42d82b 248 uint8_t deviceType = (deviceId >> 24) & 0x0F;
Alex Young 32:fafe0f42d82b 249 pc.printf("Found MTi-%d\n", deviceType);
Alex Young 32:fafe0f42d82b 250
Alex Young 32:fafe0f42d82b 251 if (deviceType == 1)
Alex Young 29:d9310e7b58b5 252 {
Alex Young 32:fafe0f42d82b 253 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 254 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 255 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 256 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 257 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 258 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 259 };
Alex Young 32:fafe0f42d82b 260 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 261 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 262 }
Alex Young 29:d9310e7b58b5 263 else
Alex Young 29:d9310e7b58b5 264 {
Alex Young 32:fafe0f42d82b 265 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 266 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 267 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 268 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 269 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 270 };
Alex Young 32:fafe0f42d82b 271 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 272 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 273 }
Alex Young 29:d9310e7b58b5 274 }
Alex Young 32:fafe0f42d82b 275
Alex Young 32:fafe0f42d82b 276 return false;
Alex Young 29:d9310e7b58b5 277 }
Alex Young 29:d9310e7b58b5 278
Alex Young 2:b3e402dc11ca 279 int main(void)
Alex Young 2:b3e402dc11ca 280 {
Alex Young 4:98f063b2e6da 281 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 282 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 283 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 284 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 285
Alex Young 4:98f063b2e6da 286 xbusParser = XbusParser_create(&xbusCallback);
Alex Young 4:98f063b2e6da 287 configureSerialPorts();
Alex Young 29:d9310e7b58b5 288 if (configureMotionTracker())
Alex Young 5:abc52dd88be2 289 {
Alex Young 29:d9310e7b58b5 290 for (;;)
Alex Young 26:665d3624f9ab 291 {
Alex Young 29:d9310e7b58b5 292 while (pc.readable())
Alex Young 29:d9310e7b58b5 293 {
Alex Young 29:d9310e7b58b5 294 handlePcCommand(pc.getc());
Alex Young 29:d9310e7b58b5 295 }
Alex Young 26:665d3624f9ab 296 }
Alex Young 5:abc52dd88be2 297 }
Alex Young 29:d9310e7b58b5 298 else
Alex Young 29:d9310e7b58b5 299 {
Alex Young 29:d9310e7b58b5 300 pc.printf("Failed to configure motion tracker.\n");
Alex Young 29:d9310e7b58b5 301 return -1;
Alex Young 29:d9310e7b58b5 302 }
Alex Young 4:98f063b2e6da 303 }