Xsens / Mbed 2 deprecated MTi-1_fwu_example

Example for updating the MTi-1's firmware. Uses a platform independent, retargetable pure C implementation of the firmware updater protocol.

Dependencies:   mbed-rtos mbed

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MtInterfaceMtssp Class Reference
Public Member Functions | Protected Member Functions | Friends

MtInterfaceMtssp Class Reference

Implementation of MtInterface for the MTSSP protocol. More...

Inherits MtInterface.

Public Member Functions

 MtInterfaceMtssp (MtsspDriver *driver)
 Constructor.
virtual ~MtInterfaceMtssp ()
 Destructor.
virtual void process ()
 Must be polled in the main application loop.
virtual void sendXbusMessage (XbusMessage const *xbusMessage)
 Sends an xbus message to the motion tracker.
virtual XbusBusFormat busFormat ()
 Returns the low level bus format used.
XbusMessage * getXbusMessage ()
 Returns the next message from the rx queue or NULL if the queue is empty.
void releaseXbusMessage (XbusMessage *xbusMessage)
 Releases an xbus message previously obtained by a call to getXbusMessage()
XbusMessage * sendAndWait (XbusMessage const *xbusMessage)
 Sends an Xbus message and waits for the related acknowledge.

Protected Member Functions

void handleDataReady ()
 Should be called if the data ready line from the motion tracker signals that there is data pending.
void readProtocolInfo (uint8_t *version, uint8_t *dataReadyConfig)
 Read MTSSP protocol info.
void configureProtocol (uint8_t dataReadyConfig)
 Write MTSSP protocol settings.
void readPipeStatus (uint16_t *notificationMessageSize, uint16_t *measurementMessageSize)
 Read the pipe status.
void readFromPipe (uint8_t *buffer, uint16_t size, uint8_t pipe)
 Read from notification or measurement data pipe.
void * allocateMessageData (size_t bufferSize)
 Callback function for XbusParserCallback to allocate a block of memory.
void deallocateMessageData (void const *buffer)
 Callback function for XbusParserCallback to deallocate a block of memory.
void xbusParserCallbackFunction (struct XbusMessage const *message)
 Callback function for XbusParserCallback that handles a completely received xbus message from the motion tracker.

Friends

void * allocateMessageDataWrapper (size_t bufferSize)
 Callback function for XbusParserCallback for allocating a block of memory.
void deallocateMessageDataWrapper (void const *buffer)
 Callback function for XbusParserCallback for deallocating a block of memory.
void xbusParserCallbackFunctionWrapper (struct XbusMessage const *message)
 Callback function for XbusParserCallback that handles completely received xbus messages from the motion tracker.

Detailed Description

Implementation of MtInterface for the MTSSP protocol.

MTSSP is the protocol used for communicating with an Xsens motion tracker over I2C or SPI.

Definition at line 64 of file mtinterface_mtssp.h.

Constructor & Destructor Documentation

MtInterfaceMtssp ( MtsspDriver *  driver )

Constructor.

Parameters:
driverPointer to an MtsspDriver

Definition at line 37 of file mtinterface_mtssp.cpp.

~MtInterfaceMtssp (  ) [virtual]

Destructor.

Definition at line 46 of file mtinterface_mtssp.cpp.

Member Function Documentation

void * allocateMessageData ( size_t  bufferSize ) [protected, inherited]

Callback function for XbusParserCallback to allocate a block of memory.

Parameters:
bufferSizebuffer size

Definition at line 117 of file mtinterface.cpp.

XbusBusFormat busFormat (  ) [virtual]

Returns the low level bus format used.

Implements MtInterface.

Definition at line 77 of file mtinterface_mtssp.cpp.

void configureProtocol ( uint8_t  dataReadyConfig ) [protected]

Write MTSSP protocol settings.

Parameters:
dataReadyConfigThe data ready configuration which must be set

Bit 7:4 Reserved
Bit 3 Measurement pipe DRDY event enable: 0 = disabled, 1 = enabled
Bit 2 Notification pipe DRDY event enable: 0 = disabled, 1 = enabled
Bit 1 Output type of DRDY pin: = 0 Push/pull, 1 = open drain
Bit 0 Polarity of DRDY signal: 0 = Idle low, 1 = Idle high

See also:
readProtocolInfo

Definition at line 141 of file mtinterface_mtssp.cpp.

void deallocateMessageData ( void const *  buffer ) [protected, inherited]

Callback function for XbusParserCallback to deallocate a block of memory.

Parameters:
bufferPointer to the buffer that should be deallocated

Definition at line 129 of file mtinterface.cpp.

XbusMessage * getXbusMessage (  ) [inherited]

Returns the next message from the rx queue or NULL if the queue is empty.

Note:
The caller must dealocate the message with releaseXbusMessage() after use.

Definition at line 89 of file mtinterface.cpp.

void handleDataReady (  ) [protected]

Should be called if the data ready line from the motion tracker signals that there is data pending.

Definition at line 85 of file mtinterface_mtssp.cpp.

void process (  ) [virtual]

Must be polled in the main application loop.

Implements MtInterface.

Definition at line 54 of file mtinterface_mtssp.cpp.

void readFromPipe ( uint8_t *  buffer,
uint16_t  size,
uint8_t  pipe 
) [protected]

Read from notification or measurement data pipe.

Parameters:
bufferResult buffer
sizeNumber of bytes to read
pipePipe from which to read, XBUS_NOTIFICATION_PIPE or XBUS_MEASUREMENT_PIPE

Definition at line 165 of file mtinterface_mtssp.cpp.

void readPipeStatus ( uint16_t *  notificationMessageSize,
uint16_t *  measurementMessageSize 
) [protected]

Read the pipe status.

Parameters:
[out]notificationMessageSizePointer for returning the number of pending notification bytes
[out]measurementMessageSizePointer for returning the number of pending measurement bytes

Definition at line 151 of file mtinterface_mtssp.cpp.

void readProtocolInfo ( uint8_t *  version,
uint8_t *  dataReadyConfig 
) [protected]

Read MTSSP protocol info.

Parameters:
[out]versionPointer to receive the version byte
[out]dataReadyConfigPointer to receive the data ready configuration byte
See also:
configureProtocol

Definition at line 122 of file mtinterface_mtssp.cpp.

void releaseXbusMessage ( XbusMessage *  xbusMessage ) [inherited]

Releases an xbus message previously obtained by a call to getXbusMessage()

Parameters:
xbusMessagethat should be released

Definition at line 104 of file mtinterface.cpp.

XbusMessage * sendAndWait ( XbusMessage const *  xbusMessage ) [inherited]

Sends an Xbus message and waits for the related acknowledge.

Returns:
0 if no related message was received. Pointer to the message otherwise. This message can also be an error message.

Definition at line 149 of file mtinterface.cpp.

void sendXbusMessage ( XbusMessage const *  xbusMessage ) [virtual]

Sends an xbus message to the motion tracker.

Parameters:
xbusMessagePointer to xbus message which should be send

Implements MtInterface.

Definition at line 66 of file mtinterface_mtssp.cpp.

void xbusParserCallbackFunction ( struct XbusMessage const *  message ) [protected, inherited]

Callback function for XbusParserCallback that handles a completely received xbus message from the motion tracker.

Parameters:
messagePointer to the received xbus message

Definition at line 138 of file mtinterface.cpp.

Friends And Related Function Documentation

void* allocateMessageDataWrapper ( size_t  bufferSize ) [friend, inherited]

Callback function for XbusParserCallback for allocating a block of memory.

Parameters:
bufferSizebuffer size

Definition at line 37 of file mtinterface.cpp.

void deallocateMessageDataWrapper ( void const *  buffer ) [friend, inherited]

Callback function for XbusParserCallback for deallocating a block of memory.

Parameters:
bufferPointer to the buffer that should be deallocated

Definition at line 46 of file mtinterface.cpp.

void xbusParserCallbackFunctionWrapper ( struct XbusMessage const *  message ) [friend, inherited]

Callback function for XbusParserCallback that handles completely received xbus messages from the motion tracker.

Parameters:
Pointerto the received xbus message

Definition at line 55 of file mtinterface.cpp.

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