Add LPC1768
Dependencies: mbed-rtos mbed Xbus
Fork of MTi-1_example by
main.cpp
- Committer:
- Alex Young
- Date:
- 2015-05-21
- Revision:
- 31:ce1ea9ae861e
- Parent:
- 29:d9310e7b58b5
- Child:
- 32:fafe0f42d82b
File content as of revision 31:ce1ea9ae861e:
#include "mbed.h" #include "rtos.h" #include "xbusparser.h" #include "xbusmessage.h" #define MEMORY_POOL_SIZE (4) #define RESPONSE_QUEUE_SIZE (1) #define MAX_XBUS_DATA_SIZE (128) static Serial pc(PA_2, PA_3); static Serial mt(PB_9, PB_8); static XbusParser* xbusParser; MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; static void* allocateMessageData(size_t bufSize) { return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; } static void deallocateMessageData(void const* buffer) { g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); } static void mtLowLevelHandler(void) { while (mt.readable()) { XbusParser_parseByte(xbusParser, mt.getc()); } } XbusMessage const* doTransaction(XbusMessage* m) { uint8_t buf[64]; size_t rawLength = XbusMessage_format(buf, m); for (size_t i = 0; i < rawLength; ++i) { mt.putc(buf[i]); } osEvent ev = g_responseQueue.get(500); return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; } /*! * \brief RAII object to manage message memory deallocation. * * Will automatically free the memory used by a XbusMessage when going out * of scope. */ class XbusMessageMemoryManager { public: XbusMessageMemoryManager(XbusMessage const* message) : m_message(message) { } ~XbusMessageMemoryManager() { if (m_message) { if (m_message->data) deallocateMessageData(m_message->data); g_messagePool.free(const_cast<XbusMessage*>(m_message)); } } private: XbusMessage const* m_message; }; static void dumpResponse(XbusMessage const* response) { switch (response->mid) { case XMID_GotoConfigAck: pc.printf("Device went to config mode\n"); break; case XMID_DeviceId: pc.printf("Device ID: %08X\n", *(uint32_t*)response->data); break; case XMID_OutputConfig: { pc.printf("Output configuration\n"); OutputConfiguration* conf = (OutputConfiguration*)response->data; for (int i = 0; i < response->length; ++i) { pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); ++conf; } } break; case XMID_Error: pc.printf("Device error!"); break; default: pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length); break; } } static void sendCommand(XsMessageId cmdId) { XbusMessage m = {cmdId}; XbusMessage const* response = doTransaction(&m); XbusMessageMemoryManager janitor(response); if (response) { dumpResponse(response); } else { pc.printf("Timeout waiting for response.\n"); } } static void handlePcCommand(char cmd) { switch (cmd) { case 'c': sendCommand(XMID_GotoConfig); break; case 'm': sendCommand(XMID_GotoMeasurement); break; case 'd': sendCommand(XMID_ReqDid); break; case 'o': sendCommand(XMID_ReqOutputConfig); break; } } static void handleDataMessage(struct XbusMessage const* message) { pc.printf("MTData2:"); uint16_t counter; if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) { pc.printf(" Packet counter: %5d", counter); } float ori[4]; if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) { pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], ori[2], ori[3]); } uint32_t status; if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) { pc.printf(" Status:%X", status); } pc.printf("\n"); deallocateMessageData(message->data); } static void mtMessageHandler(struct XbusMessage const* message) { if (message->mid == XMID_MtData2) { handleDataMessage(message); } else { XbusMessage* m = g_messagePool.alloc(); memcpy(m, message, sizeof(XbusMessage)); g_responseQueue.put(m); } } static void configureSerialPorts(void) { pc.baud(921600); pc.format(8, Serial::None, 2); mt.baud(921600); mt.format(8, Serial::None, 2); mt.attach(mtLowLevelHandler, Serial::RxIrq); } static uint32_t readDeviceId(void) { XbusMessage reqDid = {XMID_ReqDid}; XbusMessage const* didRsp = doTransaction(&reqDid); XbusMessageMemoryManager janitor(didRsp); uint32_t deviceId = 0; if (didRsp) { if (didRsp->mid == XMID_DeviceId) { deviceId = *(uint32_t*)didRsp->data; } } return deviceId; } static bool configureMotionTracker(void) { uint32_t deviceId = readDeviceId(); uint8_t deviceType = (deviceId >> 24) & 0x0F; if (deviceId) { pc.printf("Found MTi-%d\n", deviceType); OutputConfiguration conf[5] = { {XDI_PacketCounter, 65535}, {XDI_SampleTimeFine, 65535} }; if (deviceType == 1) { conf[2].dtype = XDI_Acceleration; conf[2].freq = 100; conf[3].dtype = XDI_RateOfTurn; conf[3].freq = 100; conf[4].dtype = XDI_MagneticField; conf[4].freq = 100; } else { conf[2].dtype = XDI_Quaternion; conf[2].freq = 100; conf[3].dtype = XDI_StatusWord; conf[3].freq = 65535; } XbusMessage outputConfMsg = {XMID_SetOutputConfig, 5, &conf}; XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); XbusMessageMemoryManager janitor(outputConfRsp); if (outputConfRsp) { if (outputConfRsp->mid == XMID_OutputConfig) { pc.printf("Output configuration set to:\n"); OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; for (int i = 0; i < outputConfRsp->length; ++i) { pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); ++conf; } } else { dumpResponse(outputConfRsp); } } else { pc.printf("Failed to set output configuration.\n"); } return true; } else { return false; } } int main(void) { XbusParserCallback xbusCallback = {}; xbusCallback.allocateBuffer = allocateMessageData; xbusCallback.deallocateBuffer = deallocateMessageData; xbusCallback.handleMessage = mtMessageHandler; xbusParser = XbusParser_create(&xbusCallback); configureSerialPorts(); if (configureMotionTracker()) { for (;;) { while (pc.readable()) { handlePcCommand(pc.getc()); } } } else { pc.printf("Failed to configure motion tracker.\n"); return -1; } }