David Khosravi / Mbed 2 deprecated MTi-1_example_LPC1768

Add LPC1768

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

main.cpp@60:ab9dad3560d3, 2015-06-12 (annotated)

Committer:
Alex Young
Date:
Fri Jun 12 11:59:16 2015 +0200
Revision:
60:ab9dad3560d3
Parent:
59:f9166c19451f
Child:
61:b9d3e7e5ba0c
Add support for EA LPC4088 QuickStart Board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex Young 36:21198d933917 1 /*!
Alex Young 36:21198d933917 2 * \file
Alex Young 36:21198d933917 3 * \copyright
Alex Young 36:21198d933917 4 * Copyright (C) Xsens Technologies B.V., 2015. All rights reserved.
Alex Young 36:21198d933917 5 *
Alex Young 36:21198d933917 6 * This source code is intended for use only by Xsens Technologies BV and
Alex Young 36:21198d933917 7 * those that have explicit written permission to use it from
Alex Young 36:21198d933917 8 * Xsens Technologies BV.
Alex Young 36:21198d933917 9 *
Alex Young 36:21198d933917 10 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
Alex Young 36:21198d933917 11 * KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
Alex Young 36:21198d933917 12 * IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
Alex Young 36:21198d933917 13 * PARTICULAR PURPOSE.
Alex Young 54:2e9bb1390c9c 14
Alex Young 54:2e9bb1390c9c 15 * \page Overview Firmware overview
Alex Young 54:2e9bb1390c9c 16 *
Alex Young 54:2e9bb1390c9c 17 * Example firmware for communicating with an Xsens MTi-1 series motion
Alex Young 54:2e9bb1390c9c 18 * tracker (MT).
Alex Young 54:2e9bb1390c9c 19 *
Alex Young 54:2e9bb1390c9c 20 * The firmware uses the mbed-rtos library to provide RTOS features such as
Alex Young 54:2e9bb1390c9c 21 * memory pools and queues. A single thread (main) is used with reception of
Alex Young 54:2e9bb1390c9c 22 * data from the motion tracker via a UART handled by interrupts.
Alex Young 54:2e9bb1390c9c 23 *
Alex Young 54:2e9bb1390c9c 24 * \section Hardware setup
Alex Young 54:2e9bb1390c9c 25 * The firmware has been tested with a ST Nucleo F302R8 development board.
Alex Young 54:2e9bb1390c9c 26 * The Nucleo board should be connected to the MTi1 development board using the
Alex Young 54:2e9bb1390c9c 27 * Arduino compatible headers on the Nucleo board as follows:
Alex Young 54:2e9bb1390c9c 28 *
Alex Young 54:2e9bb1390c9c 29 * | Nucleo pin | MTi1 func. | MTi1 dev. pin |
Alex Young 54:2e9bb1390c9c 30 * |------------|-------------|---------------|
Alex Young 54:2e9bb1390c9c 31 * | IORef | VDDIO_EXT | P301-3 |
Alex Young 54:2e9bb1390c9c 32 * | 5V | VDD_EXT | P301-1 |
Alex Young 54:2e9bb1390c9c 33 * | GND | GND | P301-2 |
Alex Young 54:2e9bb1390c9c 34 * | SCL/D15 | DEV_UART_TX | P301-9 |
Alex Young 54:2e9bb1390c9c 35 * | SDA/D14 | DEV_UART_RX | P301-11 |
Alex Young 54:2e9bb1390c9c 36 * | D2 | nRST | P301-7 |
Alex Young 54:2e9bb1390c9c 37 *
Alex Young 54:2e9bb1390c9c 38 * Communication with the host PC is achieved using the built-in USB serial
Alex Young 54:2e9bb1390c9c 39 * bridge of the Nucleo board.
Alex Young 54:2e9bb1390c9c 40 *
Alex Young 54:2e9bb1390c9c 41 * \subsection Porting
Alex Young 54:2e9bb1390c9c 42 * To port to a different mbed platform only the serial Rx/Tx lines and the
Alex Young 54:2e9bb1390c9c 43 * reset line pins should need to be updated.
Alex Young 54:2e9bb1390c9c 44 *
Alex Young 54:2e9bb1390c9c 45 * \section Firmware Operation
Alex Young 54:2e9bb1390c9c 46 * The firmware starts by initializing the serial ports used to communicate
Alex Young 54:2e9bb1390c9c 47 * with the host PC and with the MT. During the initialization the MT is held
Alex Young 54:2e9bb1390c9c 48 * in reset using the nRST input.
Alex Young 54:2e9bb1390c9c 49 *
Alex Young 54:2e9bb1390c9c 50 * Once the firmware is ready to communicate with the MT the reset line is
Alex Young 54:2e9bb1390c9c 51 * released and the firmware waits for a wakeup message from the MT. If this is
Alex Young 54:2e9bb1390c9c 52 * not received within 1 second the firmware will try to restore communication
Alex Young 54:2e9bb1390c9c 53 * with the MT using a special restore communication procedure.
Alex Young 54:2e9bb1390c9c 54 *
Alex Young 54:2e9bb1390c9c 55 * When the MT is ready for communication the firmware requests the device ID
Alex Young 54:2e9bb1390c9c 56 * of the MT, and based on this determines which type of MTi is connected.
Alex Young 54:2e9bb1390c9c 57 * If the MT is an MTi-1 then it will be configured to send inertial and
tjerkhofmeijer 56:041d3d9c300a 58 * magnetic measurement data. MTi-2 and MTi-3 devices have onboard orientation
Alex Young 54:2e9bb1390c9c 59 * estimation and will therefore be configured to provide quaternion output.
Alex Young 36:21198d933917 60 */
Alex Young 36:21198d933917 61
Alex Young 4:98f063b2e6da 62 #include "mbed.h"
Alex Young 25:01356fb59467 63 #include "rtos.h"
Alex Young 4:98f063b2e6da 64 #include "xbusparser.h"
Alex Young 11:8593ba137917 65 #include "xbusmessage.h"
Alex Young 40:b77a8c10c76d 66 #include "xsdeviceid.h"
Alex Young 4:98f063b2e6da 67
Alex Young 59:f9166c19451f 68 #if defined(TARGET_NUCLEO_F302R8)
Alex Young 57:c3c85ebb7375 69 #define PC_TX PA_2
Alex Young 57:c3c85ebb7375 70 #define PC_RX PA_3
Alex Young 57:c3c85ebb7375 71 #define MT_TX PB_9
Alex Young 57:c3c85ebb7375 72 #define MT_RX PB_8
Alex Young 57:c3c85ebb7375 73 #define MT_NRESET PA_10
Alex Young 59:f9166c19451f 74 #elif defined(TARGET_KL46Z)
Alex Young 59:f9166c19451f 75 #define PC_TX USBTX
Alex Young 59:f9166c19451f 76 #define PC_RX USBRX
Alex Young 59:f9166c19451f 77 #define MT_TX PTE0
Alex Young 59:f9166c19451f 78 #define MT_RX PTE1
Alex Young 59:f9166c19451f 79 #define MT_NRESET PTD3
Alex Young 60:ab9dad3560d3 80 #elif defined(TARGET_LPC4088)
Alex Young 60:ab9dad3560d3 81 #define PC_TX USBTX
Alex Young 60:ab9dad3560d3 82 #define PC_RX USBRX
Alex Young 60:ab9dad3560d3 83 #define MT_TX P0_25
Alex Young 60:ab9dad3560d3 84 #define MT_RX P0_26
Alex Young 60:ab9dad3560d3 85 #define MT_NRESET P1_30
Alex Young 57:c3c85ebb7375 86 #else
Alex Young 57:c3c85ebb7375 87 #error "Support for selected mbed platform has not been added."
Alex Young 57:c3c85ebb7375 88 #endif
Alex Young 57:c3c85ebb7375 89
Alex Young 57:c3c85ebb7375 90
Alex Young 44:b3980e8ac074 91 /*!
Alex Young 53:3891f4259901 92 * \brief Baudrate used to communicate with host PC.
Alex Young 53:3891f4259901 93 */
Alex Young 53:3891f4259901 94 #define PC_UART_BAUDRATE (921600)
Alex Young 53:3891f4259901 95
Alex Young 53:3891f4259901 96 /*!
Alex Young 44:b3980e8ac074 97 * \brief The number of items to hold in the memory pools.
Alex Young 44:b3980e8ac074 98 */
Alex Young 25:01356fb59467 99 #define MEMORY_POOL_SIZE (4)
Alex Young 44:b3980e8ac074 100 /*!
Alex Young 44:b3980e8ac074 101 * \brief The size of the queue used for device responses.
Alex Young 44:b3980e8ac074 102 * This is set to one as in typical Xbus operation each command receives a
Alex Young 44:b3980e8ac074 103 * response before the next command is sent.
Alex Young 44:b3980e8ac074 104 */
Alex Young 26:665d3624f9ab 105 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 44:b3980e8ac074 106 /*!
Alex Young 44:b3980e8ac074 107 * \brief The size of the queue used for data messages.
Alex Young 44:b3980e8ac074 108 * This is set to two to allow some overlap between printing received data to
Alex Young 44:b3980e8ac074 109 * the PC serial port and the reception of the subsequent data packet. In
Alex Young 44:b3980e8ac074 110 * more complex applications it might be necessary to increase this if
Alex Young 44:b3980e8ac074 111 * message processing might occasionally require more time than normal.
Alex Young 44:b3980e8ac074 112 */
Alex Young 43:470c019246e4 113 #define DATA_QUEUE_SIZE (2)
Alex Young 44:b3980e8ac074 114 /*!
Alex Young 49:38ecfbff5391 115 * \brief The maximum size of an xbus message supported by the application.
Alex Young 44:b3980e8ac074 116 * This is the size of the message buffers in the message data memory pool.
Alex Young 44:b3980e8ac074 117 */
Alex Young 25:01356fb59467 118 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 119
Alex Young 44:b3980e8ac074 120 /*! \brief Serial port for communication with the host PC. */
Alex Young 57:c3c85ebb7375 121 static Serial pc(PC_TX, PC_RX);
Alex Young 58:db60ef0a0d16 122 /*!
Alex Young 58:db60ef0a0d16 123 * \brief Serial port for communication with the MT.
Alex Young 58:db60ef0a0d16 124 *
Alex Young 58:db60ef0a0d16 125 * We use a RawSerial port as the Stream inteface used by the regular
Alex Young 58:db60ef0a0d16 126 * Serial class can have problems with the RTOS when using interrupts.
Alex Young 58:db60ef0a0d16 127 */
Alex Young 58:db60ef0a0d16 128 static RawSerial mt(MT_TX, MT_RX);
Alex Young 35:7e519b88c610 129 /*!
Alex Young 35:7e519b88c610 130 * \brief MT reset line.
Alex Young 35:7e519b88c610 131 *
Alex Young 35:7e519b88c610 132 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 133 */
Alex Young 57:c3c85ebb7375 134 static DigitalOut mtReset(MT_NRESET, 0);
Alex Young 44:b3980e8ac074 135 /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */
Alex Young 4:98f063b2e6da 136 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 137
Alex Young 44:b3980e8ac074 138 /*!
Alex Young 44:b3980e8ac074 139 * \brief Memory pool used for storing Xbus messages when passing them
Alex Young 44:b3980e8ac074 140 * to the main thread.
Alex Young 44:b3980e8ac074 141 */
Alex Young 25:01356fb59467 142 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 44:b3980e8ac074 143 /*!
Alex Young 44:b3980e8ac074 144 * \brief Memory pool used for storing the payload of Xbus messages.
Alex Young 44:b3980e8ac074 145 */
Alex Young 25:01356fb59467 146 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 44:b3980e8ac074 147 /*!
Alex Young 44:b3980e8ac074 148 * \brief Queue used to pass data messages to the main thread for processing.
Alex Young 44:b3980e8ac074 149 */
Alex Young 44:b3980e8ac074 150 Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue;
Alex Young 44:b3980e8ac074 151 /*!
Alex Young 44:b3980e8ac074 152 * \brief Queue used for passing all other messages to the main thread for processing.
Alex Young 44:b3980e8ac074 153 */
Alex Young 26:665d3624f9ab 154 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 155
Alex Young 44:b3980e8ac074 156 /*!
Alex Young 44:b3980e8ac074 157 * \brief Allocate message data buffer from the message data pool.
Alex Young 44:b3980e8ac074 158 */
Alex Young 25:01356fb59467 159 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 160 {
Alex Young 25:01356fb59467 161 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 162 }
Alex Young 25:01356fb59467 163
Alex Young 44:b3980e8ac074 164 /*!
Alex Young 44:b3980e8ac074 165 * \brief Deallocate message data previously allocated from the message
Alex Young 44:b3980e8ac074 166 * data pool.
Alex Young 44:b3980e8ac074 167 */
Alex Young 25:01356fb59467 168 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 169 {
Alex Young 25:01356fb59467 170 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 171 }
Alex Young 4:98f063b2e6da 172
Alex Young 44:b3980e8ac074 173 /*!
Alex Young 44:b3980e8ac074 174 * \brief RX Interrupt handler for the MT serial port.
Alex Young 44:b3980e8ac074 175 *
Alex Young 44:b3980e8ac074 176 * Passes received data to an XbusParser to extract messages.
Alex Young 44:b3980e8ac074 177 */
Alex Young 4:98f063b2e6da 178 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 179 {
Alex Young 4:98f063b2e6da 180 while (mt.readable())
Alex Young 4:98f063b2e6da 181 {
Alex Young 4:98f063b2e6da 182 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 183 }
Alex Young 4:98f063b2e6da 184 }
Alex Young 4:98f063b2e6da 185
Alex Young 44:b3980e8ac074 186 /*!
Alex Young 44:b3980e8ac074 187 * \brief Send a message to the MT
Alex Young 44:b3980e8ac074 188 *
Alex Young 44:b3980e8ac074 189 * This function formats the message data and writes this to the MT serial
Alex Young 44:b3980e8ac074 190 * port. It does not wait for any response.
Alex Young 44:b3980e8ac074 191 */
Alex Young 34:3d7a6519a256 192 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 193 {
Alex Young 26:665d3624f9ab 194 uint8_t buf[64];
Alex Young 26:665d3624f9ab 195 size_t rawLength = XbusMessage_format(buf, m);
Alex Young 11:8593ba137917 196 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 197 {
Alex Young 11:8593ba137917 198 mt.putc(buf[i]);
Alex Young 11:8593ba137917 199 }
Alex Young 34:3d7a6519a256 200 }
Alex Young 34:3d7a6519a256 201
Alex Young 44:b3980e8ac074 202 /*!
Alex Young 44:b3980e8ac074 203 * \brief Send a message to the MT and wait for a response.
Alex Young 44:b3980e8ac074 204 * \returns Response message from the MT, or NULL is no response received
Alex Young 44:b3980e8ac074 205 * within 500ms.
Alex Young 44:b3980e8ac074 206 *
Alex Young 44:b3980e8ac074 207 * Blocking behaviour is implemented by waiting for a response to be written
Alex Young 44:b3980e8ac074 208 * to the response queue by the XbusParser.
Alex Young 44:b3980e8ac074 209 */
Alex Young 34:3d7a6519a256 210 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 211 {
Alex Young 34:3d7a6519a256 212 sendMessage(m);
Alex Young 26:665d3624f9ab 213
Alex Young 26:665d3624f9ab 214 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 215 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 216 }
Alex Young 26:665d3624f9ab 217
Alex Young 31:ce1ea9ae861e 218 /*!
Alex Young 31:ce1ea9ae861e 219 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 220 *
Alex Young 49:38ecfbff5391 221 * Will automatically free the memory used by an XbusMessage when going out
Alex Young 31:ce1ea9ae861e 222 * of scope.
Alex Young 31:ce1ea9ae861e 223 */
Alex Young 31:ce1ea9ae861e 224 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 225 {
Alex Young 31:ce1ea9ae861e 226 public:
Alex Young 31:ce1ea9ae861e 227 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 228 : m_message(message)
Alex Young 31:ce1ea9ae861e 229 {
Alex Young 31:ce1ea9ae861e 230 }
Alex Young 31:ce1ea9ae861e 231
Alex Young 31:ce1ea9ae861e 232 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 233 {
Alex Young 31:ce1ea9ae861e 234 if (m_message)
Alex Young 31:ce1ea9ae861e 235 {
Alex Young 31:ce1ea9ae861e 236 if (m_message->data)
Alex Young 31:ce1ea9ae861e 237 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 238 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 239 }
Alex Young 31:ce1ea9ae861e 240 }
Alex Young 31:ce1ea9ae861e 241
Alex Young 31:ce1ea9ae861e 242 private:
Alex Young 31:ce1ea9ae861e 243 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 244 };
Alex Young 26:665d3624f9ab 245
Alex Young 44:b3980e8ac074 246 /*!
Alex Young 44:b3980e8ac074 247 * \brief Dump information from a message to the PC serial port.
Alex Young 44:b3980e8ac074 248 */
Alex Young 29:d9310e7b58b5 249 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 250 {
Alex Young 29:d9310e7b58b5 251 switch (response->mid)
Alex Young 29:d9310e7b58b5 252 {
Alex Young 29:d9310e7b58b5 253 case XMID_GotoConfigAck:
Alex Young 52:e2197b38c029 254 pc.printf("Device went to config mode.\r\n");
Alex Young 29:d9310e7b58b5 255 break;
Alex Young 29:d9310e7b58b5 256
Alex Young 29:d9310e7b58b5 257 case XMID_Error:
Alex Young 29:d9310e7b58b5 258 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 259 break;
Alex Young 29:d9310e7b58b5 260
Alex Young 29:d9310e7b58b5 261 default:
Alex Young 52:e2197b38c029 262 pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 263 break;
Alex Young 29:d9310e7b58b5 264 }
Alex Young 29:d9310e7b58b5 265 }
Alex Young 29:d9310e7b58b5 266
Alex Young 44:b3980e8ac074 267 /*!
Alex Young 44:b3980e8ac074 268 * \brief Send a command to the MT and wait for a response.
Alex Young 44:b3980e8ac074 269 * \param cmdId The XsMessageId of the command to send.
Alex Young 44:b3980e8ac074 270 *
Alex Young 44:b3980e8ac074 271 * Commands are simple messages without and payload data.
Alex Young 44:b3980e8ac074 272 */
Alex Young 26:665d3624f9ab 273 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 274 {
Alex Young 26:665d3624f9ab 275 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 276 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 277 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 278
Alex Young 26:665d3624f9ab 279 if (response)
Alex Young 26:665d3624f9ab 280 {
Alex Young 29:d9310e7b58b5 281 dumpResponse(response);
Alex Young 26:665d3624f9ab 282 }
Alex Young 26:665d3624f9ab 283 else
Alex Young 26:665d3624f9ab 284 {
Alex Young 52:e2197b38c029 285 pc.printf("Timeout waiting for response.\r\n");
Alex Young 26:665d3624f9ab 286 }
Alex Young 11:8593ba137917 287 }
Alex Young 11:8593ba137917 288
Alex Young 44:b3980e8ac074 289 /*!
Alex Young 44:b3980e8ac074 290 * \brief Handle a command from the PC
Alex Young 44:b3980e8ac074 291 *
Alex Young 44:b3980e8ac074 292 * The example application supports single character commands from the host
Alex Young 44:b3980e8ac074 293 * PC to switch between configuration and measurement modes.
Alex Young 44:b3980e8ac074 294 */
Alex Young 11:8593ba137917 295 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 296 {
Alex Young 11:8593ba137917 297 switch (cmd)
Alex Young 11:8593ba137917 298 {
Alex Young 11:8593ba137917 299 case 'c':
Alex Young 11:8593ba137917 300 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 301 break;
Alex Young 11:8593ba137917 302
Alex Young 11:8593ba137917 303 case 'm':
Alex Young 11:8593ba137917 304 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 305 break;
Alex Young 11:8593ba137917 306 }
Alex Young 11:8593ba137917 307 }
Alex Young 11:8593ba137917 308
Alex Young 44:b3980e8ac074 309 /*!
Alex Young 44:b3980e8ac074 310 * \brief XbusParser callback function to handle received messages.
Alex Young 44:b3980e8ac074 311 * \param message Pointer to the last received message.
Alex Young 44:b3980e8ac074 312 *
Alex Young 44:b3980e8ac074 313 * In this example received messages are copied into one of two message
Alex Young 44:b3980e8ac074 314 * queues for later handling by the main thread. Data messages are put
Alex Young 49:38ecfbff5391 315 * in one queue, while all other responses are placed in the second queue.
Alex Young 44:b3980e8ac074 316 * This is done so that data and other messages can be handled separately
Alex Young 44:b3980e8ac074 317 * by the application code.
Alex Young 44:b3980e8ac074 318 */
Alex Young 24:2cc49dc854e3 319 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 320 {
Alex Young 43:470c019246e4 321 XbusMessage* m = g_messagePool.alloc();
Alex Young 43:470c019246e4 322 if (m)
Alex Young 7:c913a7cd5231 323 {
Alex Young 43:470c019246e4 324 memcpy(m, message, sizeof(XbusMessage));
Alex Young 43:470c019246e4 325 if (message->mid == XMID_MtData2)
Alex Young 43:470c019246e4 326 {
Alex Young 43:470c019246e4 327 g_dataQueue.put(m);
Alex Young 43:470c019246e4 328 }
Alex Young 43:470c019246e4 329 else
Alex Young 43:470c019246e4 330 {
Alex Young 43:470c019246e4 331 g_responseQueue.put(m);
Alex Young 43:470c019246e4 332 }
Alex Young 7:c913a7cd5231 333 }
Alex Young 43:470c019246e4 334 else if (message->data)
Alex Young 7:c913a7cd5231 335 {
Alex Young 43:470c019246e4 336 deallocateMessageData(message->data);
Alex Young 25:01356fb59467 337 }
Alex Young 4:98f063b2e6da 338 }
Alex Young 4:98f063b2e6da 339
Alex Young 44:b3980e8ac074 340 /*!
Alex Young 44:b3980e8ac074 341 * \brief Configure the serial ports used to communicate with the motion
Alex Young 44:b3980e8ac074 342 * tracker and host PC.
Alex Young 44:b3980e8ac074 343 */
Alex Young 4:98f063b2e6da 344 static void configureSerialPorts(void)
Alex Young 4:98f063b2e6da 345 {
Alex Young 53:3891f4259901 346 pc.baud(PC_UART_BAUDRATE);
Alex Young 55:9a2d6f947f0d 347 pc.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 348
Alex Young 37:3e87bf647c68 349 mt.baud(115200);
Alex Young 55:9a2d6f947f0d 350 mt.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 351 mt.attach(mtLowLevelHandler, Serial::RxIrq);
Alex Young 4:98f063b2e6da 352 }
Alex Young 4:98f063b2e6da 353
Alex Young 44:b3980e8ac074 354 /*!
Alex Young 44:b3980e8ac074 355 * \brief Read the device ID of the motion tracker.
Alex Young 44:b3980e8ac074 356 */
Alex Young 29:d9310e7b58b5 357 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 358 {
Alex Young 29:d9310e7b58b5 359 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 360 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 361 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 362 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 363 if (didRsp)
Alex Young 29:d9310e7b58b5 364 {
Alex Young 29:d9310e7b58b5 365 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 366 {
Alex Young 29:d9310e7b58b5 367 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 368 }
Alex Young 29:d9310e7b58b5 369 }
Alex Young 29:d9310e7b58b5 370 return deviceId;
Alex Young 29:d9310e7b58b5 371 }
Alex Young 29:d9310e7b58b5 372
Alex Young 44:b3980e8ac074 373 /*!
Alex Young 44:b3980e8ac074 374 * \brief Sets MT output configuration.
Alex Young 44:b3980e8ac074 375 * \param conf Pointer to an array of OutputConfiguration elements.
Alex Young 44:b3980e8ac074 376 * \param elements The number of elements in the configuration array.
Alex Young 44:b3980e8ac074 377 *
Alex Young 44:b3980e8ac074 378 * The response from the device indicates the actual values that will
Alex Young 44:b3980e8ac074 379 * be used by the motion tracker. These may differ from the requested
Alex Young 44:b3980e8ac074 380 * parameters as the motion tracker validates the requested parameters
Alex Young 44:b3980e8ac074 381 * before applying them.
Alex Young 44:b3980e8ac074 382 */
Alex Young 32:fafe0f42d82b 383 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 384 {
Alex Young 32:fafe0f42d82b 385 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 386 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 387 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 388 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 389 {
Alex Young 32:fafe0f42d82b 390 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 391 {
Alex Young 52:e2197b38c029 392 pc.printf("Output configuration set to:\r\n");
Alex Young 32:fafe0f42d82b 393 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 394 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 395 {
Alex Young 52:e2197b38c029 396 pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 397 ++conf;
Alex Young 32:fafe0f42d82b 398 }
Alex Young 32:fafe0f42d82b 399 return true;
Alex Young 29:d9310e7b58b5 400 }
Alex Young 29:d9310e7b58b5 401 else
Alex Young 29:d9310e7b58b5 402 {
Alex Young 32:fafe0f42d82b 403 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 404 }
Alex Young 32:fafe0f42d82b 405 }
Alex Young 32:fafe0f42d82b 406 else
Alex Young 32:fafe0f42d82b 407 {
Alex Young 52:e2197b38c029 408 pc.printf("Failed to set output configuration.\r\n");
Alex Young 32:fafe0f42d82b 409 }
Alex Young 32:fafe0f42d82b 410 return false;
Alex Young 32:fafe0f42d82b 411 }
Alex Young 29:d9310e7b58b5 412
Alex Young 44:b3980e8ac074 413 /*!
Alex Young 44:b3980e8ac074 414 * \brief Sets the motion tracker output configuration based on the function
Alex Young 44:b3980e8ac074 415 * of the attached device.
Alex Young 44:b3980e8ac074 416 *
Alex Young 44:b3980e8ac074 417 * The output configuration depends on the type of MTi-1 device connected.
Alex Young 49:38ecfbff5391 418 * An MTI-1 (IMU) device does not have an onboard orientation filter so
Alex Young 44:b3980e8ac074 419 * cannot output quaternion data, only inertial and magnetic measurement
Alex Young 44:b3980e8ac074 420 * data.
Alex Young 44:b3980e8ac074 421 * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions.
Alex Young 44:b3980e8ac074 422 */
Alex Young 32:fafe0f42d82b 423 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 424 {
Alex Young 32:fafe0f42d82b 425 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 426
Alex Young 32:fafe0f42d82b 427 if (deviceId)
Alex Young 32:fafe0f42d82b 428 {
Alex Young 52:e2197b38c029 429 pc.printf("Found device with ID: %08X.\r\n", deviceId);
Alex Young 40:b77a8c10c76d 430 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 431 {
Alex Young 52:e2197b38c029 432 pc.printf("Device is not an MTi-1 series.\r\n");
Alex Young 40:b77a8c10c76d 433 return false;
Alex Young 40:b77a8c10c76d 434 }
Alex Young 32:fafe0f42d82b 435
Alex Young 40:b77a8c10c76d 436 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 52:e2197b38c029 437 pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 438
Alex Young 40:b77a8c10c76d 439 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 440 {
Alex Young 32:fafe0f42d82b 441 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 442 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 443 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 444 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 445 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 446 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 447 };
Alex Young 32:fafe0f42d82b 448 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 449 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 450 }
Alex Young 29:d9310e7b58b5 451 else
Alex Young 29:d9310e7b58b5 452 {
Alex Young 32:fafe0f42d82b 453 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 454 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 455 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 456 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 457 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 458 };
Alex Young 32:fafe0f42d82b 459 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 460 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 461 }
Alex Young 29:d9310e7b58b5 462 }
Alex Young 32:fafe0f42d82b 463
Alex Young 32:fafe0f42d82b 464 return false;
Alex Young 29:d9310e7b58b5 465 }
Alex Young 29:d9310e7b58b5 466
Alex Young 35:7e519b88c610 467 /*!
Alex Young 35:7e519b88c610 468 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 469 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 470 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 471 *
Alex Young 49:38ecfbff5391 472 * The MTi sends an XMID_Wakeup message once it has completed its bootup
Alex Young 49:38ecfbff5391 473 * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 474 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 475 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 476 */
Alex Young 37:3e87bf647c68 477 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 478 {
Alex Young 37:3e87bf647c68 479 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 480 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 481 {
Alex Young 35:7e519b88c610 482 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 483 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 484 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 485 }
Alex Young 35:7e519b88c610 486 return false;
Alex Young 35:7e519b88c610 487 }
Alex Young 35:7e519b88c610 488
Alex Young 35:7e519b88c610 489 /*!
Alex Young 37:3e87bf647c68 490 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 491 *
Alex Young 37:3e87bf647c68 492 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 493 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 494 * stored output configuration.
Alex Young 37:3e87bf647c68 495 */
Alex Young 37:3e87bf647c68 496 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 497 {
Alex Young 37:3e87bf647c68 498 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 499 sendMessage(&ack);
Alex Young 52:e2197b38c029 500 pc.printf("Device ready for operation.\r\n");
Alex Young 37:3e87bf647c68 501 }
Alex Young 37:3e87bf647c68 502
Alex Young 37:3e87bf647c68 503 /*!
Alex Young 37:3e87bf647c68 504 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 505 *
Alex Young 37:3e87bf647c68 506 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 507 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 508 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 509 */
Alex Young 37:3e87bf647c68 510 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 511 {
Alex Young 37:3e87bf647c68 512 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 513 mtReset = 0;
Alex Young 37:3e87bf647c68 514 Thread::wait(1);
Alex Young 37:3e87bf647c68 515 mtReset = 1;
Alex Young 37:3e87bf647c68 516
Alex Young 37:3e87bf647c68 517 do
Alex Young 37:3e87bf647c68 518 {
Alex Young 37:3e87bf647c68 519 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 520 }
Alex Young 37:3e87bf647c68 521 while (!waitForWakeup(1));
Alex Young 52:e2197b38c029 522 pc.printf("done\r\n");
Alex Young 37:3e87bf647c68 523
Alex Young 37:3e87bf647c68 524 sendWakeupAck();
Alex Young 37:3e87bf647c68 525 }
Alex Young 37:3e87bf647c68 526
Alex Young 37:3e87bf647c68 527 /*!
Alex Young 35:7e519b88c610 528 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 529 *
Alex Young 37:3e87bf647c68 530 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 531 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 532 */
Alex Young 35:7e519b88c610 533 static void wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 534 {
Alex Young 35:7e519b88c610 535 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 536 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 537 {
Alex Young 37:3e87bf647c68 538 sendWakeupAck();
Alex Young 37:3e87bf647c68 539 }
Alex Young 37:3e87bf647c68 540 else
Alex Young 37:3e87bf647c68 541 {
Alex Young 37:3e87bf647c68 542 restoreCommunication();
Alex Young 35:7e519b88c610 543 }
Alex Young 35:7e519b88c610 544 }
Alex Young 35:7e519b88c610 545
Alex Young 38:d8d410d1662c 546 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 547 {
Alex Young 52:e2197b38c029 548 pc.printf("\r\n\r\n\r\n\r\n\r\n");
Alex Young 52:e2197b38c029 549 pc.printf("MTi-1 series embedded example firmware.\r\n");
Alex Young 38:d8d410d1662c 550 }
Alex Young 38:d8d410d1662c 551
Alex Young 38:d8d410d1662c 552 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 553 {
Alex Young 52:e2197b38c029 554 pc.printf("\r\n");
Alex Young 52:e2197b38c029 555 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n");
Alex Young 38:d8d410d1662c 556 }
Alex Young 38:d8d410d1662c 557
Alex Young 44:b3980e8ac074 558 /*!
Alex Young 44:b3980e8ac074 559 * \brief Output the contents of a data message to the PC serial port.
Alex Young 44:b3980e8ac074 560 */
Alex Young 43:470c019246e4 561 static void printMessageData(struct XbusMessage const* message)
Alex Young 43:470c019246e4 562 {
Alex Young 43:470c019246e4 563 if (!message)
Alex Young 43:470c019246e4 564 return;
Alex Young 43:470c019246e4 565
Alex Young 43:470c019246e4 566 pc.printf("MTData2:");
Alex Young 43:470c019246e4 567 uint16_t counter;
Alex Young 43:470c019246e4 568 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 43:470c019246e4 569 {
Alex Young 43:470c019246e4 570 pc.printf(" Packet counter: %5d", counter);
Alex Young 43:470c019246e4 571 }
Alex Young 43:470c019246e4 572 float ori[4];
Alex Young 43:470c019246e4 573 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 43:470c019246e4 574 {
Alex Young 43:470c019246e4 575 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 43:470c019246e4 576 ori[2], ori[3]);
Alex Young 43:470c019246e4 577 }
Alex Young 43:470c019246e4 578 float acc[3];
Alex Young 43:470c019246e4 579 if (XbusMessage_getDataItem(acc, XDI_Acceleration, message))
Alex Young 43:470c019246e4 580 {
Alex Young 43:470c019246e4 581 pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]);
Alex Young 43:470c019246e4 582 }
Alex Young 43:470c019246e4 583 float gyr[3];
Alex Young 43:470c019246e4 584 if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message))
Alex Young 43:470c019246e4 585 {
Alex Young 43:470c019246e4 586 pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]);
Alex Young 43:470c019246e4 587 }
Alex Young 43:470c019246e4 588 float mag[3];
Alex Young 43:470c019246e4 589 if (XbusMessage_getDataItem(mag, XDI_MagneticField, message))
Alex Young 43:470c019246e4 590 {
Alex Young 43:470c019246e4 591 pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]);
Alex Young 43:470c019246e4 592 }
Alex Young 43:470c019246e4 593 uint32_t status;
Alex Young 43:470c019246e4 594 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 43:470c019246e4 595 {
Alex Young 43:470c019246e4 596 pc.printf(" Status:%X", status);
Alex Young 43:470c019246e4 597 }
Alex Young 52:e2197b38c029 598 pc.printf("\r\n");
Alex Young 43:470c019246e4 599 }
Alex Young 43:470c019246e4 600
Alex Young 43:470c019246e4 601
Alex Young 2:b3e402dc11ca 602 int main(void)
Alex Young 2:b3e402dc11ca 603 {
Alex Young 4:98f063b2e6da 604 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 605 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 606 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 607 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 608
Alex Young 4:98f063b2e6da 609 xbusParser = XbusParser_create(&xbusCallback);
Alex Young 4:98f063b2e6da 610 configureSerialPorts();
Alex Young 38:d8d410d1662c 611
Alex Young 38:d8d410d1662c 612 printIntroMessage();
Alex Young 35:7e519b88c610 613 wakeupMotionTracker();
Alex Young 29:d9310e7b58b5 614 if (configureMotionTracker())
Alex Young 5:abc52dd88be2 615 {
Alex Young 38:d8d410d1662c 616 printUsageInstructions();
Alex Young 29:d9310e7b58b5 617 for (;;)
Alex Young 26:665d3624f9ab 618 {
Alex Young 29:d9310e7b58b5 619 while (pc.readable())
Alex Young 29:d9310e7b58b5 620 {
Alex Young 29:d9310e7b58b5 621 handlePcCommand(pc.getc());
Alex Young 29:d9310e7b58b5 622 }
Alex Young 43:470c019246e4 623
Alex Young 43:470c019246e4 624 osEvent ev = g_dataQueue.get(10);
Alex Young 43:470c019246e4 625 if (ev.status == osEventMessage)
Alex Young 43:470c019246e4 626 {
Alex Young 43:470c019246e4 627 XbusMessage const* data = (XbusMessage const*)ev.value.p;
Alex Young 43:470c019246e4 628 XbusMessageMemoryManager janitor(data);
Alex Young 43:470c019246e4 629 printMessageData(data);
Alex Young 43:470c019246e4 630 }
Alex Young 26:665d3624f9ab 631 }
Alex Young 5:abc52dd88be2 632 }
Alex Young 29:d9310e7b58b5 633 else
Alex Young 29:d9310e7b58b5 634 {
Alex Young 52:e2197b38c029 635 pc.printf("Failed to configure motion tracker.\r\n");
Alex Young 29:d9310e7b58b5 636 return -1;
Alex Young 29:d9310e7b58b5 637 }
Alex Young 4:98f063b2e6da 638 }