Add LPC1768

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

Committer:
Alex Young
Date:
Thu May 21 14:41:44 2015 +0200
Revision:
41:504b6821a96f
Parent:
40:b77a8c10c76d
Child:
42:e70756d2d8bc
Add wait in main loop.

This seems to help with response to pc commands.

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 36:21198d933917 14 */
Alex Young 36:21198d933917 15
Alex Young 4:98f063b2e6da 16 #include "mbed.h"
Alex Young 25:01356fb59467 17 #include "rtos.h"
Alex Young 4:98f063b2e6da 18 #include "xbusparser.h"
Alex Young 11:8593ba137917 19 #include "xbusmessage.h"
Alex Young 40:b77a8c10c76d 20 #include "xsdeviceid.h"
Alex Young 4:98f063b2e6da 21
Alex Young 25:01356fb59467 22 #define MEMORY_POOL_SIZE (4)
Alex Young 26:665d3624f9ab 23 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 25:01356fb59467 24 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 25
Alex Young 4:98f063b2e6da 26 static Serial pc(PA_2, PA_3);
Alex Young 4:98f063b2e6da 27 static Serial mt(PB_9, PB_8);
Alex Young 35:7e519b88c610 28 /*!
Alex Young 35:7e519b88c610 29 * \brief MT reset line.
Alex Young 35:7e519b88c610 30 *
Alex Young 35:7e519b88c610 31 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 32 */
Alex Young 35:7e519b88c610 33 static DigitalOut mtReset(PA_10, 0);
Alex Young 4:98f063b2e6da 34 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 35
Alex Young 25:01356fb59467 36 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 25:01356fb59467 37 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 26:665d3624f9ab 38 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 39
Alex Young 25:01356fb59467 40 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 41 {
Alex Young 25:01356fb59467 42 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 43 }
Alex Young 25:01356fb59467 44
Alex Young 25:01356fb59467 45 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 46 {
Alex Young 25:01356fb59467 47 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 48 }
Alex Young 4:98f063b2e6da 49
Alex Young 4:98f063b2e6da 50 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 51 {
Alex Young 4:98f063b2e6da 52 while (mt.readable())
Alex Young 4:98f063b2e6da 53 {
Alex Young 4:98f063b2e6da 54 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 55 }
Alex Young 4:98f063b2e6da 56 }
Alex Young 4:98f063b2e6da 57
Alex Young 34:3d7a6519a256 58 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 59 {
Alex Young 26:665d3624f9ab 60 uint8_t buf[64];
Alex Young 26:665d3624f9ab 61 size_t rawLength = XbusMessage_format(buf, m);
Alex Young 11:8593ba137917 62 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 63 {
Alex Young 11:8593ba137917 64 mt.putc(buf[i]);
Alex Young 11:8593ba137917 65 }
Alex Young 34:3d7a6519a256 66 }
Alex Young 34:3d7a6519a256 67
Alex Young 34:3d7a6519a256 68 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 69 {
Alex Young 34:3d7a6519a256 70 sendMessage(m);
Alex Young 26:665d3624f9ab 71
Alex Young 26:665d3624f9ab 72 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 73 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 74 }
Alex Young 26:665d3624f9ab 75
Alex Young 31:ce1ea9ae861e 76 /*!
Alex Young 31:ce1ea9ae861e 77 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 78 *
Alex Young 31:ce1ea9ae861e 79 * Will automatically free the memory used by a XbusMessage when going out
Alex Young 31:ce1ea9ae861e 80 * of scope.
Alex Young 31:ce1ea9ae861e 81 */
Alex Young 31:ce1ea9ae861e 82 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 83 {
Alex Young 31:ce1ea9ae861e 84 public:
Alex Young 31:ce1ea9ae861e 85 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 86 : m_message(message)
Alex Young 31:ce1ea9ae861e 87 {
Alex Young 31:ce1ea9ae861e 88 }
Alex Young 31:ce1ea9ae861e 89
Alex Young 31:ce1ea9ae861e 90 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 91 {
Alex Young 31:ce1ea9ae861e 92 if (m_message)
Alex Young 31:ce1ea9ae861e 93 {
Alex Young 31:ce1ea9ae861e 94 if (m_message->data)
Alex Young 31:ce1ea9ae861e 95 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 96 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 97 }
Alex Young 31:ce1ea9ae861e 98 }
Alex Young 31:ce1ea9ae861e 99
Alex Young 31:ce1ea9ae861e 100 private:
Alex Young 31:ce1ea9ae861e 101 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 102 };
Alex Young 26:665d3624f9ab 103
Alex Young 29:d9310e7b58b5 104 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 105 {
Alex Young 29:d9310e7b58b5 106 switch (response->mid)
Alex Young 29:d9310e7b58b5 107 {
Alex Young 29:d9310e7b58b5 108 case XMID_GotoConfigAck:
Alex Young 39:9014c5236864 109 pc.printf("Device went to config mode.\n");
Alex Young 29:d9310e7b58b5 110 break;
Alex Young 29:d9310e7b58b5 111
Alex Young 29:d9310e7b58b5 112 case XMID_Error:
Alex Young 29:d9310e7b58b5 113 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 114 break;
Alex Young 29:d9310e7b58b5 115
Alex Young 29:d9310e7b58b5 116 default:
Alex Young 29:d9310e7b58b5 117 pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 118 break;
Alex Young 29:d9310e7b58b5 119 }
Alex Young 29:d9310e7b58b5 120 }
Alex Young 29:d9310e7b58b5 121
Alex Young 26:665d3624f9ab 122 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 123 {
Alex Young 26:665d3624f9ab 124 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 125 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 126 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 127
Alex Young 26:665d3624f9ab 128 if (response)
Alex Young 26:665d3624f9ab 129 {
Alex Young 29:d9310e7b58b5 130 dumpResponse(response);
Alex Young 26:665d3624f9ab 131 }
Alex Young 26:665d3624f9ab 132 else
Alex Young 26:665d3624f9ab 133 {
Alex Young 26:665d3624f9ab 134 pc.printf("Timeout waiting for response.\n");
Alex Young 26:665d3624f9ab 135 }
Alex Young 11:8593ba137917 136 }
Alex Young 11:8593ba137917 137
Alex Young 11:8593ba137917 138 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 139 {
Alex Young 11:8593ba137917 140 switch (cmd)
Alex Young 11:8593ba137917 141 {
Alex Young 11:8593ba137917 142 case 'c':
Alex Young 11:8593ba137917 143 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 144 break;
Alex Young 11:8593ba137917 145
Alex Young 11:8593ba137917 146 case 'm':
Alex Young 11:8593ba137917 147 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 148 break;
Alex Young 11:8593ba137917 149 }
Alex Young 11:8593ba137917 150 }
Alex Young 11:8593ba137917 151
Alex Young 24:2cc49dc854e3 152 static void handleDataMessage(struct XbusMessage const* message)
Alex Young 24:2cc49dc854e3 153 {
Alex Young 24:2cc49dc854e3 154 pc.printf("MTData2:");
Alex Young 24:2cc49dc854e3 155 uint16_t counter;
Alex Young 24:2cc49dc854e3 156 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 24:2cc49dc854e3 157 {
Alex Young 24:2cc49dc854e3 158 pc.printf(" Packet counter: %5d", counter);
Alex Young 24:2cc49dc854e3 159 }
Alex Young 24:2cc49dc854e3 160 float ori[4];
Alex Young 24:2cc49dc854e3 161 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 24:2cc49dc854e3 162 {
Alex Young 24:2cc49dc854e3 163 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 24:2cc49dc854e3 164 ori[2], ori[3]);
Alex Young 24:2cc49dc854e3 165 }
Alex Young 24:2cc49dc854e3 166 uint32_t status;
Alex Young 24:2cc49dc854e3 167 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 24:2cc49dc854e3 168 {
Alex Young 24:2cc49dc854e3 169 pc.printf(" Status:%X", status);
Alex Young 24:2cc49dc854e3 170 }
Alex Young 24:2cc49dc854e3 171 pc.printf("\n");
Alex Young 26:665d3624f9ab 172 deallocateMessageData(message->data);
Alex Young 24:2cc49dc854e3 173 }
Alex Young 24:2cc49dc854e3 174
Alex Young 24:2cc49dc854e3 175 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 176 {
Alex Young 15:558d279addd9 177 if (message->mid == XMID_MtData2)
Alex Young 7:c913a7cd5231 178 {
Alex Young 24:2cc49dc854e3 179 handleDataMessage(message);
Alex Young 7:c913a7cd5231 180 }
Alex Young 7:c913a7cd5231 181 else
Alex Young 7:c913a7cd5231 182 {
Alex Young 26:665d3624f9ab 183 XbusMessage* m = g_messagePool.alloc();
Alex Young 26:665d3624f9ab 184 memcpy(m, message, sizeof(XbusMessage));
Alex Young 26:665d3624f9ab 185 g_responseQueue.put(m);
Alex Young 25:01356fb59467 186 }
Alex Young 4:98f063b2e6da 187 }
Alex Young 4:98f063b2e6da 188
Alex Young 4:98f063b2e6da 189 static void configureSerialPorts(void)
Alex Young 4:98f063b2e6da 190 {
Alex Young 4:98f063b2e6da 191 pc.baud(921600);
Alex Young 4:98f063b2e6da 192 pc.format(8, Serial::None, 2);
Alex Young 4:98f063b2e6da 193
Alex Young 37:3e87bf647c68 194 mt.baud(115200);
Alex Young 4:98f063b2e6da 195 mt.format(8, Serial::None, 2);
Alex Young 4:98f063b2e6da 196 mt.attach(mtLowLevelHandler, Serial::RxIrq);
Alex Young 4:98f063b2e6da 197 }
Alex Young 4:98f063b2e6da 198
Alex Young 29:d9310e7b58b5 199 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 200 {
Alex Young 29:d9310e7b58b5 201 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 202 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 203 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 204 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 205 if (didRsp)
Alex Young 29:d9310e7b58b5 206 {
Alex Young 29:d9310e7b58b5 207 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 208 {
Alex Young 29:d9310e7b58b5 209 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 210 }
Alex Young 29:d9310e7b58b5 211 }
Alex Young 29:d9310e7b58b5 212 return deviceId;
Alex Young 29:d9310e7b58b5 213 }
Alex Young 29:d9310e7b58b5 214
Alex Young 32:fafe0f42d82b 215 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 216 {
Alex Young 32:fafe0f42d82b 217 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 218 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 219 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 220 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 221 {
Alex Young 32:fafe0f42d82b 222 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 223 {
Alex Young 32:fafe0f42d82b 224 pc.printf("Output configuration set to:\n");
Alex Young 32:fafe0f42d82b 225 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 226 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 227 {
Alex Young 32:fafe0f42d82b 228 pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 229 ++conf;
Alex Young 32:fafe0f42d82b 230 }
Alex Young 32:fafe0f42d82b 231 return true;
Alex Young 29:d9310e7b58b5 232 }
Alex Young 29:d9310e7b58b5 233 else
Alex Young 29:d9310e7b58b5 234 {
Alex Young 32:fafe0f42d82b 235 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 236 }
Alex Young 32:fafe0f42d82b 237 }
Alex Young 32:fafe0f42d82b 238 else
Alex Young 32:fafe0f42d82b 239 {
Alex Young 32:fafe0f42d82b 240 pc.printf("Failed to set output configuration.\n");
Alex Young 32:fafe0f42d82b 241 }
Alex Young 32:fafe0f42d82b 242 return false;
Alex Young 32:fafe0f42d82b 243 }
Alex Young 29:d9310e7b58b5 244
Alex Young 32:fafe0f42d82b 245 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 246 {
Alex Young 32:fafe0f42d82b 247 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 248
Alex Young 32:fafe0f42d82b 249 if (deviceId)
Alex Young 32:fafe0f42d82b 250 {
Alex Young 40:b77a8c10c76d 251 pc.printf("Found device with ID: %08X.\n", deviceId);
Alex Young 40:b77a8c10c76d 252 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 253 {
Alex Young 40:b77a8c10c76d 254 pc.printf("Device is not an MTi-1 series.\n");
Alex Young 40:b77a8c10c76d 255 return false;
Alex Young 40:b77a8c10c76d 256 }
Alex Young 32:fafe0f42d82b 257
Alex Young 40:b77a8c10c76d 258 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 40:b77a8c10c76d 259 pc.printf("Device is an MTi-%d: %s.\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 260
Alex Young 40:b77a8c10c76d 261 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 262 {
Alex Young 32:fafe0f42d82b 263 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 264 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 265 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 266 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 267 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 268 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 269 };
Alex Young 32:fafe0f42d82b 270 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 271 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 272 }
Alex Young 29:d9310e7b58b5 273 else
Alex Young 29:d9310e7b58b5 274 {
Alex Young 32:fafe0f42d82b 275 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 276 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 277 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 278 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 279 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 280 };
Alex Young 32:fafe0f42d82b 281 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 282 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 283 }
Alex Young 29:d9310e7b58b5 284 }
Alex Young 32:fafe0f42d82b 285
Alex Young 32:fafe0f42d82b 286 return false;
Alex Young 29:d9310e7b58b5 287 }
Alex Young 29:d9310e7b58b5 288
Alex Young 35:7e519b88c610 289 /*!
Alex Young 35:7e519b88c610 290 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 291 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 292 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 293 *
Alex Young 35:7e519b88c610 294 * The MTi sends a XMID_Wakeup message once it has completed its bootup
Alex Young 35:7e519b88c610 295 * procedure. If this is acknowledged by a XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 296 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 297 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 298 */
Alex Young 37:3e87bf647c68 299 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 300 {
Alex Young 37:3e87bf647c68 301 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 302 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 303 {
Alex Young 35:7e519b88c610 304 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 305 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 306 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 307 }
Alex Young 35:7e519b88c610 308 return false;
Alex Young 35:7e519b88c610 309 }
Alex Young 35:7e519b88c610 310
Alex Young 35:7e519b88c610 311 /*!
Alex Young 37:3e87bf647c68 312 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 313 *
Alex Young 37:3e87bf647c68 314 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 315 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 316 * stored output configuration.
Alex Young 37:3e87bf647c68 317 */
Alex Young 37:3e87bf647c68 318 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 319 {
Alex Young 37:3e87bf647c68 320 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 321 sendMessage(&ack);
Alex Young 37:3e87bf647c68 322 pc.printf("Device ready for operation.\n");
Alex Young 37:3e87bf647c68 323 }
Alex Young 37:3e87bf647c68 324
Alex Young 37:3e87bf647c68 325 /*!
Alex Young 37:3e87bf647c68 326 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 327 *
Alex Young 37:3e87bf647c68 328 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 329 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 330 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 331 */
Alex Young 37:3e87bf647c68 332 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 333 {
Alex Young 37:3e87bf647c68 334 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 335 mtReset = 0;
Alex Young 37:3e87bf647c68 336 Thread::wait(1);
Alex Young 37:3e87bf647c68 337 mtReset = 1;
Alex Young 37:3e87bf647c68 338
Alex Young 37:3e87bf647c68 339 do
Alex Young 37:3e87bf647c68 340 {
Alex Young 37:3e87bf647c68 341 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 342 }
Alex Young 37:3e87bf647c68 343 while (!waitForWakeup(1));
Alex Young 37:3e87bf647c68 344 pc.printf("done\n");
Alex Young 37:3e87bf647c68 345
Alex Young 37:3e87bf647c68 346 sendWakeupAck();
Alex Young 37:3e87bf647c68 347 }
Alex Young 37:3e87bf647c68 348
Alex Young 37:3e87bf647c68 349 /*!
Alex Young 35:7e519b88c610 350 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 351 *
Alex Young 37:3e87bf647c68 352 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 353 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 354 */
Alex Young 35:7e519b88c610 355 static void wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 356 {
Alex Young 35:7e519b88c610 357 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 358 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 359 {
Alex Young 37:3e87bf647c68 360 sendWakeupAck();
Alex Young 37:3e87bf647c68 361 }
Alex Young 37:3e87bf647c68 362 else
Alex Young 37:3e87bf647c68 363 {
Alex Young 37:3e87bf647c68 364 restoreCommunication();
Alex Young 35:7e519b88c610 365 }
Alex Young 35:7e519b88c610 366 }
Alex Young 35:7e519b88c610 367
Alex Young 38:d8d410d1662c 368 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 369 {
Alex Young 38:d8d410d1662c 370 pc.printf("\n\n\n\n\n");
Alex Young 38:d8d410d1662c 371 pc.printf("MTi-1 series embedded example firmware.\n");
Alex Young 38:d8d410d1662c 372 }
Alex Young 38:d8d410d1662c 373
Alex Young 38:d8d410d1662c 374 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 375 {
Alex Young 38:d8d410d1662c 376 pc.printf("\n");
Alex Young 38:d8d410d1662c 377 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\n");
Alex Young 38:d8d410d1662c 378 }
Alex Young 38:d8d410d1662c 379
Alex Young 2:b3e402dc11ca 380 int main(void)
Alex Young 2:b3e402dc11ca 381 {
Alex Young 4:98f063b2e6da 382 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 383 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 384 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 385 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 386
Alex Young 4:98f063b2e6da 387 xbusParser = XbusParser_create(&xbusCallback);
Alex Young 4:98f063b2e6da 388 configureSerialPorts();
Alex Young 38:d8d410d1662c 389
Alex Young 38:d8d410d1662c 390 printIntroMessage();
Alex Young 35:7e519b88c610 391 wakeupMotionTracker();
Alex Young 29:d9310e7b58b5 392 if (configureMotionTracker())
Alex Young 5:abc52dd88be2 393 {
Alex Young 38:d8d410d1662c 394 printUsageInstructions();
Alex Young 29:d9310e7b58b5 395 for (;;)
Alex Young 26:665d3624f9ab 396 {
Alex Young 29:d9310e7b58b5 397 while (pc.readable())
Alex Young 29:d9310e7b58b5 398 {
Alex Young 29:d9310e7b58b5 399 handlePcCommand(pc.getc());
Alex Young 29:d9310e7b58b5 400 }
Alex Young 41:504b6821a96f 401 Thread::wait(10);
Alex Young 26:665d3624f9ab 402 }
Alex Young 5:abc52dd88be2 403 }
Alex Young 29:d9310e7b58b5 404 else
Alex Young 29:d9310e7b58b5 405 {
Alex Young 29:d9310e7b58b5 406 pc.printf("Failed to configure motion tracker.\n");
Alex Young 29:d9310e7b58b5 407 return -1;
Alex Young 29:d9310e7b58b5 408 }
Alex Young 4:98f063b2e6da 409 }