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@66:f12dec1c0c3d, 2015-10-06 (annotated)

Committer:
tjerkhofmeijer
Date:
Tue Oct 06 10:29:07 2015 +0200
Revision:
66:f12dec1c0c3d
Parent:
65:38c908d1b515
Child:
68:00b3b39c60a3
Child:
69:6d6dbeefd196
Added support for I2C/SPI on EA-LP4088 platform.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex Young 36:21198d933917 1 /*!
Alex Young 36:21198d933917 2 * \file
Alex Young 61:b9d3e7e5ba0c 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
Alex Young 61:b9d3e7e5ba0c 4 *
Alex Young 61:b9d3e7e5ba0c 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
Alex Young 61:b9d3e7e5ba0c 6 * use this file except in compliance with the License. You may obtain a copy
Alex Young 61:b9d3e7e5ba0c 7 * of the License at
Alex Young 36:21198d933917 8 *
Alex Young 61:b9d3e7e5ba0c 9 * http://www.apache.org/licenses/LICENSE-2.0
Alex Young 36:21198d933917 10 *
Alex Young 61:b9d3e7e5ba0c 11 * Unless required by applicable law or agreed to in writing, software
Alex Young 61:b9d3e7e5ba0c 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
Alex Young 61:b9d3e7e5ba0c 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
Alex Young 61:b9d3e7e5ba0c 14 * License for the specific language governing permissions and limitations
Alex Young 61:b9d3e7e5ba0c 15 * under the License.
Alex Young 61:b9d3e7e5ba0c 16 *
Alex Young 54:2e9bb1390c9c 17 * \page Overview Firmware overview
Alex Young 54:2e9bb1390c9c 18 *
Alex Young 54:2e9bb1390c9c 19 * Example firmware for communicating with an Xsens MTi-1 series motion
Alex Young 54:2e9bb1390c9c 20 * tracker (MT).
Alex Young 54:2e9bb1390c9c 21 *
Alex Young 54:2e9bb1390c9c 22 * The firmware uses the mbed-rtos library to provide RTOS features such as
Alex Young 54:2e9bb1390c9c 23 * memory pools and queues. A single thread (main) is used with reception of
tjerkhofmeijer 64:8a0f00a064bb 24 * data from the motion tracker.
Alex Young 54:2e9bb1390c9c 25 *
Alex Young 54:2e9bb1390c9c 26 * \section Hardware setup
Alex Young 54:2e9bb1390c9c 27 * The firmware has been tested with a ST Nucleo F302R8 development board.
Alex Young 54:2e9bb1390c9c 28 * The Nucleo board should be connected to the MTi1 development board using the
Alex Young 54:2e9bb1390c9c 29 * Arduino compatible headers on the Nucleo board as follows:
Alex Young 54:2e9bb1390c9c 30 *
tjerkhofmeijer 64:8a0f00a064bb 31 * | Nucleo pin | MTi1 func. | MTi1 dev. pin | Used for PSEL |
tjerkhofmeijer 64:8a0f00a064bb 32 * |------------|-------------|---------------|---------------|
tjerkhofmeijer 64:8a0f00a064bb 33 * | 5V | VDD | P300-1 | Any |
tjerkhofmeijer 64:8a0f00a064bb 34 * | IORef | VDDIO | P300-2 | Any |
tjerkhofmeijer 64:8a0f00a064bb 35 * | GND | GND | P300-3 | Any |
tjerkhofmeijer 64:8a0f00a064bb 36 * | D2 | nRST | P300-5 | Any |
tjerkhofmeijer 64:8a0f00a064bb 37 * | SCL/D15 | UART_TX/SCL | P300-9 | UART / I2C |
tjerkhofmeijer 64:8a0f00a064bb 38 * | SDA/D14 | UART_RX/SDA | P300-11 | UART / I2C |
tjerkhofmeijer 64:8a0f00a064bb 39 * | D3 | DRDY | P300-15 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 40 * | SCK/D13 | SCK/ADD0 | P300-17 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 41 * | MISO/D12 | MISO/ADD1 | P300-19 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 42 * | MOSI/D11 | MOSI/ADD2 | P300-21 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 43 * | CS/D10 | nCS | P300-23 | SPI |
Alex Young 54:2e9bb1390c9c 44 *
Alex Young 54:2e9bb1390c9c 45 * Communication with the host PC is achieved using the built-in USB serial
tjerkhofmeijer 64:8a0f00a064bb 46 * bridge of the Nucleo board. Communication with the MT is achieved through
tjerkhofmeijer 64:8a0f00a064bb 47 * either the UART, I2C or SPI interface. The active interface is chosen
tjerkhofmeijer 64:8a0f00a064bb 48 * on the MT's side by use of the PSEL0 and PSEL1 switch on the MTi1
tjerkhofmeijer 64:8a0f00a064bb 49 * development board. This example needs to be built with the matching
tjerkhofmeijer 64:8a0f00a064bb 50 * MTI_USES_xxxx_INTERFACE define set (see below)
Alex Young 54:2e9bb1390c9c 51 *
Alex Young 54:2e9bb1390c9c 52 * \subsection Porting
tjerkhofmeijer 64:8a0f00a064bb 53 * To port to a different mbed platform the following pin definitions need
tjerkhofmeijer 64:8a0f00a064bb 54 * to be updated.
tjerkhofmeijer 64:8a0f00a064bb 55 * In all cases: the reset line pin
tjerkhofmeijer 64:8a0f00a064bb 56 * For UART: the serial Rx/Tx lines UART_TX and UART_RX
tjerkhofmeijer 64:8a0f00a064bb 57 * For I2C: the SCL,SDA,DRDY and address lines
tjerkhofmeijer 64:8a0f00a064bb 58 * For SPI: The SCK,MISO,MOSI,nCS and DRDY lines
Alex Young 54:2e9bb1390c9c 59 *
Alex Young 54:2e9bb1390c9c 60 * \section Firmware Operation
Alex Young 54:2e9bb1390c9c 61 * The firmware starts by initializing the serial ports used to communicate
Alex Young 54:2e9bb1390c9c 62 * with the host PC and with the MT. During the initialization the MT is held
Alex Young 54:2e9bb1390c9c 63 * in reset using the nRST input.
Alex Young 54:2e9bb1390c9c 64 *
Alex Young 54:2e9bb1390c9c 65 * Once the firmware is ready to communicate with the MT the reset line is
Alex Young 54:2e9bb1390c9c 66 * released and the firmware waits for a wakeup message from the MT. If this is
Alex Young 54:2e9bb1390c9c 67 * not received within 1 second the firmware will try to restore communication
Alex Young 54:2e9bb1390c9c 68 * with the MT using a special restore communication procedure.
Alex Young 54:2e9bb1390c9c 69 *
Alex Young 54:2e9bb1390c9c 70 * When the MT is ready for communication the firmware requests the device ID
Alex Young 54:2e9bb1390c9c 71 * of the MT, and based on this determines which type of MTi is connected.
Alex Young 54:2e9bb1390c9c 72 * If the MT is an MTi-1 then it will be configured to send inertial and
tjerkhofmeijer 56:041d3d9c300a 73 * magnetic measurement data. MTi-2 and MTi-3 devices have onboard orientation
Alex Young 54:2e9bb1390c9c 74 * estimation and will therefore be configured to provide quaternion output.
Alex Young 36:21198d933917 75 */
Alex Young 36:21198d933917 76
Alex Young 4:98f063b2e6da 77 #include "mbed.h"
Alex Young 25:01356fb59467 78 #include "rtos.h"
Alex Young 4:98f063b2e6da 79 #include "xbusparser.h"
Alex Young 11:8593ba137917 80 #include "xbusmessage.h"
Alex Young 40:b77a8c10c76d 81 #include "xsdeviceid.h"
tjerkhofmeijer 64:8a0f00a064bb 82 #include "xbusdef.h"
tjerkhofmeijer 64:8a0f00a064bb 83
tjerkhofmeijer 64:8a0f00a064bb 84 // Select communication interface to use for MTi
tjerkhofmeijer 64:8a0f00a064bb 85 #define MTI_USES_I2C_INTERFACE
tjerkhofmeijer 64:8a0f00a064bb 86
tjerkhofmeijer 64:8a0f00a064bb 87 #if !(defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE) || defined(MTI_USES_UART_INTERFACE))
tjerkhofmeijer 64:8a0f00a064bb 88 #error "Must select communication interface by defining one of: MTI_USES_I2C_INTERFACE, MTI_USES_SPI_INTERFACE or MTI_USES_UART_INTERFACE"
tjerkhofmeijer 64:8a0f00a064bb 89 #endif
Alex Young 4:98f063b2e6da 90
Alex Young 59:f9166c19451f 91 #if defined(TARGET_NUCLEO_F302R8)
tjerkhofmeijer 64:8a0f00a064bb 92
tjerkhofmeijer 66:f12dec1c0c3d 93 #define PC_TX PA_2
tjerkhofmeijer 66:f12dec1c0c3d 94 #define PC_RX PA_3
tjerkhofmeijer 66:f12dec1c0c3d 95 #define MT_TX PB_9
tjerkhofmeijer 66:f12dec1c0c3d 96 #define MT_RX PB_8
tjerkhofmeijer 66:f12dec1c0c3d 97 #define MT_SDA PB_9
tjerkhofmeijer 66:f12dec1c0c3d 98 #define MT_SCL PB_8
tjerkhofmeijer 66:f12dec1c0c3d 99 #define MT_ADD0 PB_13
tjerkhofmeijer 66:f12dec1c0c3d 100 #define MT_ADD1 PB_14
tjerkhofmeijer 66:f12dec1c0c3d 101 #define MT_ADD2 PB_15
tjerkhofmeijer 66:f12dec1c0c3d 102 #define MT_MOSI PB_15
tjerkhofmeijer 66:f12dec1c0c3d 103 #define MT_MISO PB_14
tjerkhofmeijer 66:f12dec1c0c3d 104 #define MT_SCLK PB_13
tjerkhofmeijer 66:f12dec1c0c3d 105 #define MT_nCS PB_6
tjerkhofmeijer 66:f12dec1c0c3d 106 #define MT_NRESET PA_10
tjerkhofmeijer 66:f12dec1c0c3d 107 #define MT_DRDY PB_3
tjerkhofmeijer 64:8a0f00a064bb 108
Alex Young 59:f9166c19451f 109 #elif defined(TARGET_KL46Z)
tjerkhofmeijer 64:8a0f00a064bb 110
tjerkhofmeijer 66:f12dec1c0c3d 111 #define PC_TX USBTX
tjerkhofmeijer 66:f12dec1c0c3d 112 #define PC_RX USBRX
tjerkhofmeijer 66:f12dec1c0c3d 113 #define MT_TX PTE0
tjerkhofmeijer 66:f12dec1c0c3d 114 #define MT_RX PTE1
tjerkhofmeijer 66:f12dec1c0c3d 115 #define MT_SDA PTE0
tjerkhofmeijer 66:f12dec1c0c3d 116 #define MT_SCL PTE1
tjerkhofmeijer 66:f12dec1c0c3d 117 #define MT_ADD0 PTD5
tjerkhofmeijer 66:f12dec1c0c3d 118 #define MT_ADD1 PTD7
tjerkhofmeijer 66:f12dec1c0c3d 119 #define MT_ADD2 PTD6
tjerkhofmeijer 66:f12dec1c0c3d 120 #define MT_MOSI PTD6
tjerkhofmeijer 66:f12dec1c0c3d 121 #define MT_MISO PTD7
tjerkhofmeijer 66:f12dec1c0c3d 122 #define MT_SCLK PTD5
tjerkhofmeijer 66:f12dec1c0c3d 123 #define MT_nCS PTD4
tjerkhofmeijer 66:f12dec1c0c3d 124 #define MT_NRESET PTD3
tjerkhofmeijer 66:f12dec1c0c3d 125 #define MT_DRDY PTD2
tjerkhofmeijer 64:8a0f00a064bb 126
Alex Young 60:ab9dad3560d3 127 #elif defined(TARGET_LPC4088)
tjerkhofmeijer 64:8a0f00a064bb 128
tjerkhofmeijer 66:f12dec1c0c3d 129 #define PC_TX USBTX
tjerkhofmeijer 66:f12dec1c0c3d 130 #define PC_RX USBRX
tjerkhofmeijer 66:f12dec1c0c3d 131 #define MT_TX p9
tjerkhofmeijer 66:f12dec1c0c3d 132 #define MT_RX p10
tjerkhofmeijer 66:f12dec1c0c3d 133 #define MT_SDA p9
tjerkhofmeijer 66:f12dec1c0c3d 134 #define MT_SCL p10
tjerkhofmeijer 66:f12dec1c0c3d 135 #define MT_ADD0 p13
tjerkhofmeijer 66:f12dec1c0c3d 136 #define MT_ADD1 p12
tjerkhofmeijer 66:f12dec1c0c3d 137 #define MT_ADD2 p11
tjerkhofmeijer 66:f12dec1c0c3d 138 #define MT_MOSI p11
tjerkhofmeijer 66:f12dec1c0c3d 139 #define MT_MISO p12
tjerkhofmeijer 66:f12dec1c0c3d 140 #define MT_SCLK p13
tjerkhofmeijer 66:f12dec1c0c3d 141 #define MT_nCS p14
tjerkhofmeijer 66:f12dec1c0c3d 142 #define MT_NRESET p8
tjerkhofmeijer 66:f12dec1c0c3d 143 #define MT_DRDY p15
tjerkhofmeijer 64:8a0f00a064bb 144
Alex Young 57:c3c85ebb7375 145 #else
tjerkhofmeijer 66:f12dec1c0c3d 146
Alex Young 57:c3c85ebb7375 147 #error "Support for selected mbed platform has not been added."
tjerkhofmeijer 66:f12dec1c0c3d 148
Alex Young 57:c3c85ebb7375 149 #endif
Alex Young 57:c3c85ebb7375 150
Alex Young 57:c3c85ebb7375 151
Alex Young 44:b3980e8ac074 152 /*!
Alex Young 53:3891f4259901 153 * \brief Baudrate used to communicate with host PC.
Alex Young 53:3891f4259901 154 */
Alex Young 53:3891f4259901 155 #define PC_UART_BAUDRATE (921600)
Alex Young 53:3891f4259901 156
Alex Young 53:3891f4259901 157 /*!
Alex Young 44:b3980e8ac074 158 * \brief The number of items to hold in the memory pools.
Alex Young 44:b3980e8ac074 159 */
Alex Young 25:01356fb59467 160 #define MEMORY_POOL_SIZE (4)
Alex Young 44:b3980e8ac074 161 /*!
Alex Young 44:b3980e8ac074 162 * \brief The size of the queue used for device responses.
Alex Young 44:b3980e8ac074 163 * This is set to one as in typical Xbus operation each command receives a
Alex Young 44:b3980e8ac074 164 * response before the next command is sent.
Alex Young 44:b3980e8ac074 165 */
Alex Young 26:665d3624f9ab 166 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 44:b3980e8ac074 167 /*!
Alex Young 44:b3980e8ac074 168 * \brief The size of the queue used for data messages.
Alex Young 44:b3980e8ac074 169 * This is set to two to allow some overlap between printing received data to
Alex Young 44:b3980e8ac074 170 * the PC serial port and the reception of the subsequent data packet. In
Alex Young 44:b3980e8ac074 171 * more complex applications it might be necessary to increase this if
Alex Young 44:b3980e8ac074 172 * message processing might occasionally require more time than normal.
Alex Young 44:b3980e8ac074 173 */
Alex Young 43:470c019246e4 174 #define DATA_QUEUE_SIZE (2)
Alex Young 44:b3980e8ac074 175 /*!
Alex Young 49:38ecfbff5391 176 * \brief The maximum size of an xbus message supported by the application.
Alex Young 44:b3980e8ac074 177 * This is the size of the message buffers in the message data memory pool.
Alex Young 44:b3980e8ac074 178 */
Alex Young 25:01356fb59467 179 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 180
Alex Young 44:b3980e8ac074 181 /*! \brief Serial port for communication with the host PC. */
Alex Young 57:c3c85ebb7375 182 static Serial pc(PC_TX, PC_RX);
tjerkhofmeijer 64:8a0f00a064bb 183
tjerkhofmeijer 64:8a0f00a064bb 184 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 185 /*!
tjerkhofmeijer 64:8a0f00a064bb 186 * \brief I2C master used for communication with the MT.
tjerkhofmeijer 64:8a0f00a064bb 187 */
tjerkhofmeijer 64:8a0f00a064bb 188 static I2C mt(MT_SDA, MT_SCL);
tjerkhofmeijer 64:8a0f00a064bb 189 static DigitalOut add0(MT_ADD0);
tjerkhofmeijer 64:8a0f00a064bb 190 static DigitalOut add1(MT_ADD1);
tjerkhofmeijer 64:8a0f00a064bb 191 static DigitalOut add2(MT_ADD2);
tjerkhofmeijer 64:8a0f00a064bb 192
tjerkhofmeijer 64:8a0f00a064bb 193 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 194 /*! \brief SPI master used for communication with the MT. */
tjerkhofmeijer 64:8a0f00a064bb 195 static SPI mt(MT_MOSI, MT_MISO, MT_SCLK);
tjerkhofmeijer 64:8a0f00a064bb 196
tjerkhofmeijer 64:8a0f00a064bb 197 /*! \brief Chip select line for the MT. */
tjerkhofmeijer 64:8a0f00a064bb 198 static DigitalOut cs(MT_nCS, 1);
tjerkhofmeijer 64:8a0f00a064bb 199
tjerkhofmeijer 64:8a0f00a064bb 200 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 58:db60ef0a0d16 201 /*!
Alex Young 58:db60ef0a0d16 202 * \brief Serial port for communication with the MT.
Alex Young 58:db60ef0a0d16 203 *
Alex Young 58:db60ef0a0d16 204 * We use a RawSerial port as the Stream inteface used by the regular
Alex Young 58:db60ef0a0d16 205 * Serial class can have problems with the RTOS when using interrupts.
Alex Young 58:db60ef0a0d16 206 */
Alex Young 58:db60ef0a0d16 207 static RawSerial mt(MT_TX, MT_RX);
tjerkhofmeijer 64:8a0f00a064bb 208 #endif
tjerkhofmeijer 64:8a0f00a064bb 209
tjerkhofmeijer 64:8a0f00a064bb 210 #if defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 211 /*!
tjerkhofmeijer 64:8a0f00a064bb 212 * \brief Interrput line used by MT to signal that data is available.
tjerkhofmeijer 64:8a0f00a064bb 213 */
tjerkhofmeijer 64:8a0f00a064bb 214 static InterruptIn drdy(MT_DRDY);
tjerkhofmeijer 64:8a0f00a064bb 215 #endif
tjerkhofmeijer 64:8a0f00a064bb 216
Alex Young 35:7e519b88c610 217 /*!
Alex Young 35:7e519b88c610 218 * \brief MT reset line.
Alex Young 35:7e519b88c610 219 *
Alex Young 35:7e519b88c610 220 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 221 */
Alex Young 57:c3c85ebb7375 222 static DigitalOut mtReset(MT_NRESET, 0);
Alex Young 44:b3980e8ac074 223 /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */
Alex Young 4:98f063b2e6da 224 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 225
Alex Young 44:b3980e8ac074 226 /*!
Alex Young 44:b3980e8ac074 227 * \brief Memory pool used for storing Xbus messages when passing them
Alex Young 44:b3980e8ac074 228 * to the main thread.
Alex Young 44:b3980e8ac074 229 */
Alex Young 25:01356fb59467 230 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 44:b3980e8ac074 231 /*!
Alex Young 44:b3980e8ac074 232 * \brief Memory pool used for storing the payload of Xbus messages.
Alex Young 44:b3980e8ac074 233 */
Alex Young 25:01356fb59467 234 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 44:b3980e8ac074 235 /*!
Alex Young 44:b3980e8ac074 236 * \brief Queue used to pass data messages to the main thread for processing.
Alex Young 44:b3980e8ac074 237 */
Alex Young 44:b3980e8ac074 238 Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue;
Alex Young 44:b3980e8ac074 239 /*!
Alex Young 44:b3980e8ac074 240 * \brief Queue used for passing all other messages to the main thread for processing.
Alex Young 44:b3980e8ac074 241 */
Alex Young 26:665d3624f9ab 242 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 243
Alex Young 44:b3980e8ac074 244 /*!
Alex Young 44:b3980e8ac074 245 * \brief Allocate message data buffer from the message data pool.
Alex Young 44:b3980e8ac074 246 */
Alex Young 25:01356fb59467 247 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 248 {
Alex Young 25:01356fb59467 249 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 250 }
Alex Young 25:01356fb59467 251
Alex Young 44:b3980e8ac074 252 /*!
Alex Young 44:b3980e8ac074 253 * \brief Deallocate message data previously allocated from the message
Alex Young 44:b3980e8ac074 254 * data pool.
Alex Young 44:b3980e8ac074 255 */
Alex Young 25:01356fb59467 256 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 257 {
Alex Young 25:01356fb59467 258 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 259 }
Alex Young 4:98f063b2e6da 260
tjerkhofmeijer 64:8a0f00a064bb 261 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 262 #define MTI_I2C_ADDRESS (0x1D << 1)
tjerkhofmeijer 64:8a0f00a064bb 263 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 264 {
tjerkhofmeijer 64:8a0f00a064bb 265 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 266 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 267 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 268 {
tjerkhofmeijer 64:8a0f00a064bb 269 buf[0] = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 270 buf[1] = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 271 mt.write(MTI_I2C_ADDRESS, (char*)&pipe, sizeof(pipe), true);
tjerkhofmeijer 64:8a0f00a064bb 272 mt.read(MTI_I2C_ADDRESS, (char*)buf+preambleLength, dataLength);
tjerkhofmeijer 64:8a0f00a064bb 273 XbusParser_parseBuffer(xbusParser, buf, dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 274 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 275 }
tjerkhofmeijer 64:8a0f00a064bb 276 }
tjerkhofmeijer 64:8a0f00a064bb 277 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 278 {
tjerkhofmeijer 64:8a0f00a064bb 279 while (true)
tjerkhofmeijer 64:8a0f00a064bb 280 {
tjerkhofmeijer 64:8a0f00a064bb 281 uint8_t opcode = XBUS_PIPE_STATUS;
tjerkhofmeijer 64:8a0f00a064bb 282 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 283 mt.write(MTI_I2C_ADDRESS, (char*)&opcode, sizeof(opcode), true);
tjerkhofmeijer 64:8a0f00a064bb 284 mt.read(MTI_I2C_ADDRESS, (char*)status, sizeof(status));
tjerkhofmeijer 64:8a0f00a064bb 285
tjerkhofmeijer 64:8a0f00a064bb 286 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 287 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 288
tjerkhofmeijer 64:8a0f00a064bb 289 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 290 {
tjerkhofmeijer 64:8a0f00a064bb 291 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 292 }
tjerkhofmeijer 64:8a0f00a064bb 293 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 294 {
tjerkhofmeijer 64:8a0f00a064bb 295 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 296 }
tjerkhofmeijer 64:8a0f00a064bb 297 else
tjerkhofmeijer 64:8a0f00a064bb 298 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 299 }
tjerkhofmeijer 64:8a0f00a064bb 300 }
tjerkhofmeijer 64:8a0f00a064bb 301
tjerkhofmeijer 64:8a0f00a064bb 302 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 303 {
tjerkhofmeijer 64:8a0f00a064bb 304 mt.frequency(400000);
tjerkhofmeijer 64:8a0f00a064bb 305 //Use the addX pins to configure I2C address 0x1D
tjerkhofmeijer 64:8a0f00a064bb 306 add0.write(0);
tjerkhofmeijer 64:8a0f00a064bb 307 add1.write(0);
tjerkhofmeijer 64:8a0f00a064bb 308 add2.write(0);
tjerkhofmeijer 64:8a0f00a064bb 309 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 310 }
tjerkhofmeijer 64:8a0f00a064bb 311
tjerkhofmeijer 64:8a0f00a064bb 312 /*!
tjerkhofmeijer 64:8a0f00a064bb 313 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 314 *
tjerkhofmeijer 64:8a0f00a064bb 315 * This function formats the message data and writes this to the MT I2C
tjerkhofmeijer 64:8a0f00a064bb 316 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 317 */
tjerkhofmeijer 64:8a0f00a064bb 318 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 319 {
tjerkhofmeijer 64:8a0f00a064bb 320 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 321 size_t rawLength = XbusMessage_format(buf, m, XLLF_I2c);
tjerkhofmeijer 64:8a0f00a064bb 322 mt.write(MTI_I2C_ADDRESS, (char*)buf, rawLength);
tjerkhofmeijer 64:8a0f00a064bb 323 }
tjerkhofmeijer 64:8a0f00a064bb 324 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 325 static void sendOpcode(uint8_t opcode)
tjerkhofmeijer 64:8a0f00a064bb 326 {
tjerkhofmeijer 64:8a0f00a064bb 327 mt.write(opcode);
tjerkhofmeijer 64:8a0f00a064bb 328 for (int filler = 0; filler < 3; ++filler)
tjerkhofmeijer 64:8a0f00a064bb 329 {
tjerkhofmeijer 64:8a0f00a064bb 330 mt.write(filler);
tjerkhofmeijer 64:8a0f00a064bb 331 }
tjerkhofmeijer 64:8a0f00a064bb 332 }
tjerkhofmeijer 64:8a0f00a064bb 333
tjerkhofmeijer 64:8a0f00a064bb 334 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 335 {
tjerkhofmeijer 64:8a0f00a064bb 336 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 337 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 338 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 339 {
tjerkhofmeijer 64:8a0f00a064bb 340 uint8_t* dptr = buf;
tjerkhofmeijer 64:8a0f00a064bb 341 *dptr++ = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 342 *dptr++ = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 343 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 344 sendOpcode(pipe);
tjerkhofmeijer 64:8a0f00a064bb 345 for (int i = 0; i < dataLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 346 {
tjerkhofmeijer 64:8a0f00a064bb 347 *dptr++ = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 348 }
tjerkhofmeijer 64:8a0f00a064bb 349 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 350 XbusParser_parseBuffer(xbusParser, buf, dptr - buf);
tjerkhofmeijer 64:8a0f00a064bb 351 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 352 }
tjerkhofmeijer 64:8a0f00a064bb 353 }
tjerkhofmeijer 64:8a0f00a064bb 354 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 355 {
tjerkhofmeijer 64:8a0f00a064bb 356 while (true)
tjerkhofmeijer 64:8a0f00a064bb 357 {
tjerkhofmeijer 64:8a0f00a064bb 358 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 359 sendOpcode(XBUS_PIPE_STATUS);
tjerkhofmeijer 64:8a0f00a064bb 360 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 361 for (int i = 0; i < sizeof(status); ++i)
tjerkhofmeijer 64:8a0f00a064bb 362 {
tjerkhofmeijer 64:8a0f00a064bb 363 status[i] = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 364 }
tjerkhofmeijer 64:8a0f00a064bb 365 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 366
tjerkhofmeijer 64:8a0f00a064bb 367 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 368 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 369
tjerkhofmeijer 64:8a0f00a064bb 370 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 371 {
tjerkhofmeijer 64:8a0f00a064bb 372 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 373 }
tjerkhofmeijer 64:8a0f00a064bb 374 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 375 {
tjerkhofmeijer 64:8a0f00a064bb 376 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 377 }
tjerkhofmeijer 64:8a0f00a064bb 378 else
tjerkhofmeijer 64:8a0f00a064bb 379 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 380 }
tjerkhofmeijer 64:8a0f00a064bb 381 }
tjerkhofmeijer 64:8a0f00a064bb 382
tjerkhofmeijer 64:8a0f00a064bb 383 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 384 {
tjerkhofmeijer 64:8a0f00a064bb 385 mt.frequency(1000000);
tjerkhofmeijer 64:8a0f00a064bb 386 mt.format(8, 3);
tjerkhofmeijer 64:8a0f00a064bb 387 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 388 }
tjerkhofmeijer 64:8a0f00a064bb 389
tjerkhofmeijer 64:8a0f00a064bb 390 /*!
tjerkhofmeijer 64:8a0f00a064bb 391 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 392 *
tjerkhofmeijer 64:8a0f00a064bb 393 * This function formats the message data and writes this to the MT SPI
tjerkhofmeijer 64:8a0f00a064bb 394 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 395 */
tjerkhofmeijer 64:8a0f00a064bb 396 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 397 {
tjerkhofmeijer 64:8a0f00a064bb 398 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 399 size_t rawLength = XbusMessage_format(buf, m, XLLF_Spi);
tjerkhofmeijer 64:8a0f00a064bb 400 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 401 for (int i = 0; i < rawLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 402 {
tjerkhofmeijer 64:8a0f00a064bb 403 mt.write(buf[i]);
tjerkhofmeijer 64:8a0f00a064bb 404 }
tjerkhofmeijer 64:8a0f00a064bb 405 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 406 }
tjerkhofmeijer 64:8a0f00a064bb 407 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 44:b3980e8ac074 408 /*!
Alex Young 44:b3980e8ac074 409 * \brief RX Interrupt handler for the MT serial port.
Alex Young 44:b3980e8ac074 410 *
Alex Young 44:b3980e8ac074 411 * Passes received data to an XbusParser to extract messages.
Alex Young 44:b3980e8ac074 412 */
Alex Young 4:98f063b2e6da 413 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 414 {
Alex Young 4:98f063b2e6da 415 while (mt.readable())
Alex Young 4:98f063b2e6da 416 {
Alex Young 4:98f063b2e6da 417 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 418 }
Alex Young 4:98f063b2e6da 419 }
Alex Young 4:98f063b2e6da 420
Alex Young 44:b3980e8ac074 421 /*!
tjerkhofmeijer 64:8a0f00a064bb 422 * \brief Configure the serial port used for communication with the
tjerkhofmeijer 64:8a0f00a064bb 423 * motion tracker.
tjerkhofmeijer 64:8a0f00a064bb 424 */
tjerkhofmeijer 64:8a0f00a064bb 425 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 426 {
tjerkhofmeijer 64:8a0f00a064bb 427 mt.baud(115200);
tjerkhofmeijer 64:8a0f00a064bb 428 mt.format(8, Serial::None, 1);
tjerkhofmeijer 64:8a0f00a064bb 429 mt.attach(mtLowLevelHandler, Serial::RxIrq);
tjerkhofmeijer 64:8a0f00a064bb 430 }
tjerkhofmeijer 64:8a0f00a064bb 431
tjerkhofmeijer 64:8a0f00a064bb 432 /*!
Alex Young 44:b3980e8ac074 433 * \brief Send a message to the MT
Alex Young 44:b3980e8ac074 434 *
Alex Young 44:b3980e8ac074 435 * This function formats the message data and writes this to the MT serial
Alex Young 44:b3980e8ac074 436 * port. It does not wait for any response.
Alex Young 44:b3980e8ac074 437 */
Alex Young 34:3d7a6519a256 438 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 439 {
Alex Young 26:665d3624f9ab 440 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 441 size_t rawLength = XbusMessage_format(buf, m, XLLF_Uart);
Alex Young 11:8593ba137917 442 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 443 {
Alex Young 11:8593ba137917 444 mt.putc(buf[i]);
Alex Young 11:8593ba137917 445 }
Alex Young 34:3d7a6519a256 446 }
tjerkhofmeijer 64:8a0f00a064bb 447 #endif
tjerkhofmeijer 64:8a0f00a064bb 448
Alex Young 34:3d7a6519a256 449
Alex Young 44:b3980e8ac074 450 /*!
Alex Young 44:b3980e8ac074 451 * \brief Send a message to the MT and wait for a response.
Alex Young 44:b3980e8ac074 452 * \returns Response message from the MT, or NULL is no response received
Alex Young 44:b3980e8ac074 453 * within 500ms.
Alex Young 44:b3980e8ac074 454 *
Alex Young 44:b3980e8ac074 455 * Blocking behaviour is implemented by waiting for a response to be written
Alex Young 44:b3980e8ac074 456 * to the response queue by the XbusParser.
Alex Young 44:b3980e8ac074 457 */
Alex Young 34:3d7a6519a256 458 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 459 {
Alex Young 34:3d7a6519a256 460 sendMessage(m);
Alex Young 26:665d3624f9ab 461
Alex Young 26:665d3624f9ab 462 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 463 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 464 }
Alex Young 26:665d3624f9ab 465
Alex Young 31:ce1ea9ae861e 466 /*!
Alex Young 31:ce1ea9ae861e 467 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 468 *
Alex Young 49:38ecfbff5391 469 * Will automatically free the memory used by an XbusMessage when going out
Alex Young 31:ce1ea9ae861e 470 * of scope.
Alex Young 31:ce1ea9ae861e 471 */
Alex Young 31:ce1ea9ae861e 472 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 473 {
Alex Young 31:ce1ea9ae861e 474 public:
Alex Young 31:ce1ea9ae861e 475 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 476 : m_message(message)
Alex Young 31:ce1ea9ae861e 477 {
Alex Young 31:ce1ea9ae861e 478 }
Alex Young 31:ce1ea9ae861e 479
Alex Young 31:ce1ea9ae861e 480 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 481 {
Alex Young 31:ce1ea9ae861e 482 if (m_message)
Alex Young 31:ce1ea9ae861e 483 {
Alex Young 31:ce1ea9ae861e 484 if (m_message->data)
Alex Young 31:ce1ea9ae861e 485 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 486 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 487 }
Alex Young 31:ce1ea9ae861e 488 }
Alex Young 31:ce1ea9ae861e 489
Alex Young 31:ce1ea9ae861e 490 private:
Alex Young 31:ce1ea9ae861e 491 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 492 };
Alex Young 26:665d3624f9ab 493
Alex Young 44:b3980e8ac074 494 /*!
Alex Young 44:b3980e8ac074 495 * \brief Dump information from a message to the PC serial port.
Alex Young 44:b3980e8ac074 496 */
Alex Young 29:d9310e7b58b5 497 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 498 {
Alex Young 29:d9310e7b58b5 499 switch (response->mid)
Alex Young 29:d9310e7b58b5 500 {
Alex Young 29:d9310e7b58b5 501 case XMID_GotoConfigAck:
Alex Young 52:e2197b38c029 502 pc.printf("Device went to config mode.\r\n");
Alex Young 29:d9310e7b58b5 503 break;
Alex Young 29:d9310e7b58b5 504
Alex Young 29:d9310e7b58b5 505 case XMID_Error:
Alex Young 29:d9310e7b58b5 506 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 507 break;
Alex Young 29:d9310e7b58b5 508
Alex Young 29:d9310e7b58b5 509 default:
Alex Young 52:e2197b38c029 510 pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 511 break;
Alex Young 29:d9310e7b58b5 512 }
Alex Young 29:d9310e7b58b5 513 }
Alex Young 29:d9310e7b58b5 514
Alex Young 44:b3980e8ac074 515 /*!
Alex Young 44:b3980e8ac074 516 * \brief Send a command to the MT and wait for a response.
Alex Young 44:b3980e8ac074 517 * \param cmdId The XsMessageId of the command to send.
Alex Young 44:b3980e8ac074 518 *
Alex Young 44:b3980e8ac074 519 * Commands are simple messages without and payload data.
Alex Young 44:b3980e8ac074 520 */
Alex Young 26:665d3624f9ab 521 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 522 {
Alex Young 26:665d3624f9ab 523 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 524 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 525 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 526
Alex Young 26:665d3624f9ab 527 if (response)
Alex Young 26:665d3624f9ab 528 {
Alex Young 29:d9310e7b58b5 529 dumpResponse(response);
Alex Young 26:665d3624f9ab 530 }
Alex Young 26:665d3624f9ab 531 else
Alex Young 26:665d3624f9ab 532 {
Alex Young 52:e2197b38c029 533 pc.printf("Timeout waiting for response.\r\n");
Alex Young 26:665d3624f9ab 534 }
Alex Young 11:8593ba137917 535 }
Alex Young 11:8593ba137917 536
Alex Young 44:b3980e8ac074 537 /*!
Alex Young 44:b3980e8ac074 538 * \brief Handle a command from the PC
Alex Young 44:b3980e8ac074 539 *
Alex Young 44:b3980e8ac074 540 * The example application supports single character commands from the host
Alex Young 44:b3980e8ac074 541 * PC to switch between configuration and measurement modes.
Alex Young 44:b3980e8ac074 542 */
Alex Young 11:8593ba137917 543 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 544 {
Alex Young 11:8593ba137917 545 switch (cmd)
Alex Young 11:8593ba137917 546 {
Alex Young 11:8593ba137917 547 case 'c':
Alex Young 11:8593ba137917 548 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 549 break;
Alex Young 11:8593ba137917 550
Alex Young 11:8593ba137917 551 case 'm':
Alex Young 11:8593ba137917 552 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 553 break;
Alex Young 11:8593ba137917 554 }
Alex Young 11:8593ba137917 555 }
Alex Young 11:8593ba137917 556
Alex Young 44:b3980e8ac074 557 /*!
Alex Young 44:b3980e8ac074 558 * \brief XbusParser callback function to handle received messages.
Alex Young 44:b3980e8ac074 559 * \param message Pointer to the last received message.
Alex Young 44:b3980e8ac074 560 *
Alex Young 44:b3980e8ac074 561 * In this example received messages are copied into one of two message
Alex Young 44:b3980e8ac074 562 * queues for later handling by the main thread. Data messages are put
Alex Young 49:38ecfbff5391 563 * in one queue, while all other responses are placed in the second queue.
Alex Young 44:b3980e8ac074 564 * This is done so that data and other messages can be handled separately
Alex Young 44:b3980e8ac074 565 * by the application code.
Alex Young 44:b3980e8ac074 566 */
Alex Young 24:2cc49dc854e3 567 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 568 {
Alex Young 43:470c019246e4 569 XbusMessage* m = g_messagePool.alloc();
Alex Young 43:470c019246e4 570 if (m)
Alex Young 7:c913a7cd5231 571 {
Alex Young 43:470c019246e4 572 memcpy(m, message, sizeof(XbusMessage));
Alex Young 43:470c019246e4 573 if (message->mid == XMID_MtData2)
Alex Young 43:470c019246e4 574 {
Alex Young 43:470c019246e4 575 g_dataQueue.put(m);
Alex Young 43:470c019246e4 576 }
Alex Young 43:470c019246e4 577 else
Alex Young 43:470c019246e4 578 {
Alex Young 43:470c019246e4 579 g_responseQueue.put(m);
Alex Young 43:470c019246e4 580 }
Alex Young 7:c913a7cd5231 581 }
Alex Young 43:470c019246e4 582 else if (message->data)
Alex Young 7:c913a7cd5231 583 {
Alex Young 43:470c019246e4 584 deallocateMessageData(message->data);
Alex Young 25:01356fb59467 585 }
Alex Young 4:98f063b2e6da 586 }
Alex Young 4:98f063b2e6da 587
Alex Young 44:b3980e8ac074 588 /*!
tjerkhofmeijer 64:8a0f00a064bb 589 * \brief Configure the serial port used to communicate with the host PC.
Alex Young 44:b3980e8ac074 590 */
tjerkhofmeijer 64:8a0f00a064bb 591 static void configurePcInterface(void)
Alex Young 4:98f063b2e6da 592 {
Alex Young 53:3891f4259901 593 pc.baud(PC_UART_BAUDRATE);
Alex Young 55:9a2d6f947f0d 594 pc.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 595 }
Alex Young 4:98f063b2e6da 596
Alex Young 44:b3980e8ac074 597 /*!
Alex Young 44:b3980e8ac074 598 * \brief Read the device ID of the motion tracker.
Alex Young 44:b3980e8ac074 599 */
Alex Young 29:d9310e7b58b5 600 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 601 {
Alex Young 29:d9310e7b58b5 602 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 603 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 604 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 605 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 606 if (didRsp)
Alex Young 29:d9310e7b58b5 607 {
Alex Young 29:d9310e7b58b5 608 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 609 {
Alex Young 29:d9310e7b58b5 610 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 611 }
Alex Young 29:d9310e7b58b5 612 }
Alex Young 29:d9310e7b58b5 613 return deviceId;
Alex Young 29:d9310e7b58b5 614 }
Alex Young 29:d9310e7b58b5 615
Alex Young 44:b3980e8ac074 616 /*!
Alex Young 44:b3980e8ac074 617 * \brief Sets MT output configuration.
Alex Young 44:b3980e8ac074 618 * \param conf Pointer to an array of OutputConfiguration elements.
Alex Young 44:b3980e8ac074 619 * \param elements The number of elements in the configuration array.
Alex Young 44:b3980e8ac074 620 *
Alex Young 44:b3980e8ac074 621 * The response from the device indicates the actual values that will
Alex Young 44:b3980e8ac074 622 * be used by the motion tracker. These may differ from the requested
Alex Young 44:b3980e8ac074 623 * parameters as the motion tracker validates the requested parameters
Alex Young 44:b3980e8ac074 624 * before applying them.
Alex Young 44:b3980e8ac074 625 */
Alex Young 32:fafe0f42d82b 626 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 627 {
Alex Young 32:fafe0f42d82b 628 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 629 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 630 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 631 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 632 {
Alex Young 32:fafe0f42d82b 633 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 634 {
Alex Young 52:e2197b38c029 635 pc.printf("Output configuration set to:\r\n");
Alex Young 32:fafe0f42d82b 636 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 637 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 638 {
Alex Young 52:e2197b38c029 639 pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 640 ++conf;
Alex Young 32:fafe0f42d82b 641 }
Alex Young 32:fafe0f42d82b 642 return true;
Alex Young 29:d9310e7b58b5 643 }
Alex Young 29:d9310e7b58b5 644 else
Alex Young 29:d9310e7b58b5 645 {
Alex Young 32:fafe0f42d82b 646 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 647 }
Alex Young 32:fafe0f42d82b 648 }
Alex Young 32:fafe0f42d82b 649 else
Alex Young 32:fafe0f42d82b 650 {
Alex Young 52:e2197b38c029 651 pc.printf("Failed to set output configuration.\r\n");
Alex Young 32:fafe0f42d82b 652 }
Alex Young 32:fafe0f42d82b 653 return false;
Alex Young 32:fafe0f42d82b 654 }
Alex Young 29:d9310e7b58b5 655
Alex Young 44:b3980e8ac074 656 /*!
Alex Young 44:b3980e8ac074 657 * \brief Sets the motion tracker output configuration based on the function
Alex Young 44:b3980e8ac074 658 * of the attached device.
Alex Young 44:b3980e8ac074 659 *
Alex Young 44:b3980e8ac074 660 * The output configuration depends on the type of MTi-1 device connected.
Alex Young 49:38ecfbff5391 661 * An MTI-1 (IMU) device does not have an onboard orientation filter so
Alex Young 44:b3980e8ac074 662 * cannot output quaternion data, only inertial and magnetic measurement
Alex Young 44:b3980e8ac074 663 * data.
Alex Young 44:b3980e8ac074 664 * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions.
Alex Young 44:b3980e8ac074 665 */
Alex Young 32:fafe0f42d82b 666 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 667 {
Alex Young 32:fafe0f42d82b 668 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 669
Alex Young 32:fafe0f42d82b 670 if (deviceId)
Alex Young 32:fafe0f42d82b 671 {
Alex Young 52:e2197b38c029 672 pc.printf("Found device with ID: %08X.\r\n", deviceId);
Alex Young 40:b77a8c10c76d 673 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 674 {
Alex Young 52:e2197b38c029 675 pc.printf("Device is not an MTi-1 series.\r\n");
Alex Young 40:b77a8c10c76d 676 return false;
Alex Young 40:b77a8c10c76d 677 }
Alex Young 32:fafe0f42d82b 678
Alex Young 40:b77a8c10c76d 679 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 52:e2197b38c029 680 pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 681
Alex Young 40:b77a8c10c76d 682 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 683 {
Alex Young 32:fafe0f42d82b 684 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 685 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 686 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 687 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 688 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 689 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 690 };
Alex Young 32:fafe0f42d82b 691 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 692 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 693 }
Alex Young 29:d9310e7b58b5 694 else
Alex Young 29:d9310e7b58b5 695 {
Alex Young 32:fafe0f42d82b 696 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 697 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 698 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 699 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 700 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 701 };
Alex Young 32:fafe0f42d82b 702 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 703 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 704 }
Alex Young 29:d9310e7b58b5 705 }
Alex Young 32:fafe0f42d82b 706
Alex Young 32:fafe0f42d82b 707 return false;
Alex Young 29:d9310e7b58b5 708 }
Alex Young 29:d9310e7b58b5 709
Alex Young 35:7e519b88c610 710 /*!
Alex Young 35:7e519b88c610 711 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 712 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 713 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 714 *
Alex Young 49:38ecfbff5391 715 * The MTi sends an XMID_Wakeup message once it has completed its bootup
Alex Young 49:38ecfbff5391 716 * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 717 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 718 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 719 */
Alex Young 37:3e87bf647c68 720 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 721 {
Alex Young 37:3e87bf647c68 722 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 723 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 724 {
Alex Young 35:7e519b88c610 725 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 726 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 727 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 728 }
Alex Young 35:7e519b88c610 729 return false;
Alex Young 35:7e519b88c610 730 }
Alex Young 35:7e519b88c610 731
Alex Young 35:7e519b88c610 732 /*!
Alex Young 37:3e87bf647c68 733 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 734 *
Alex Young 37:3e87bf647c68 735 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 736 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 737 * stored output configuration.
Alex Young 37:3e87bf647c68 738 */
Alex Young 37:3e87bf647c68 739 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 740 {
Alex Young 37:3e87bf647c68 741 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 742 sendMessage(&ack);
Alex Young 52:e2197b38c029 743 pc.printf("Device ready for operation.\r\n");
Alex Young 37:3e87bf647c68 744 }
Alex Young 37:3e87bf647c68 745
tjerkhofmeijer 64:8a0f00a064bb 746 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 747 /*!
Alex Young 37:3e87bf647c68 748 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 749 *
Alex Young 37:3e87bf647c68 750 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 751 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 752 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 753 */
Alex Young 37:3e87bf647c68 754 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 755 {
Alex Young 37:3e87bf647c68 756 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 757 mtReset = 0;
Alex Young 37:3e87bf647c68 758 Thread::wait(1);
Alex Young 37:3e87bf647c68 759 mtReset = 1;
Alex Young 37:3e87bf647c68 760
Alex Young 37:3e87bf647c68 761 do
Alex Young 37:3e87bf647c68 762 {
Alex Young 37:3e87bf647c68 763 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 764 }
Alex Young 37:3e87bf647c68 765 while (!waitForWakeup(1));
Alex Young 52:e2197b38c029 766 pc.printf("done\r\n");
Alex Young 37:3e87bf647c68 767
Alex Young 37:3e87bf647c68 768 sendWakeupAck();
Alex Young 37:3e87bf647c68 769 }
tjerkhofmeijer 64:8a0f00a064bb 770 #endif
Alex Young 37:3e87bf647c68 771
Alex Young 37:3e87bf647c68 772 /*!
Alex Young 35:7e519b88c610 773 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 774 *
Alex Young 37:3e87bf647c68 775 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 776 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 777 */
tjerkhofmeijer 64:8a0f00a064bb 778 static bool wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 779 {
Alex Young 35:7e519b88c610 780 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 781 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 782 {
Alex Young 37:3e87bf647c68 783 sendWakeupAck();
Alex Young 37:3e87bf647c68 784 }
Alex Young 37:3e87bf647c68 785 else
Alex Young 37:3e87bf647c68 786 {
tjerkhofmeijer 64:8a0f00a064bb 787 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 788 restoreCommunication();
tjerkhofmeijer 64:8a0f00a064bb 789 #else
tjerkhofmeijer 64:8a0f00a064bb 790 pc.printf("Failed to communicate with MTi device\r\n");
tjerkhofmeijer 64:8a0f00a064bb 791 return true;
tjerkhofmeijer 64:8a0f00a064bb 792 #endif
Alex Young 35:7e519b88c610 793 }
tjerkhofmeijer 64:8a0f00a064bb 794 return true;
Alex Young 35:7e519b88c610 795 }
Alex Young 35:7e519b88c610 796
Alex Young 38:d8d410d1662c 797 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 798 {
Alex Young 52:e2197b38c029 799 pc.printf("\r\n\r\n\r\n\r\n\r\n");
Alex Young 52:e2197b38c029 800 pc.printf("MTi-1 series embedded example firmware.\r\n");
Alex Young 38:d8d410d1662c 801 }
Alex Young 38:d8d410d1662c 802
Alex Young 38:d8d410d1662c 803 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 804 {
Alex Young 52:e2197b38c029 805 pc.printf("\r\n");
Alex Young 52:e2197b38c029 806 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n");
Alex Young 38:d8d410d1662c 807 }
Alex Young 38:d8d410d1662c 808
Alex Young 44:b3980e8ac074 809 /*!
Alex Young 44:b3980e8ac074 810 * \brief Output the contents of a data message to the PC serial port.
Alex Young 44:b3980e8ac074 811 */
Alex Young 43:470c019246e4 812 static void printMessageData(struct XbusMessage const* message)
Alex Young 43:470c019246e4 813 {
Alex Young 43:470c019246e4 814 if (!message)
Alex Young 43:470c019246e4 815 return;
Alex Young 43:470c019246e4 816
Alex Young 43:470c019246e4 817 pc.printf("MTData2:");
Alex Young 43:470c019246e4 818 uint16_t counter;
Alex Young 43:470c019246e4 819 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 43:470c019246e4 820 {
Alex Young 43:470c019246e4 821 pc.printf(" Packet counter: %5d", counter);
Alex Young 43:470c019246e4 822 }
Alex Young 43:470c019246e4 823 float ori[4];
Alex Young 43:470c019246e4 824 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 43:470c019246e4 825 {
Alex Young 43:470c019246e4 826 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 43:470c019246e4 827 ori[2], ori[3]);
Alex Young 43:470c019246e4 828 }
Alex Young 43:470c019246e4 829 float acc[3];
Alex Young 43:470c019246e4 830 if (XbusMessage_getDataItem(acc, XDI_Acceleration, message))
Alex Young 43:470c019246e4 831 {
Alex Young 43:470c019246e4 832 pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]);
Alex Young 43:470c019246e4 833 }
Alex Young 43:470c019246e4 834 float gyr[3];
Alex Young 43:470c019246e4 835 if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message))
Alex Young 43:470c019246e4 836 {
Alex Young 43:470c019246e4 837 pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]);
Alex Young 43:470c019246e4 838 }
Alex Young 43:470c019246e4 839 float mag[3];
Alex Young 43:470c019246e4 840 if (XbusMessage_getDataItem(mag, XDI_MagneticField, message))
Alex Young 43:470c019246e4 841 {
Alex Young 43:470c019246e4 842 pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]);
Alex Young 43:470c019246e4 843 }
Alex Young 43:470c019246e4 844 uint32_t status;
Alex Young 43:470c019246e4 845 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 43:470c019246e4 846 {
Alex Young 43:470c019246e4 847 pc.printf(" Status:%X", status);
Alex Young 43:470c019246e4 848 }
Alex Young 52:e2197b38c029 849 pc.printf("\r\n");
Alex Young 43:470c019246e4 850 }
Alex Young 43:470c019246e4 851
Alex Young 43:470c019246e4 852
Alex Young 2:b3e402dc11ca 853 int main(void)
Alex Young 2:b3e402dc11ca 854 {
Alex Young 4:98f063b2e6da 855 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 856 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 857 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 858 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 859
Alex Young 4:98f063b2e6da 860 xbusParser = XbusParser_create(&xbusCallback);
tjerkhofmeijer 64:8a0f00a064bb 861 configurePcInterface();
tjerkhofmeijer 64:8a0f00a064bb 862 configureMtCommunicationInterface();
Alex Young 38:d8d410d1662c 863
Alex Young 38:d8d410d1662c 864 printIntroMessage();
tjerkhofmeijer 64:8a0f00a064bb 865 if (wakeupMotionTracker())
Alex Young 5:abc52dd88be2 866 {
tjerkhofmeijer 64:8a0f00a064bb 867 if (configureMotionTracker())
Alex Young 26:665d3624f9ab 868 {
tjerkhofmeijer 64:8a0f00a064bb 869 printUsageInstructions();
tjerkhofmeijer 64:8a0f00a064bb 870 for (;;)
Alex Young 29:d9310e7b58b5 871 {
tjerkhofmeijer 64:8a0f00a064bb 872 while (pc.readable())
tjerkhofmeijer 64:8a0f00a064bb 873 {
tjerkhofmeijer 64:8a0f00a064bb 874 handlePcCommand(pc.getc());
tjerkhofmeijer 64:8a0f00a064bb 875 }
Alex Young 43:470c019246e4 876
tjerkhofmeijer 64:8a0f00a064bb 877 osEvent ev = g_dataQueue.get(10);
tjerkhofmeijer 64:8a0f00a064bb 878 if (ev.status == osEventMessage)
tjerkhofmeijer 64:8a0f00a064bb 879 {
tjerkhofmeijer 64:8a0f00a064bb 880 XbusMessage const* data = (XbusMessage const*)ev.value.p;
tjerkhofmeijer 64:8a0f00a064bb 881 XbusMessageMemoryManager janitor(data);
tjerkhofmeijer 64:8a0f00a064bb 882 printMessageData(data);
tjerkhofmeijer 64:8a0f00a064bb 883 }
Alex Young 43:470c019246e4 884 }
Alex Young 26:665d3624f9ab 885 }
tjerkhofmeijer 64:8a0f00a064bb 886 else
tjerkhofmeijer 64:8a0f00a064bb 887 {
tjerkhofmeijer 64:8a0f00a064bb 888 pc.printf("Failed to configure motion tracker.\r\n");
tjerkhofmeijer 64:8a0f00a064bb 889 return -1;
tjerkhofmeijer 64:8a0f00a064bb 890 }
Alex Young 29:d9310e7b58b5 891 }
Alex Young 4:98f063b2e6da 892 }