Revision 35:7e519b88c610, committed 2015-05-21

Comitter:

Alex Young

Date:

Thu May 21 12:20:39 2015 +0200

Parent:

34:3d7a6519a256

Child:

36:21198d933917

Commit message:

Reset MT on startup.

Use the reset line to hold the MT in reset until we are ready to start.
Then release the reset line and wait for the wakeup message.

Changed in this revision

--- a/main.cpp	Thu May 21 12:19:50 2015 +0200
+++ b/main.cpp	Thu May 21 12:20:39 2015 +0200
@@ -9,6 +9,12 @@
 
 static Serial pc(PA_2, PA_3);
 static Serial mt(PB_9, PB_8);
+/*!
+ * \brief MT reset line.
+ *
+ * MT is held in reset on startup.
+ */
+static DigitalOut mtReset(PA_10, 0);
 static XbusParser* xbusParser;
 
 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
@@ -281,6 +287,40 @@
 	return false;
 }
 
+/*!
+ * \brief Wait for a wakeup message from the MTi.
+ * \return true if wakeup received within 1 second, else false.
+ *
+ * The MTi sends a XMID_Wakeup message once it has completed its bootup
+ * procedure. If this is acknowledged by a XMID_WakeupAck message then the MTi
+ * will stay in configuration mode. Otherwise it will automatically enter
+ * measurement mode with the stored output configuration.
+ */
+bool waitForWakeup(void)
+{
+	osEvent ev = g_responseQueue.get(1000);
+	if (ev.status == osEventMessage)
+	{
+		XbusMessage const* m = (XbusMessage const*)ev.value.p;
+		XbusMessageMemoryManager janitor(m);
+		return m->mid == XMID_Wakeup;
+	}
+	return false;
+}
+
+/*!
+ * \brief Releases the MTi reset line and waits for a wakeup message.
+ */
+static void wakeupMotionTracker(void)
+{
+	mtReset.write(1); // Release MT from reset.
+	if (waitForWakeup())
+	{
+		XbusMessage ack = {XMID_WakeupAck};
+		sendMessage(&ack);
+	}
+}
+
 int main(void)
 {
 	XbusParserCallback xbusCallback = {};
@@ -290,6 +330,7 @@
 
 	xbusParser = XbusParser_create(&xbusCallback);
 	configureSerialPorts();
+	wakeupMotionTracker();
 	if (configureMotionTracker())
 	{
 		for (;;)