FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp@25:01356fb59467, 2015-05-20 (annotated)
- Committer:
- Alex Young
- Date:
- Wed May 20 13:58:34 2015 +0200
- Revision:
- 25:01356fb59467
- Parent:
- 24:2cc49dc854e3
- Child:
- 26:665d3624f9ab
Use rtos memory pool for message reception
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Alex Young |
4:98f063b2e6da | 1 | #include "mbed.h" |
Alex Young |
25:01356fb59467 | 2 | #include "rtos.h" |
Alex Young |
4:98f063b2e6da | 3 | #include "xbusparser.h" |
Alex Young |
11:8593ba137917 | 4 | #include "xbusmessage.h" |
Alex Young |
4:98f063b2e6da | 5 | |
Alex Young |
25:01356fb59467 | 6 | #define MEMORY_POOL_SIZE (4) |
Alex Young |
25:01356fb59467 | 7 | #define MAX_XBUS_DATA_SIZE (128) |
Alex Young |
25:01356fb59467 | 8 | |
Alex Young |
4:98f063b2e6da | 9 | static Serial pc(PA_2, PA_3); |
Alex Young |
4:98f063b2e6da | 10 | static Serial mt(PB_9, PB_8); |
Alex Young |
4:98f063b2e6da | 11 | static XbusParser* xbusParser; |
Alex Young |
25:01356fb59467 | 12 | |
Alex Young |
25:01356fb59467 | 13 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
Alex Young |
25:01356fb59467 | 14 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
Alex Young |
4:98f063b2e6da | 15 | |
Alex Young |
25:01356fb59467 | 16 | static void* allocateMessageData(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 17 | { |
Alex Young |
25:01356fb59467 | 18 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
Alex Young |
25:01356fb59467 | 19 | } |
Alex Young |
25:01356fb59467 | 20 | |
Alex Young |
25:01356fb59467 | 21 | static void deallocateMessageData(void const* buffer) |
Alex Young |
25:01356fb59467 | 22 | { |
Alex Young |
25:01356fb59467 | 23 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
Alex Young |
4:98f063b2e6da | 24 | } |
Alex Young |
4:98f063b2e6da | 25 | |
Alex Young |
4:98f063b2e6da | 26 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 27 | { |
Alex Young |
4:98f063b2e6da | 28 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 29 | { |
Alex Young |
4:98f063b2e6da | 30 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 31 | } |
Alex Young |
4:98f063b2e6da | 32 | } |
Alex Young |
4:98f063b2e6da | 33 | |
Alex Young |
11:8593ba137917 | 34 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
11:8593ba137917 | 35 | { |
Alex Young |
11:8593ba137917 | 36 | uint8_t buf[8]; |
Alex Young |
11:8593ba137917 | 37 | XbusMessage m = {cmdId}; |
Alex Young |
11:8593ba137917 | 38 | size_t rawLength = XbusMessage_format(buf, &m); |
Alex Young |
11:8593ba137917 | 39 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 40 | { |
Alex Young |
11:8593ba137917 | 41 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 42 | } |
Alex Young |
11:8593ba137917 | 43 | } |
Alex Young |
11:8593ba137917 | 44 | |
Alex Young |
11:8593ba137917 | 45 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 46 | { |
Alex Young |
11:8593ba137917 | 47 | switch (cmd) |
Alex Young |
11:8593ba137917 | 48 | { |
Alex Young |
11:8593ba137917 | 49 | case 'c': |
Alex Young |
11:8593ba137917 | 50 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 51 | break; |
Alex Young |
11:8593ba137917 | 52 | |
Alex Young |
11:8593ba137917 | 53 | case 'm': |
Alex Young |
11:8593ba137917 | 54 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 55 | break; |
Alex Young |
20:38560fa3d2eb | 56 | |
Alex Young |
20:38560fa3d2eb | 57 | case 'd': |
Alex Young |
20:38560fa3d2eb | 58 | sendCommand(XMID_ReqDid); |
Alex Young |
20:38560fa3d2eb | 59 | break; |
Alex Young |
22:3eab999c5076 | 60 | |
Alex Young |
22:3eab999c5076 | 61 | case 'o': |
Alex Young |
22:3eab999c5076 | 62 | sendCommand(XMID_ReqOutputConfig); |
Alex Young |
22:3eab999c5076 | 63 | break; |
Alex Young |
11:8593ba137917 | 64 | } |
Alex Young |
11:8593ba137917 | 65 | } |
Alex Young |
11:8593ba137917 | 66 | |
Alex Young |
11:8593ba137917 | 67 | static void pcHandler(void) |
Alex Young |
11:8593ba137917 | 68 | { |
Alex Young |
11:8593ba137917 | 69 | while (pc.readable()) |
Alex Young |
11:8593ba137917 | 70 | { |
Alex Young |
11:8593ba137917 | 71 | handlePcCommand(pc.getc()); |
Alex Young |
11:8593ba137917 | 72 | } |
Alex Young |
11:8593ba137917 | 73 | } |
Alex Young |
11:8593ba137917 | 74 | |
Alex Young |
24:2cc49dc854e3 | 75 | static void handleDataMessage(struct XbusMessage const* message) |
Alex Young |
24:2cc49dc854e3 | 76 | { |
Alex Young |
24:2cc49dc854e3 | 77 | pc.printf("MTData2:"); |
Alex Young |
24:2cc49dc854e3 | 78 | uint16_t counter; |
Alex Young |
24:2cc49dc854e3 | 79 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
24:2cc49dc854e3 | 80 | { |
Alex Young |
24:2cc49dc854e3 | 81 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
24:2cc49dc854e3 | 82 | } |
Alex Young |
24:2cc49dc854e3 | 83 | float ori[4]; |
Alex Young |
24:2cc49dc854e3 | 84 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
24:2cc49dc854e3 | 85 | { |
Alex Young |
24:2cc49dc854e3 | 86 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
24:2cc49dc854e3 | 87 | ori[2], ori[3]); |
Alex Young |
24:2cc49dc854e3 | 88 | } |
Alex Young |
24:2cc49dc854e3 | 89 | uint32_t status; |
Alex Young |
24:2cc49dc854e3 | 90 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
24:2cc49dc854e3 | 91 | { |
Alex Young |
24:2cc49dc854e3 | 92 | pc.printf(" Status:%X", status); |
Alex Young |
24:2cc49dc854e3 | 93 | } |
Alex Young |
24:2cc49dc854e3 | 94 | pc.printf("\n"); |
Alex Young |
24:2cc49dc854e3 | 95 | } |
Alex Young |
24:2cc49dc854e3 | 96 | |
Alex Young |
24:2cc49dc854e3 | 97 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 98 | { |
Alex Young |
15:558d279addd9 | 99 | if (message->mid == XMID_MtData2) |
Alex Young |
7:c913a7cd5231 | 100 | { |
Alex Young |
24:2cc49dc854e3 | 101 | handleDataMessage(message); |
Alex Young |
7:c913a7cd5231 | 102 | } |
Alex Young |
20:38560fa3d2eb | 103 | else if (message->mid == XMID_DeviceId) |
Alex Young |
20:38560fa3d2eb | 104 | { |
Alex Young |
20:38560fa3d2eb | 105 | pc.printf("Device ID: %8X\n", *(uint32_t*)message->data); |
Alex Young |
20:38560fa3d2eb | 106 | } |
Alex Young |
22:3eab999c5076 | 107 | else if (message->mid == XMID_OutputConfig) |
Alex Young |
22:3eab999c5076 | 108 | { |
Alex Young |
22:3eab999c5076 | 109 | pc.printf("Output configuration:\n"); |
Alex Young |
22:3eab999c5076 | 110 | struct OutputConfiguration* conf = (struct OutputConfiguration*)message->data; |
Alex Young |
22:3eab999c5076 | 111 | for (int i = 0; i < message->length; ++i) |
Alex Young |
22:3eab999c5076 | 112 | { |
Alex Young |
22:3eab999c5076 | 113 | pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
22:3eab999c5076 | 114 | ++conf; |
Alex Young |
22:3eab999c5076 | 115 | } |
Alex Young |
22:3eab999c5076 | 116 | } |
Alex Young |
7:c913a7cd5231 | 117 | else |
Alex Young |
7:c913a7cd5231 | 118 | { |
Alex Young |
14:155f9a55ec51 | 119 | pc.printf("Received Xbus message. MID=%X, length=%d\n", message->mid, message->length); |
Alex Young |
7:c913a7cd5231 | 120 | } |
Alex Young |
25:01356fb59467 | 121 | if (message->data) |
Alex Young |
25:01356fb59467 | 122 | { |
Alex Young |
25:01356fb59467 | 123 | deallocateMessageData(message->data); |
Alex Young |
25:01356fb59467 | 124 | } |
Alex Young |
4:98f063b2e6da | 125 | } |
Alex Young |
4:98f063b2e6da | 126 | |
Alex Young |
4:98f063b2e6da | 127 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 128 | { |
Alex Young |
4:98f063b2e6da | 129 | pc.baud(921600); |
Alex Young |
4:98f063b2e6da | 130 | pc.format(8, Serial::None, 2); |
Alex Young |
11:8593ba137917 | 131 | pc.attach(pcHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 132 | |
Alex Young |
4:98f063b2e6da | 133 | mt.baud(921600); |
Alex Young |
4:98f063b2e6da | 134 | mt.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 135 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 136 | } |
Alex Young |
4:98f063b2e6da | 137 | |
Alex Young |
2:b3e402dc11ca | 138 | int main(void) |
Alex Young |
2:b3e402dc11ca | 139 | { |
Alex Young |
4:98f063b2e6da | 140 | XbusParserCallback xbusCallback = {}; |
Alex Young |
25:01356fb59467 | 141 | xbusCallback.allocateBuffer = allocateMessageData; |
Alex Young |
25:01356fb59467 | 142 | xbusCallback.deallocateBuffer = deallocateMessageData; |
Alex Young |
24:2cc49dc854e3 | 143 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 144 | |
Alex Young |
4:98f063b2e6da | 145 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 146 | configureSerialPorts(); |
Alex Young |
5:abc52dd88be2 | 147 | |
Alex Young |
5:abc52dd88be2 | 148 | for (;;) |
Alex Young |
5:abc52dd88be2 | 149 | { |
Alex Young |
5:abc52dd88be2 | 150 | sleep(); |
Alex Young |
5:abc52dd88be2 | 151 | } |
Alex Young |
4:98f063b2e6da | 152 | } |