FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp@59:f9166c19451f, 2015-06-12 (annotated)
- Committer:
- Alex Young
- Date:
- Fri Jun 12 11:36:37 2015 +0200
- Revision:
- 59:f9166c19451f
- Parent:
- 58:db60ef0a0d16
- Child:
- 60:ab9dad3560d3
Add support for Freescale FRDM-KL46Z development board
Who changed what in which revision?
User | Revision | Line number | New 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 |
57:c3c85ebb7375 | 80 | #else |
Alex Young |
57:c3c85ebb7375 | 81 | #error "Support for selected mbed platform has not been added." |
Alex Young |
57:c3c85ebb7375 | 82 | #endif |
Alex Young |
57:c3c85ebb7375 | 83 | |
Alex Young |
57:c3c85ebb7375 | 84 | |
Alex Young |
44:b3980e8ac074 | 85 | /*! |
Alex Young |
53:3891f4259901 | 86 | * \brief Baudrate used to communicate with host PC. |
Alex Young |
53:3891f4259901 | 87 | */ |
Alex Young |
53:3891f4259901 | 88 | #define PC_UART_BAUDRATE (921600) |
Alex Young |
53:3891f4259901 | 89 | |
Alex Young |
53:3891f4259901 | 90 | /*! |
Alex Young |
44:b3980e8ac074 | 91 | * \brief The number of items to hold in the memory pools. |
Alex Young |
44:b3980e8ac074 | 92 | */ |
Alex Young |
25:01356fb59467 | 93 | #define MEMORY_POOL_SIZE (4) |
Alex Young |
44:b3980e8ac074 | 94 | /*! |
Alex Young |
44:b3980e8ac074 | 95 | * \brief The size of the queue used for device responses. |
Alex Young |
44:b3980e8ac074 | 96 | * This is set to one as in typical Xbus operation each command receives a |
Alex Young |
44:b3980e8ac074 | 97 | * response before the next command is sent. |
Alex Young |
44:b3980e8ac074 | 98 | */ |
Alex Young |
26:665d3624f9ab | 99 | #define RESPONSE_QUEUE_SIZE (1) |
Alex Young |
44:b3980e8ac074 | 100 | /*! |
Alex Young |
44:b3980e8ac074 | 101 | * \brief The size of the queue used for data messages. |
Alex Young |
44:b3980e8ac074 | 102 | * This is set to two to allow some overlap between printing received data to |
Alex Young |
44:b3980e8ac074 | 103 | * the PC serial port and the reception of the subsequent data packet. In |
Alex Young |
44:b3980e8ac074 | 104 | * more complex applications it might be necessary to increase this if |
Alex Young |
44:b3980e8ac074 | 105 | * message processing might occasionally require more time than normal. |
Alex Young |
44:b3980e8ac074 | 106 | */ |
Alex Young |
43:470c019246e4 | 107 | #define DATA_QUEUE_SIZE (2) |
Alex Young |
44:b3980e8ac074 | 108 | /*! |
Alex Young |
49:38ecfbff5391 | 109 | * \brief The maximum size of an xbus message supported by the application. |
Alex Young |
44:b3980e8ac074 | 110 | * This is the size of the message buffers in the message data memory pool. |
Alex Young |
44:b3980e8ac074 | 111 | */ |
Alex Young |
25:01356fb59467 | 112 | #define MAX_XBUS_DATA_SIZE (128) |
Alex Young |
25:01356fb59467 | 113 | |
Alex Young |
44:b3980e8ac074 | 114 | /*! \brief Serial port for communication with the host PC. */ |
Alex Young |
57:c3c85ebb7375 | 115 | static Serial pc(PC_TX, PC_RX); |
Alex Young |
58:db60ef0a0d16 | 116 | /*! |
Alex Young |
58:db60ef0a0d16 | 117 | * \brief Serial port for communication with the MT. |
Alex Young |
58:db60ef0a0d16 | 118 | * |
Alex Young |
58:db60ef0a0d16 | 119 | * We use a RawSerial port as the Stream inteface used by the regular |
Alex Young |
58:db60ef0a0d16 | 120 | * Serial class can have problems with the RTOS when using interrupts. |
Alex Young |
58:db60ef0a0d16 | 121 | */ |
Alex Young |
58:db60ef0a0d16 | 122 | static RawSerial mt(MT_TX, MT_RX); |
Alex Young |
35:7e519b88c610 | 123 | /*! |
Alex Young |
35:7e519b88c610 | 124 | * \brief MT reset line. |
Alex Young |
35:7e519b88c610 | 125 | * |
Alex Young |
35:7e519b88c610 | 126 | * MT is held in reset on startup. |
Alex Young |
35:7e519b88c610 | 127 | */ |
Alex Young |
57:c3c85ebb7375 | 128 | static DigitalOut mtReset(MT_NRESET, 0); |
Alex Young |
44:b3980e8ac074 | 129 | /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */ |
Alex Young |
4:98f063b2e6da | 130 | static XbusParser* xbusParser; |
Alex Young |
25:01356fb59467 | 131 | |
Alex Young |
44:b3980e8ac074 | 132 | /*! |
Alex Young |
44:b3980e8ac074 | 133 | * \brief Memory pool used for storing Xbus messages when passing them |
Alex Young |
44:b3980e8ac074 | 134 | * to the main thread. |
Alex Young |
44:b3980e8ac074 | 135 | */ |
Alex Young |
25:01356fb59467 | 136 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
Alex Young |
44:b3980e8ac074 | 137 | /*! |
Alex Young |
44:b3980e8ac074 | 138 | * \brief Memory pool used for storing the payload of Xbus messages. |
Alex Young |
44:b3980e8ac074 | 139 | */ |
Alex Young |
25:01356fb59467 | 140 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
Alex Young |
44:b3980e8ac074 | 141 | /*! |
Alex Young |
44:b3980e8ac074 | 142 | * \brief Queue used to pass data messages to the main thread for processing. |
Alex Young |
44:b3980e8ac074 | 143 | */ |
Alex Young |
44:b3980e8ac074 | 144 | Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue; |
Alex Young |
44:b3980e8ac074 | 145 | /*! |
Alex Young |
44:b3980e8ac074 | 146 | * \brief Queue used for passing all other messages to the main thread for processing. |
Alex Young |
44:b3980e8ac074 | 147 | */ |
Alex Young |
26:665d3624f9ab | 148 | Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; |
Alex Young |
4:98f063b2e6da | 149 | |
Alex Young |
44:b3980e8ac074 | 150 | /*! |
Alex Young |
44:b3980e8ac074 | 151 | * \brief Allocate message data buffer from the message data pool. |
Alex Young |
44:b3980e8ac074 | 152 | */ |
Alex Young |
25:01356fb59467 | 153 | static void* allocateMessageData(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 154 | { |
Alex Young |
25:01356fb59467 | 155 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
Alex Young |
25:01356fb59467 | 156 | } |
Alex Young |
25:01356fb59467 | 157 | |
Alex Young |
44:b3980e8ac074 | 158 | /*! |
Alex Young |
44:b3980e8ac074 | 159 | * \brief Deallocate message data previously allocated from the message |
Alex Young |
44:b3980e8ac074 | 160 | * data pool. |
Alex Young |
44:b3980e8ac074 | 161 | */ |
Alex Young |
25:01356fb59467 | 162 | static void deallocateMessageData(void const* buffer) |
Alex Young |
25:01356fb59467 | 163 | { |
Alex Young |
25:01356fb59467 | 164 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
Alex Young |
4:98f063b2e6da | 165 | } |
Alex Young |
4:98f063b2e6da | 166 | |
Alex Young |
44:b3980e8ac074 | 167 | /*! |
Alex Young |
44:b3980e8ac074 | 168 | * \brief RX Interrupt handler for the MT serial port. |
Alex Young |
44:b3980e8ac074 | 169 | * |
Alex Young |
44:b3980e8ac074 | 170 | * Passes received data to an XbusParser to extract messages. |
Alex Young |
44:b3980e8ac074 | 171 | */ |
Alex Young |
4:98f063b2e6da | 172 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 173 | { |
Alex Young |
4:98f063b2e6da | 174 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 175 | { |
Alex Young |
4:98f063b2e6da | 176 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 177 | } |
Alex Young |
4:98f063b2e6da | 178 | } |
Alex Young |
4:98f063b2e6da | 179 | |
Alex Young |
44:b3980e8ac074 | 180 | /*! |
Alex Young |
44:b3980e8ac074 | 181 | * \brief Send a message to the MT |
Alex Young |
44:b3980e8ac074 | 182 | * |
Alex Young |
44:b3980e8ac074 | 183 | * This function formats the message data and writes this to the MT serial |
Alex Young |
44:b3980e8ac074 | 184 | * port. It does not wait for any response. |
Alex Young |
44:b3980e8ac074 | 185 | */ |
Alex Young |
34:3d7a6519a256 | 186 | static void sendMessage(XbusMessage const* m) |
Alex Young |
11:8593ba137917 | 187 | { |
Alex Young |
26:665d3624f9ab | 188 | uint8_t buf[64]; |
Alex Young |
26:665d3624f9ab | 189 | size_t rawLength = XbusMessage_format(buf, m); |
Alex Young |
11:8593ba137917 | 190 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 191 | { |
Alex Young |
11:8593ba137917 | 192 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 193 | } |
Alex Young |
34:3d7a6519a256 | 194 | } |
Alex Young |
34:3d7a6519a256 | 195 | |
Alex Young |
44:b3980e8ac074 | 196 | /*! |
Alex Young |
44:b3980e8ac074 | 197 | * \brief Send a message to the MT and wait for a response. |
Alex Young |
44:b3980e8ac074 | 198 | * \returns Response message from the MT, or NULL is no response received |
Alex Young |
44:b3980e8ac074 | 199 | * within 500ms. |
Alex Young |
44:b3980e8ac074 | 200 | * |
Alex Young |
44:b3980e8ac074 | 201 | * Blocking behaviour is implemented by waiting for a response to be written |
Alex Young |
44:b3980e8ac074 | 202 | * to the response queue by the XbusParser. |
Alex Young |
44:b3980e8ac074 | 203 | */ |
Alex Young |
34:3d7a6519a256 | 204 | static XbusMessage const* doTransaction(XbusMessage const* m) |
Alex Young |
34:3d7a6519a256 | 205 | { |
Alex Young |
34:3d7a6519a256 | 206 | sendMessage(m); |
Alex Young |
26:665d3624f9ab | 207 | |
Alex Young |
26:665d3624f9ab | 208 | osEvent ev = g_responseQueue.get(500); |
Alex Young |
26:665d3624f9ab | 209 | return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; |
Alex Young |
26:665d3624f9ab | 210 | } |
Alex Young |
26:665d3624f9ab | 211 | |
Alex Young |
31:ce1ea9ae861e | 212 | /*! |
Alex Young |
31:ce1ea9ae861e | 213 | * \brief RAII object to manage message memory deallocation. |
Alex Young |
31:ce1ea9ae861e | 214 | * |
Alex Young |
49:38ecfbff5391 | 215 | * Will automatically free the memory used by an XbusMessage when going out |
Alex Young |
31:ce1ea9ae861e | 216 | * of scope. |
Alex Young |
31:ce1ea9ae861e | 217 | */ |
Alex Young |
31:ce1ea9ae861e | 218 | class XbusMessageMemoryManager |
Alex Young |
26:665d3624f9ab | 219 | { |
Alex Young |
31:ce1ea9ae861e | 220 | public: |
Alex Young |
31:ce1ea9ae861e | 221 | XbusMessageMemoryManager(XbusMessage const* message) |
Alex Young |
31:ce1ea9ae861e | 222 | : m_message(message) |
Alex Young |
31:ce1ea9ae861e | 223 | { |
Alex Young |
31:ce1ea9ae861e | 224 | } |
Alex Young |
31:ce1ea9ae861e | 225 | |
Alex Young |
31:ce1ea9ae861e | 226 | ~XbusMessageMemoryManager() |
Alex Young |
31:ce1ea9ae861e | 227 | { |
Alex Young |
31:ce1ea9ae861e | 228 | if (m_message) |
Alex Young |
31:ce1ea9ae861e | 229 | { |
Alex Young |
31:ce1ea9ae861e | 230 | if (m_message->data) |
Alex Young |
31:ce1ea9ae861e | 231 | deallocateMessageData(m_message->data); |
Alex Young |
31:ce1ea9ae861e | 232 | g_messagePool.free(const_cast<XbusMessage*>(m_message)); |
Alex Young |
31:ce1ea9ae861e | 233 | } |
Alex Young |
31:ce1ea9ae861e | 234 | } |
Alex Young |
31:ce1ea9ae861e | 235 | |
Alex Young |
31:ce1ea9ae861e | 236 | private: |
Alex Young |
31:ce1ea9ae861e | 237 | XbusMessage const* m_message; |
Alex Young |
31:ce1ea9ae861e | 238 | }; |
Alex Young |
26:665d3624f9ab | 239 | |
Alex Young |
44:b3980e8ac074 | 240 | /*! |
Alex Young |
44:b3980e8ac074 | 241 | * \brief Dump information from a message to the PC serial port. |
Alex Young |
44:b3980e8ac074 | 242 | */ |
Alex Young |
29:d9310e7b58b5 | 243 | static void dumpResponse(XbusMessage const* response) |
Alex Young |
29:d9310e7b58b5 | 244 | { |
Alex Young |
29:d9310e7b58b5 | 245 | switch (response->mid) |
Alex Young |
29:d9310e7b58b5 | 246 | { |
Alex Young |
29:d9310e7b58b5 | 247 | case XMID_GotoConfigAck: |
Alex Young |
52:e2197b38c029 | 248 | pc.printf("Device went to config mode.\r\n"); |
Alex Young |
29:d9310e7b58b5 | 249 | break; |
Alex Young |
29:d9310e7b58b5 | 250 | |
Alex Young |
29:d9310e7b58b5 | 251 | case XMID_Error: |
Alex Young |
29:d9310e7b58b5 | 252 | pc.printf("Device error!"); |
Alex Young |
29:d9310e7b58b5 | 253 | break; |
Alex Young |
29:d9310e7b58b5 | 254 | |
Alex Young |
29:d9310e7b58b5 | 255 | default: |
Alex Young |
52:e2197b38c029 | 256 | pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length); |
Alex Young |
29:d9310e7b58b5 | 257 | break; |
Alex Young |
29:d9310e7b58b5 | 258 | } |
Alex Young |
29:d9310e7b58b5 | 259 | } |
Alex Young |
29:d9310e7b58b5 | 260 | |
Alex Young |
44:b3980e8ac074 | 261 | /*! |
Alex Young |
44:b3980e8ac074 | 262 | * \brief Send a command to the MT and wait for a response. |
Alex Young |
44:b3980e8ac074 | 263 | * \param cmdId The XsMessageId of the command to send. |
Alex Young |
44:b3980e8ac074 | 264 | * |
Alex Young |
44:b3980e8ac074 | 265 | * Commands are simple messages without and payload data. |
Alex Young |
44:b3980e8ac074 | 266 | */ |
Alex Young |
26:665d3624f9ab | 267 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
26:665d3624f9ab | 268 | { |
Alex Young |
26:665d3624f9ab | 269 | XbusMessage m = {cmdId}; |
Alex Young |
26:665d3624f9ab | 270 | XbusMessage const* response = doTransaction(&m); |
Alex Young |
31:ce1ea9ae861e | 271 | XbusMessageMemoryManager janitor(response); |
Alex Young |
26:665d3624f9ab | 272 | |
Alex Young |
26:665d3624f9ab | 273 | if (response) |
Alex Young |
26:665d3624f9ab | 274 | { |
Alex Young |
29:d9310e7b58b5 | 275 | dumpResponse(response); |
Alex Young |
26:665d3624f9ab | 276 | } |
Alex Young |
26:665d3624f9ab | 277 | else |
Alex Young |
26:665d3624f9ab | 278 | { |
Alex Young |
52:e2197b38c029 | 279 | pc.printf("Timeout waiting for response.\r\n"); |
Alex Young |
26:665d3624f9ab | 280 | } |
Alex Young |
11:8593ba137917 | 281 | } |
Alex Young |
11:8593ba137917 | 282 | |
Alex Young |
44:b3980e8ac074 | 283 | /*! |
Alex Young |
44:b3980e8ac074 | 284 | * \brief Handle a command from the PC |
Alex Young |
44:b3980e8ac074 | 285 | * |
Alex Young |
44:b3980e8ac074 | 286 | * The example application supports single character commands from the host |
Alex Young |
44:b3980e8ac074 | 287 | * PC to switch between configuration and measurement modes. |
Alex Young |
44:b3980e8ac074 | 288 | */ |
Alex Young |
11:8593ba137917 | 289 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 290 | { |
Alex Young |
11:8593ba137917 | 291 | switch (cmd) |
Alex Young |
11:8593ba137917 | 292 | { |
Alex Young |
11:8593ba137917 | 293 | case 'c': |
Alex Young |
11:8593ba137917 | 294 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 295 | break; |
Alex Young |
11:8593ba137917 | 296 | |
Alex Young |
11:8593ba137917 | 297 | case 'm': |
Alex Young |
11:8593ba137917 | 298 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 299 | break; |
Alex Young |
11:8593ba137917 | 300 | } |
Alex Young |
11:8593ba137917 | 301 | } |
Alex Young |
11:8593ba137917 | 302 | |
Alex Young |
44:b3980e8ac074 | 303 | /*! |
Alex Young |
44:b3980e8ac074 | 304 | * \brief XbusParser callback function to handle received messages. |
Alex Young |
44:b3980e8ac074 | 305 | * \param message Pointer to the last received message. |
Alex Young |
44:b3980e8ac074 | 306 | * |
Alex Young |
44:b3980e8ac074 | 307 | * In this example received messages are copied into one of two message |
Alex Young |
44:b3980e8ac074 | 308 | * queues for later handling by the main thread. Data messages are put |
Alex Young |
49:38ecfbff5391 | 309 | * in one queue, while all other responses are placed in the second queue. |
Alex Young |
44:b3980e8ac074 | 310 | * This is done so that data and other messages can be handled separately |
Alex Young |
44:b3980e8ac074 | 311 | * by the application code. |
Alex Young |
44:b3980e8ac074 | 312 | */ |
Alex Young |
24:2cc49dc854e3 | 313 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 314 | { |
Alex Young |
43:470c019246e4 | 315 | XbusMessage* m = g_messagePool.alloc(); |
Alex Young |
43:470c019246e4 | 316 | if (m) |
Alex Young |
7:c913a7cd5231 | 317 | { |
Alex Young |
43:470c019246e4 | 318 | memcpy(m, message, sizeof(XbusMessage)); |
Alex Young |
43:470c019246e4 | 319 | if (message->mid == XMID_MtData2) |
Alex Young |
43:470c019246e4 | 320 | { |
Alex Young |
43:470c019246e4 | 321 | g_dataQueue.put(m); |
Alex Young |
43:470c019246e4 | 322 | } |
Alex Young |
43:470c019246e4 | 323 | else |
Alex Young |
43:470c019246e4 | 324 | { |
Alex Young |
43:470c019246e4 | 325 | g_responseQueue.put(m); |
Alex Young |
43:470c019246e4 | 326 | } |
Alex Young |
7:c913a7cd5231 | 327 | } |
Alex Young |
43:470c019246e4 | 328 | else if (message->data) |
Alex Young |
7:c913a7cd5231 | 329 | { |
Alex Young |
43:470c019246e4 | 330 | deallocateMessageData(message->data); |
Alex Young |
25:01356fb59467 | 331 | } |
Alex Young |
4:98f063b2e6da | 332 | } |
Alex Young |
4:98f063b2e6da | 333 | |
Alex Young |
44:b3980e8ac074 | 334 | /*! |
Alex Young |
44:b3980e8ac074 | 335 | * \brief Configure the serial ports used to communicate with the motion |
Alex Young |
44:b3980e8ac074 | 336 | * tracker and host PC. |
Alex Young |
44:b3980e8ac074 | 337 | */ |
Alex Young |
4:98f063b2e6da | 338 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 339 | { |
Alex Young |
53:3891f4259901 | 340 | pc.baud(PC_UART_BAUDRATE); |
Alex Young |
55:9a2d6f947f0d | 341 | pc.format(8, Serial::None, 1); |
Alex Young |
4:98f063b2e6da | 342 | |
Alex Young |
37:3e87bf647c68 | 343 | mt.baud(115200); |
Alex Young |
55:9a2d6f947f0d | 344 | mt.format(8, Serial::None, 1); |
Alex Young |
4:98f063b2e6da | 345 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 346 | } |
Alex Young |
4:98f063b2e6da | 347 | |
Alex Young |
44:b3980e8ac074 | 348 | /*! |
Alex Young |
44:b3980e8ac074 | 349 | * \brief Read the device ID of the motion tracker. |
Alex Young |
44:b3980e8ac074 | 350 | */ |
Alex Young |
29:d9310e7b58b5 | 351 | static uint32_t readDeviceId(void) |
Alex Young |
29:d9310e7b58b5 | 352 | { |
Alex Young |
29:d9310e7b58b5 | 353 | XbusMessage reqDid = {XMID_ReqDid}; |
Alex Young |
29:d9310e7b58b5 | 354 | XbusMessage const* didRsp = doTransaction(&reqDid); |
Alex Young |
31:ce1ea9ae861e | 355 | XbusMessageMemoryManager janitor(didRsp); |
Alex Young |
29:d9310e7b58b5 | 356 | uint32_t deviceId = 0; |
Alex Young |
29:d9310e7b58b5 | 357 | if (didRsp) |
Alex Young |
29:d9310e7b58b5 | 358 | { |
Alex Young |
29:d9310e7b58b5 | 359 | if (didRsp->mid == XMID_DeviceId) |
Alex Young |
29:d9310e7b58b5 | 360 | { |
Alex Young |
29:d9310e7b58b5 | 361 | deviceId = *(uint32_t*)didRsp->data; |
Alex Young |
29:d9310e7b58b5 | 362 | } |
Alex Young |
29:d9310e7b58b5 | 363 | } |
Alex Young |
29:d9310e7b58b5 | 364 | return deviceId; |
Alex Young |
29:d9310e7b58b5 | 365 | } |
Alex Young |
29:d9310e7b58b5 | 366 | |
Alex Young |
44:b3980e8ac074 | 367 | /*! |
Alex Young |
44:b3980e8ac074 | 368 | * \brief Sets MT output configuration. |
Alex Young |
44:b3980e8ac074 | 369 | * \param conf Pointer to an array of OutputConfiguration elements. |
Alex Young |
44:b3980e8ac074 | 370 | * \param elements The number of elements in the configuration array. |
Alex Young |
44:b3980e8ac074 | 371 | * |
Alex Young |
44:b3980e8ac074 | 372 | * The response from the device indicates the actual values that will |
Alex Young |
44:b3980e8ac074 | 373 | * be used by the motion tracker. These may differ from the requested |
Alex Young |
44:b3980e8ac074 | 374 | * parameters as the motion tracker validates the requested parameters |
Alex Young |
44:b3980e8ac074 | 375 | * before applying them. |
Alex Young |
44:b3980e8ac074 | 376 | */ |
Alex Young |
32:fafe0f42d82b | 377 | static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements) |
Alex Young |
29:d9310e7b58b5 | 378 | { |
Alex Young |
32:fafe0f42d82b | 379 | XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf}; |
Alex Young |
32:fafe0f42d82b | 380 | XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); |
Alex Young |
32:fafe0f42d82b | 381 | XbusMessageMemoryManager janitor(outputConfRsp); |
Alex Young |
32:fafe0f42d82b | 382 | if (outputConfRsp) |
Alex Young |
29:d9310e7b58b5 | 383 | { |
Alex Young |
32:fafe0f42d82b | 384 | if (outputConfRsp->mid == XMID_OutputConfig) |
Alex Young |
29:d9310e7b58b5 | 385 | { |
Alex Young |
52:e2197b38c029 | 386 | pc.printf("Output configuration set to:\r\n"); |
Alex Young |
32:fafe0f42d82b | 387 | OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; |
Alex Young |
32:fafe0f42d82b | 388 | for (int i = 0; i < outputConfRsp->length; ++i) |
Alex Young |
32:fafe0f42d82b | 389 | { |
Alex Young |
52:e2197b38c029 | 390 | pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
32:fafe0f42d82b | 391 | ++conf; |
Alex Young |
32:fafe0f42d82b | 392 | } |
Alex Young |
32:fafe0f42d82b | 393 | return true; |
Alex Young |
29:d9310e7b58b5 | 394 | } |
Alex Young |
29:d9310e7b58b5 | 395 | else |
Alex Young |
29:d9310e7b58b5 | 396 | { |
Alex Young |
32:fafe0f42d82b | 397 | dumpResponse(outputConfRsp); |
Alex Young |
29:d9310e7b58b5 | 398 | } |
Alex Young |
32:fafe0f42d82b | 399 | } |
Alex Young |
32:fafe0f42d82b | 400 | else |
Alex Young |
32:fafe0f42d82b | 401 | { |
Alex Young |
52:e2197b38c029 | 402 | pc.printf("Failed to set output configuration.\r\n"); |
Alex Young |
32:fafe0f42d82b | 403 | } |
Alex Young |
32:fafe0f42d82b | 404 | return false; |
Alex Young |
32:fafe0f42d82b | 405 | } |
Alex Young |
29:d9310e7b58b5 | 406 | |
Alex Young |
44:b3980e8ac074 | 407 | /*! |
Alex Young |
44:b3980e8ac074 | 408 | * \brief Sets the motion tracker output configuration based on the function |
Alex Young |
44:b3980e8ac074 | 409 | * of the attached device. |
Alex Young |
44:b3980e8ac074 | 410 | * |
Alex Young |
44:b3980e8ac074 | 411 | * The output configuration depends on the type of MTi-1 device connected. |
Alex Young |
49:38ecfbff5391 | 412 | * An MTI-1 (IMU) device does not have an onboard orientation filter so |
Alex Young |
44:b3980e8ac074 | 413 | * cannot output quaternion data, only inertial and magnetic measurement |
Alex Young |
44:b3980e8ac074 | 414 | * data. |
Alex Young |
44:b3980e8ac074 | 415 | * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions. |
Alex Young |
44:b3980e8ac074 | 416 | */ |
Alex Young |
32:fafe0f42d82b | 417 | static bool configureMotionTracker(void) |
Alex Young |
32:fafe0f42d82b | 418 | { |
Alex Young |
32:fafe0f42d82b | 419 | uint32_t deviceId = readDeviceId(); |
Alex Young |
32:fafe0f42d82b | 420 | |
Alex Young |
32:fafe0f42d82b | 421 | if (deviceId) |
Alex Young |
32:fafe0f42d82b | 422 | { |
Alex Young |
52:e2197b38c029 | 423 | pc.printf("Found device with ID: %08X.\r\n", deviceId); |
Alex Young |
40:b77a8c10c76d | 424 | if (!XsDeviceId_isMtMk4_X(deviceId)) |
Alex Young |
40:b77a8c10c76d | 425 | { |
Alex Young |
52:e2197b38c029 | 426 | pc.printf("Device is not an MTi-1 series.\r\n"); |
Alex Young |
40:b77a8c10c76d | 427 | return false; |
Alex Young |
40:b77a8c10c76d | 428 | } |
Alex Young |
32:fafe0f42d82b | 429 | |
Alex Young |
40:b77a8c10c76d | 430 | DeviceFunction function = XsDeviceId_getFunction(deviceId); |
Alex Young |
52:e2197b38c029 | 431 | pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function)); |
Alex Young |
40:b77a8c10c76d | 432 | |
Alex Young |
40:b77a8c10c76d | 433 | if (function == DF_IMU) |
Alex Young |
29:d9310e7b58b5 | 434 | { |
Alex Young |
32:fafe0f42d82b | 435 | OutputConfiguration conf[] = { |
Alex Young |
32:fafe0f42d82b | 436 | {XDI_PacketCounter, 65535}, |
Alex Young |
32:fafe0f42d82b | 437 | {XDI_SampleTimeFine, 65535}, |
Alex Young |
32:fafe0f42d82b | 438 | {XDI_Acceleration, 100}, |
Alex Young |
32:fafe0f42d82b | 439 | {XDI_RateOfTurn, 100}, |
Alex Young |
32:fafe0f42d82b | 440 | {XDI_MagneticField, 100} |
Alex Young |
32:fafe0f42d82b | 441 | }; |
Alex Young |
32:fafe0f42d82b | 442 | return setOutputConfiguration(conf, |
Alex Young |
32:fafe0f42d82b | 443 | sizeof(conf) / sizeof(OutputConfiguration)); |
Alex Young |
29:d9310e7b58b5 | 444 | } |
Alex Young |
29:d9310e7b58b5 | 445 | else |
Alex Young |
29:d9310e7b58b5 | 446 | { |
Alex Young |
32:fafe0f42d82b | 447 | OutputConfiguration conf[] = { |
Alex Young |
32:fafe0f42d82b | 448 | {XDI_PacketCounter, 65535}, |
Alex Young |
32:fafe0f42d82b | 449 | {XDI_SampleTimeFine, 65535}, |
Alex Young |
32:fafe0f42d82b | 450 | {XDI_Quaternion, 100}, |
Alex Young |
32:fafe0f42d82b | 451 | {XDI_StatusWord, 65535} |
Alex Young |
32:fafe0f42d82b | 452 | }; |
Alex Young |
32:fafe0f42d82b | 453 | return setOutputConfiguration(conf, |
Alex Young |
32:fafe0f42d82b | 454 | sizeof(conf) / sizeof(OutputConfiguration)); |
Alex Young |
29:d9310e7b58b5 | 455 | } |
Alex Young |
29:d9310e7b58b5 | 456 | } |
Alex Young |
32:fafe0f42d82b | 457 | |
Alex Young |
32:fafe0f42d82b | 458 | return false; |
Alex Young |
29:d9310e7b58b5 | 459 | } |
Alex Young |
29:d9310e7b58b5 | 460 | |
Alex Young |
35:7e519b88c610 | 461 | /*! |
Alex Young |
35:7e519b88c610 | 462 | * \brief Wait for a wakeup message from the MTi. |
Alex Young |
37:3e87bf647c68 | 463 | * \param timeout Time to wait to receive the wakeup message. |
Alex Young |
37:3e87bf647c68 | 464 | * \return true if wakeup received within timeout, else false. |
Alex Young |
35:7e519b88c610 | 465 | * |
Alex Young |
49:38ecfbff5391 | 466 | * The MTi sends an XMID_Wakeup message once it has completed its bootup |
Alex Young |
49:38ecfbff5391 | 467 | * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi |
Alex Young |
35:7e519b88c610 | 468 | * will stay in configuration mode. Otherwise it will automatically enter |
Alex Young |
35:7e519b88c610 | 469 | * measurement mode with the stored output configuration. |
Alex Young |
35:7e519b88c610 | 470 | */ |
Alex Young |
37:3e87bf647c68 | 471 | bool waitForWakeup(uint32_t timeout) |
Alex Young |
35:7e519b88c610 | 472 | { |
Alex Young |
37:3e87bf647c68 | 473 | osEvent ev = g_responseQueue.get(timeout); |
Alex Young |
35:7e519b88c610 | 474 | if (ev.status == osEventMessage) |
Alex Young |
35:7e519b88c610 | 475 | { |
Alex Young |
35:7e519b88c610 | 476 | XbusMessage const* m = (XbusMessage const*)ev.value.p; |
Alex Young |
35:7e519b88c610 | 477 | XbusMessageMemoryManager janitor(m); |
Alex Young |
35:7e519b88c610 | 478 | return m->mid == XMID_Wakeup; |
Alex Young |
35:7e519b88c610 | 479 | } |
Alex Young |
35:7e519b88c610 | 480 | return false; |
Alex Young |
35:7e519b88c610 | 481 | } |
Alex Young |
35:7e519b88c610 | 482 | |
Alex Young |
35:7e519b88c610 | 483 | /*! |
Alex Young |
37:3e87bf647c68 | 484 | * \brief Send wakeup acknowledge message to MTi. |
Alex Young |
37:3e87bf647c68 | 485 | * |
Alex Young |
37:3e87bf647c68 | 486 | * Sending a wakeup acknowledge will cause the device to stay in configuration |
Alex Young |
37:3e87bf647c68 | 487 | * mode instead of automatically transitioning to measurement mode with the |
Alex Young |
37:3e87bf647c68 | 488 | * stored output configuration. |
Alex Young |
37:3e87bf647c68 | 489 | */ |
Alex Young |
37:3e87bf647c68 | 490 | void sendWakeupAck(void) |
Alex Young |
37:3e87bf647c68 | 491 | { |
Alex Young |
37:3e87bf647c68 | 492 | XbusMessage ack = {XMID_WakeupAck}; |
Alex Young |
37:3e87bf647c68 | 493 | sendMessage(&ack); |
Alex Young |
52:e2197b38c029 | 494 | pc.printf("Device ready for operation.\r\n"); |
Alex Young |
37:3e87bf647c68 | 495 | } |
Alex Young |
37:3e87bf647c68 | 496 | |
Alex Young |
37:3e87bf647c68 | 497 | /*! |
Alex Young |
37:3e87bf647c68 | 498 | * \brief Restore communication with the MTi. |
Alex Young |
37:3e87bf647c68 | 499 | * |
Alex Young |
37:3e87bf647c68 | 500 | * On bootup the MTi will listen for a magic byte to signal that it should |
Alex Young |
37:3e87bf647c68 | 501 | * return to default baudrate and output configuration. This can be used to |
Alex Young |
37:3e87bf647c68 | 502 | * recover from a bad or unknown configuration. |
Alex Young |
37:3e87bf647c68 | 503 | */ |
Alex Young |
37:3e87bf647c68 | 504 | void restoreCommunication(void) |
Alex Young |
37:3e87bf647c68 | 505 | { |
Alex Young |
37:3e87bf647c68 | 506 | pc.printf("Restoring communication with device... "); |
Alex Young |
37:3e87bf647c68 | 507 | mtReset = 0; |
Alex Young |
37:3e87bf647c68 | 508 | Thread::wait(1); |
Alex Young |
37:3e87bf647c68 | 509 | mtReset = 1; |
Alex Young |
37:3e87bf647c68 | 510 | |
Alex Young |
37:3e87bf647c68 | 511 | do |
Alex Young |
37:3e87bf647c68 | 512 | { |
Alex Young |
37:3e87bf647c68 | 513 | mt.putc(0xDE); |
Alex Young |
37:3e87bf647c68 | 514 | } |
Alex Young |
37:3e87bf647c68 | 515 | while (!waitForWakeup(1)); |
Alex Young |
52:e2197b38c029 | 516 | pc.printf("done\r\n"); |
Alex Young |
37:3e87bf647c68 | 517 | |
Alex Young |
37:3e87bf647c68 | 518 | sendWakeupAck(); |
Alex Young |
37:3e87bf647c68 | 519 | } |
Alex Young |
37:3e87bf647c68 | 520 | |
Alex Young |
37:3e87bf647c68 | 521 | /*! |
Alex Young |
35:7e519b88c610 | 522 | * \brief Releases the MTi reset line and waits for a wakeup message. |
Alex Young |
37:3e87bf647c68 | 523 | * |
Alex Young |
37:3e87bf647c68 | 524 | * If no wakeup message is received within 1 second the restore communications |
Alex Young |
37:3e87bf647c68 | 525 | * procedure is done to reset the MTi to default baudrate and output configuration. |
Alex Young |
35:7e519b88c610 | 526 | */ |
Alex Young |
35:7e519b88c610 | 527 | static void wakeupMotionTracker(void) |
Alex Young |
35:7e519b88c610 | 528 | { |
Alex Young |
35:7e519b88c610 | 529 | mtReset.write(1); // Release MT from reset. |
Alex Young |
37:3e87bf647c68 | 530 | if (waitForWakeup(1000)) |
Alex Young |
35:7e519b88c610 | 531 | { |
Alex Young |
37:3e87bf647c68 | 532 | sendWakeupAck(); |
Alex Young |
37:3e87bf647c68 | 533 | } |
Alex Young |
37:3e87bf647c68 | 534 | else |
Alex Young |
37:3e87bf647c68 | 535 | { |
Alex Young |
37:3e87bf647c68 | 536 | restoreCommunication(); |
Alex Young |
35:7e519b88c610 | 537 | } |
Alex Young |
35:7e519b88c610 | 538 | } |
Alex Young |
35:7e519b88c610 | 539 | |
Alex Young |
38:d8d410d1662c | 540 | static void printIntroMessage(void) |
Alex Young |
38:d8d410d1662c | 541 | { |
Alex Young |
52:e2197b38c029 | 542 | pc.printf("\r\n\r\n\r\n\r\n\r\n"); |
Alex Young |
52:e2197b38c029 | 543 | pc.printf("MTi-1 series embedded example firmware.\r\n"); |
Alex Young |
38:d8d410d1662c | 544 | } |
Alex Young |
38:d8d410d1662c | 545 | |
Alex Young |
38:d8d410d1662c | 546 | static void printUsageInstructions(void) |
Alex Young |
38:d8d410d1662c | 547 | { |
Alex Young |
52:e2197b38c029 | 548 | pc.printf("\r\n"); |
Alex Young |
52:e2197b38c029 | 549 | pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n"); |
Alex Young |
38:d8d410d1662c | 550 | } |
Alex Young |
38:d8d410d1662c | 551 | |
Alex Young |
44:b3980e8ac074 | 552 | /*! |
Alex Young |
44:b3980e8ac074 | 553 | * \brief Output the contents of a data message to the PC serial port. |
Alex Young |
44:b3980e8ac074 | 554 | */ |
Alex Young |
43:470c019246e4 | 555 | static void printMessageData(struct XbusMessage const* message) |
Alex Young |
43:470c019246e4 | 556 | { |
Alex Young |
43:470c019246e4 | 557 | if (!message) |
Alex Young |
43:470c019246e4 | 558 | return; |
Alex Young |
43:470c019246e4 | 559 | |
Alex Young |
43:470c019246e4 | 560 | pc.printf("MTData2:"); |
Alex Young |
43:470c019246e4 | 561 | uint16_t counter; |
Alex Young |
43:470c019246e4 | 562 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
43:470c019246e4 | 563 | { |
Alex Young |
43:470c019246e4 | 564 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
43:470c019246e4 | 565 | } |
Alex Young |
43:470c019246e4 | 566 | float ori[4]; |
Alex Young |
43:470c019246e4 | 567 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
43:470c019246e4 | 568 | { |
Alex Young |
43:470c019246e4 | 569 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
43:470c019246e4 | 570 | ori[2], ori[3]); |
Alex Young |
43:470c019246e4 | 571 | } |
Alex Young |
43:470c019246e4 | 572 | float acc[3]; |
Alex Young |
43:470c019246e4 | 573 | if (XbusMessage_getDataItem(acc, XDI_Acceleration, message)) |
Alex Young |
43:470c019246e4 | 574 | { |
Alex Young |
43:470c019246e4 | 575 | pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]); |
Alex Young |
43:470c019246e4 | 576 | } |
Alex Young |
43:470c019246e4 | 577 | float gyr[3]; |
Alex Young |
43:470c019246e4 | 578 | if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message)) |
Alex Young |
43:470c019246e4 | 579 | { |
Alex Young |
43:470c019246e4 | 580 | pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]); |
Alex Young |
43:470c019246e4 | 581 | } |
Alex Young |
43:470c019246e4 | 582 | float mag[3]; |
Alex Young |
43:470c019246e4 | 583 | if (XbusMessage_getDataItem(mag, XDI_MagneticField, message)) |
Alex Young |
43:470c019246e4 | 584 | { |
Alex Young |
43:470c019246e4 | 585 | pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]); |
Alex Young |
43:470c019246e4 | 586 | } |
Alex Young |
43:470c019246e4 | 587 | uint32_t status; |
Alex Young |
43:470c019246e4 | 588 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
43:470c019246e4 | 589 | { |
Alex Young |
43:470c019246e4 | 590 | pc.printf(" Status:%X", status); |
Alex Young |
43:470c019246e4 | 591 | } |
Alex Young |
52:e2197b38c029 | 592 | pc.printf("\r\n"); |
Alex Young |
43:470c019246e4 | 593 | } |
Alex Young |
43:470c019246e4 | 594 | |
Alex Young |
43:470c019246e4 | 595 | |
Alex Young |
2:b3e402dc11ca | 596 | int main(void) |
Alex Young |
2:b3e402dc11ca | 597 | { |
Alex Young |
4:98f063b2e6da | 598 | XbusParserCallback xbusCallback = {}; |
Alex Young |
25:01356fb59467 | 599 | xbusCallback.allocateBuffer = allocateMessageData; |
Alex Young |
25:01356fb59467 | 600 | xbusCallback.deallocateBuffer = deallocateMessageData; |
Alex Young |
24:2cc49dc854e3 | 601 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 602 | |
Alex Young |
4:98f063b2e6da | 603 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 604 | configureSerialPorts(); |
Alex Young |
38:d8d410d1662c | 605 | |
Alex Young |
38:d8d410d1662c | 606 | printIntroMessage(); |
Alex Young |
35:7e519b88c610 | 607 | wakeupMotionTracker(); |
Alex Young |
29:d9310e7b58b5 | 608 | if (configureMotionTracker()) |
Alex Young |
5:abc52dd88be2 | 609 | { |
Alex Young |
38:d8d410d1662c | 610 | printUsageInstructions(); |
Alex Young |
29:d9310e7b58b5 | 611 | for (;;) |
Alex Young |
26:665d3624f9ab | 612 | { |
Alex Young |
29:d9310e7b58b5 | 613 | while (pc.readable()) |
Alex Young |
29:d9310e7b58b5 | 614 | { |
Alex Young |
29:d9310e7b58b5 | 615 | handlePcCommand(pc.getc()); |
Alex Young |
29:d9310e7b58b5 | 616 | } |
Alex Young |
43:470c019246e4 | 617 | |
Alex Young |
43:470c019246e4 | 618 | osEvent ev = g_dataQueue.get(10); |
Alex Young |
43:470c019246e4 | 619 | if (ev.status == osEventMessage) |
Alex Young |
43:470c019246e4 | 620 | { |
Alex Young |
43:470c019246e4 | 621 | XbusMessage const* data = (XbusMessage const*)ev.value.p; |
Alex Young |
43:470c019246e4 | 622 | XbusMessageMemoryManager janitor(data); |
Alex Young |
43:470c019246e4 | 623 | printMessageData(data); |
Alex Young |
43:470c019246e4 | 624 | } |
Alex Young |
26:665d3624f9ab | 625 | } |
Alex Young |
5:abc52dd88be2 | 626 | } |
Alex Young |
29:d9310e7b58b5 | 627 | else |
Alex Young |
29:d9310e7b58b5 | 628 | { |
Alex Young |
52:e2197b38c029 | 629 | pc.printf("Failed to configure motion tracker.\r\n"); |
Alex Young |
29:d9310e7b58b5 | 630 | return -1; |
Alex Young |
29:d9310e7b58b5 | 631 | } |
Alex Young |
4:98f063b2e6da | 632 | } |