FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp
- Committer:
- Alex Young
- Date:
- 2015-05-20
- Revision:
- 25:01356fb59467
- Parent:
- 24:2cc49dc854e3
- Child:
- 26:665d3624f9ab
File content as of revision 25:01356fb59467:
#include "mbed.h" #include "rtos.h" #include "xbusparser.h" #include "xbusmessage.h" #define MEMORY_POOL_SIZE (4) #define MAX_XBUS_DATA_SIZE (128) static Serial pc(PA_2, PA_3); static Serial mt(PB_9, PB_8); static XbusParser* xbusParser; MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; static void* allocateMessageData(size_t bufSize) { return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; } static void deallocateMessageData(void const* buffer) { g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); } static void mtLowLevelHandler(void) { while (mt.readable()) { XbusParser_parseByte(xbusParser, mt.getc()); } } static void sendCommand(XsMessageId cmdId) { uint8_t buf[8]; XbusMessage m = {cmdId}; size_t rawLength = XbusMessage_format(buf, &m); for (size_t i = 0; i < rawLength; ++i) { mt.putc(buf[i]); } } static void handlePcCommand(char cmd) { switch (cmd) { case 'c': sendCommand(XMID_GotoConfig); break; case 'm': sendCommand(XMID_GotoMeasurement); break; case 'd': sendCommand(XMID_ReqDid); break; case 'o': sendCommand(XMID_ReqOutputConfig); break; } } static void pcHandler(void) { while (pc.readable()) { handlePcCommand(pc.getc()); } } static void handleDataMessage(struct XbusMessage const* message) { pc.printf("MTData2:"); uint16_t counter; if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) { pc.printf(" Packet counter: %5d", counter); } float ori[4]; if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) { pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], ori[2], ori[3]); } uint32_t status; if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) { pc.printf(" Status:%X", status); } pc.printf("\n"); } static void mtMessageHandler(struct XbusMessage const* message) { if (message->mid == XMID_MtData2) { handleDataMessage(message); } else if (message->mid == XMID_DeviceId) { pc.printf("Device ID: %8X\n", *(uint32_t*)message->data); } else if (message->mid == XMID_OutputConfig) { pc.printf("Output configuration:\n"); struct OutputConfiguration* conf = (struct OutputConfiguration*)message->data; for (int i = 0; i < message->length; ++i) { pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); ++conf; } } else { pc.printf("Received Xbus message. MID=%X, length=%d\n", message->mid, message->length); } if (message->data) { deallocateMessageData(message->data); } } static void configureSerialPorts(void) { pc.baud(921600); pc.format(8, Serial::None, 2); pc.attach(pcHandler, Serial::RxIrq); mt.baud(921600); mt.format(8, Serial::None, 2); mt.attach(mtLowLevelHandler, Serial::RxIrq); } int main(void) { XbusParserCallback xbusCallback = {}; xbusCallback.allocateBuffer = allocateMessageData; xbusCallback.deallocateBuffer = deallocateMessageData; xbusCallback.handleMessage = mtMessageHandler; xbusParser = XbusParser_create(&xbusCallback); configureSerialPorts(); for (;;) { sleep(); } }