FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp
- Committer:
- Alex Young
- Date:
- 2015-05-20
- Revision:
- 26:665d3624f9ab
- Parent:
- 25:01356fb59467
- Child:
- 29:d9310e7b58b5
File content as of revision 26:665d3624f9ab:
#include "mbed.h" #include "rtos.h" #include "xbusparser.h" #include "xbusmessage.h" #define MEMORY_POOL_SIZE (4) #define RESPONSE_QUEUE_SIZE (1) #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; Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; 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()); } } XbusMessage const* doTransaction(XbusMessage* m) { uint8_t buf[64]; size_t rawLength = XbusMessage_format(buf, m); for (size_t i = 0; i < rawLength; ++i) { mt.putc(buf[i]); } osEvent ev = g_responseQueue.get(500); return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; } static void freeMessage(XbusMessage const* m) { if (m->data) deallocateMessageData(m->data); g_messagePool.free((XbusMessage*)m); } static void sendCommand(XsMessageId cmdId) { XbusMessage m = {cmdId}; XbusMessage const* response = doTransaction(&m); if (response) { switch (response->mid) { case XMID_GotoConfigAck: pc.printf("Device went to config mode\n"); break; case XMID_DeviceId: pc.printf("Device ID: %08X\n", *(uint32_t*)response->data); break; case XMID_OutputConfig: { pc.printf("Output configuration\n"); OutputConfiguration* conf = (OutputConfiguration*)response->data; for (int i = 0; i < response->length; ++i) { pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); ++conf; } } break; default: pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length); break; } freeMessage(response); } else { pc.printf("Timeout waiting for response.\n"); } } 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 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"); deallocateMessageData(message->data); } static void mtMessageHandler(struct XbusMessage const* message) { if (message->mid == XMID_MtData2) { handleDataMessage(message); } else { XbusMessage* m = g_messagePool.alloc(); memcpy(m, message, sizeof(XbusMessage)); g_responseQueue.put(m); } } static void configureSerialPorts(void) { pc.baud(921600); pc.format(8, Serial::None, 2); 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 (;;) { while (pc.readable()) { handlePcCommand(pc.getc()); } } }