FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp
- Committer:
- Alex Young
- Date:
- 2015-05-13
- Revision:
- 7:c913a7cd5231
- Parent:
- 5:abc52dd88be2
- Child:
- 8:77cd45916596
File content as of revision 7:c913a7cd5231:
#include "mbed.h" #include "xbusparser.h" #include "mtdata2.h" static Serial pc(PA_2, PA_3); static Serial mt(PB_9, PB_8); static XbusParser* xbusParser; static uint8_t rxBuffer[256]; static void* allocateBuffer(size_t bufSize) { return bufSize < sizeof(rxBuffer) ? rxBuffer : NULL; } static void mtLowLevelHandler(void) { while (mt.readable()) { XbusParser_parseByte(xbusParser, mt.getc()); } } static void mtDataHandler(uint8_t mid, uint16_t dataLength, uint8_t const* data) { if (mid == MTDATA2_MESSAGE_ID) { pc.printf("Data packet received\n"); uint16_t counter; if (MtData2_getItem(&counter, XDI_PacketCounter, data, dataLength)) { pc.printf("\tPacket counter:\t%d\n", counter); } float ori[4]; if (MtData2_getItem(ori, XDI_Quaternion, data, dataLength)) { pc.printf("\tOrientation\t%.3f, %.3f, %.3f, %.3f\n", ori[0], ori[1], ori[2], ori[3]); } uint32_t status; if (MtData2_getItem(&status, XDI_StatusWord, data, dataLength)) { pc.printf("\tFilter status:\t%d\n", status); } pc.printf("\n\n"); } else { pc.printf("Received Xbus message. MID=%X, length=%d\n", mid, dataLength); } } 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 = allocateBuffer; xbusCallback.handleMessage = mtDataHandler; xbusParser = XbusParser_create(&xbusCallback); configureSerialPorts(); for (;;) { sleep(); } }