FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp
- Committer:
- Alex Young
- Date:
- 2015-05-22
- Revision:
- 52:e2197b38c029
- Parent:
- 49:38ecfbff5391
- Child:
- 53:3891f4259901
File content as of revision 52:e2197b38c029:
/*! * \file * \copyright * Copyright (C) Xsens Technologies B.V., 2015. All rights reserved. * * This source code is intended for use only by Xsens Technologies BV and * those that have explicit written permission to use it from * Xsens Technologies BV. * * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY * KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A * PARTICULAR PURPOSE. */ #include "mbed.h" #include "rtos.h" #include "xbusparser.h" #include "xbusmessage.h" #include "xsdeviceid.h" /*! * \brief The number of items to hold in the memory pools. */ #define MEMORY_POOL_SIZE (4) /*! * \brief The size of the queue used for device responses. * This is set to one as in typical Xbus operation each command receives a * response before the next command is sent. */ #define RESPONSE_QUEUE_SIZE (1) /*! * \brief The size of the queue used for data messages. * This is set to two to allow some overlap between printing received data to * the PC serial port and the reception of the subsequent data packet. In * more complex applications it might be necessary to increase this if * message processing might occasionally require more time than normal. */ #define DATA_QUEUE_SIZE (2) /*! * \brief The maximum size of an xbus message supported by the application. * This is the size of the message buffers in the message data memory pool. */ #define MAX_XBUS_DATA_SIZE (128) /*! \brief Serial port for communication with the host PC. */ static Serial pc(PA_2, PA_3); /*! \brief Serial port for communication with the MT. */ static Serial mt(PB_9, PB_8); /*! * \brief MT reset line. * * MT is held in reset on startup. */ static DigitalOut mtReset(PA_10, 0); /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */ static XbusParser* xbusParser; /*! * \brief Memory pool used for storing Xbus messages when passing them * to the main thread. */ MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; /*! * \brief Memory pool used for storing the payload of Xbus messages. */ MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; /*! * \brief Queue used to pass data messages to the main thread for processing. */ Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue; /*! * \brief Queue used for passing all other messages to the main thread for processing. */ Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; /*! * \brief Allocate message data buffer from the message data pool. */ static void* allocateMessageData(size_t bufSize) { return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; } /*! * \brief Deallocate message data previously allocated from the message * data pool. */ static void deallocateMessageData(void const* buffer) { g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); } /*! * \brief RX Interrupt handler for the MT serial port. * * Passes received data to an XbusParser to extract messages. */ static void mtLowLevelHandler(void) { while (mt.readable()) { XbusParser_parseByte(xbusParser, mt.getc()); } } /*! * \brief Send a message to the MT * * This function formats the message data and writes this to the MT serial * port. It does not wait for any response. */ static void sendMessage(XbusMessage const* m) { uint8_t buf[64]; size_t rawLength = XbusMessage_format(buf, m); for (size_t i = 0; i < rawLength; ++i) { mt.putc(buf[i]); } } /*! * \brief Send a message to the MT and wait for a response. * \returns Response message from the MT, or NULL is no response received * within 500ms. * * Blocking behaviour is implemented by waiting for a response to be written * to the response queue by the XbusParser. */ static XbusMessage const* doTransaction(XbusMessage const* m) { sendMessage(m); osEvent ev = g_responseQueue.get(500); return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; } /*! * \brief RAII object to manage message memory deallocation. * * Will automatically free the memory used by an XbusMessage when going out * of scope. */ class XbusMessageMemoryManager { public: XbusMessageMemoryManager(XbusMessage const* message) : m_message(message) { } ~XbusMessageMemoryManager() { if (m_message) { if (m_message->data) deallocateMessageData(m_message->data); g_messagePool.free(const_cast<XbusMessage*>(m_message)); } } private: XbusMessage const* m_message; }; /*! * \brief Dump information from a message to the PC serial port. */ static void dumpResponse(XbusMessage const* response) { switch (response->mid) { case XMID_GotoConfigAck: pc.printf("Device went to config mode.\r\n"); break; case XMID_Error: pc.printf("Device error!"); break; default: pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length); break; } } /*! * \brief Send a command to the MT and wait for a response. * \param cmdId The XsMessageId of the command to send. * * Commands are simple messages without and payload data. */ static void sendCommand(XsMessageId cmdId) { XbusMessage m = {cmdId}; XbusMessage const* response = doTransaction(&m); XbusMessageMemoryManager janitor(response); if (response) { dumpResponse(response); } else { pc.printf("Timeout waiting for response.\r\n"); } } /*! * \brief Handle a command from the PC * * The example application supports single character commands from the host * PC to switch between configuration and measurement modes. */ static void handlePcCommand(char cmd) { switch (cmd) { case 'c': sendCommand(XMID_GotoConfig); break; case 'm': sendCommand(XMID_GotoMeasurement); break; } } /*! * \brief XbusParser callback function to handle received messages. * \param message Pointer to the last received message. * * In this example received messages are copied into one of two message * queues for later handling by the main thread. Data messages are put * in one queue, while all other responses are placed in the second queue. * This is done so that data and other messages can be handled separately * by the application code. */ static void mtMessageHandler(struct XbusMessage const* message) { XbusMessage* m = g_messagePool.alloc(); if (m) { memcpy(m, message, sizeof(XbusMessage)); if (message->mid == XMID_MtData2) { g_dataQueue.put(m); } else { g_responseQueue.put(m); } } else if (message->data) { deallocateMessageData(message->data); } } /*! * \brief Configure the serial ports used to communicate with the motion * tracker and host PC. */ static void configureSerialPorts(void) { pc.baud(921600); pc.format(8, Serial::None, 2); mt.baud(115200); mt.format(8, Serial::None, 2); mt.attach(mtLowLevelHandler, Serial::RxIrq); } /*! * \brief Read the device ID of the motion tracker. */ static uint32_t readDeviceId(void) { XbusMessage reqDid = {XMID_ReqDid}; XbusMessage const* didRsp = doTransaction(&reqDid); XbusMessageMemoryManager janitor(didRsp); uint32_t deviceId = 0; if (didRsp) { if (didRsp->mid == XMID_DeviceId) { deviceId = *(uint32_t*)didRsp->data; } } return deviceId; } /*! * \brief Sets MT output configuration. * \param conf Pointer to an array of OutputConfiguration elements. * \param elements The number of elements in the configuration array. * * The response from the device indicates the actual values that will * be used by the motion tracker. These may differ from the requested * parameters as the motion tracker validates the requested parameters * before applying them. */ static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements) { XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf}; XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); XbusMessageMemoryManager janitor(outputConfRsp); if (outputConfRsp) { if (outputConfRsp->mid == XMID_OutputConfig) { pc.printf("Output configuration set to:\r\n"); OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; for (int i = 0; i < outputConfRsp->length; ++i) { pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq); ++conf; } return true; } else { dumpResponse(outputConfRsp); } } else { pc.printf("Failed to set output configuration.\r\n"); } return false; } /*! * \brief Sets the motion tracker output configuration based on the function * of the attached device. * * The output configuration depends on the type of MTi-1 device connected. * An MTI-1 (IMU) device does not have an onboard orientation filter so * cannot output quaternion data, only inertial and magnetic measurement * data. * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions. */ static bool configureMotionTracker(void) { uint32_t deviceId = readDeviceId(); if (deviceId) { pc.printf("Found device with ID: %08X.\r\n", deviceId); if (!XsDeviceId_isMtMk4_X(deviceId)) { pc.printf("Device is not an MTi-1 series.\r\n"); return false; } DeviceFunction function = XsDeviceId_getFunction(deviceId); pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function)); if (function == DF_IMU) { OutputConfiguration conf[] = { {XDI_PacketCounter, 65535}, {XDI_SampleTimeFine, 65535}, {XDI_Acceleration, 100}, {XDI_RateOfTurn, 100}, {XDI_MagneticField, 100} }; return setOutputConfiguration(conf, sizeof(conf) / sizeof(OutputConfiguration)); } else { OutputConfiguration conf[] = { {XDI_PacketCounter, 65535}, {XDI_SampleTimeFine, 65535}, {XDI_Quaternion, 100}, {XDI_StatusWord, 65535} }; return setOutputConfiguration(conf, sizeof(conf) / sizeof(OutputConfiguration)); } } return false; } /*! * \brief Wait for a wakeup message from the MTi. * \param timeout Time to wait to receive the wakeup message. * \return true if wakeup received within timeout, else false. * * The MTi sends an XMID_Wakeup message once it has completed its bootup * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi * will stay in configuration mode. Otherwise it will automatically enter * measurement mode with the stored output configuration. */ bool waitForWakeup(uint32_t timeout) { osEvent ev = g_responseQueue.get(timeout); if (ev.status == osEventMessage) { XbusMessage const* m = (XbusMessage const*)ev.value.p; XbusMessageMemoryManager janitor(m); return m->mid == XMID_Wakeup; } return false; } /*! * \brief Send wakeup acknowledge message to MTi. * * Sending a wakeup acknowledge will cause the device to stay in configuration * mode instead of automatically transitioning to measurement mode with the * stored output configuration. */ void sendWakeupAck(void) { XbusMessage ack = {XMID_WakeupAck}; sendMessage(&ack); pc.printf("Device ready for operation.\r\n"); } /*! * \brief Restore communication with the MTi. * * On bootup the MTi will listen for a magic byte to signal that it should * return to default baudrate and output configuration. This can be used to * recover from a bad or unknown configuration. */ void restoreCommunication(void) { pc.printf("Restoring communication with device... "); mtReset = 0; Thread::wait(1); mtReset = 1; do { mt.putc(0xDE); } while (!waitForWakeup(1)); pc.printf("done\r\n"); sendWakeupAck(); } /*! * \brief Releases the MTi reset line and waits for a wakeup message. * * If no wakeup message is received within 1 second the restore communications * procedure is done to reset the MTi to default baudrate and output configuration. */ static void wakeupMotionTracker(void) { mtReset.write(1); // Release MT from reset. if (waitForWakeup(1000)) { sendWakeupAck(); } else { restoreCommunication(); } } static void printIntroMessage(void) { pc.printf("\r\n\r\n\r\n\r\n\r\n"); pc.printf("MTi-1 series embedded example firmware.\r\n"); } static void printUsageInstructions(void) { pc.printf("\r\n"); pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n"); } /*! * \brief Output the contents of a data message to the PC serial port. */ static void printMessageData(struct XbusMessage const* message) { if (!message) return; 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]); } float acc[3]; if (XbusMessage_getDataItem(acc, XDI_Acceleration, message)) { pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]); } float gyr[3]; if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message)) { pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]); } float mag[3]; if (XbusMessage_getDataItem(mag, XDI_MagneticField, message)) { pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]); } uint32_t status; if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) { pc.printf(" Status:%X", status); } pc.printf("\r\n"); } int main(void) { XbusParserCallback xbusCallback = {}; xbusCallback.allocateBuffer = allocateMessageData; xbusCallback.deallocateBuffer = deallocateMessageData; xbusCallback.handleMessage = mtMessageHandler; xbusParser = XbusParser_create(&xbusCallback); configureSerialPorts(); printIntroMessage(); wakeupMotionTracker(); if (configureMotionTracker()) { printUsageInstructions(); for (;;) { while (pc.readable()) { handlePcCommand(pc.getc()); } osEvent ev = g_dataQueue.get(10); if (ev.status == osEventMessage) { XbusMessage const* data = (XbusMessage const*)ev.value.p; XbusMessageMemoryManager janitor(data); printMessageData(data); } } } else { pc.printf("Failed to configure motion tracker.\r\n"); return -1; } }