FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp@24:2cc49dc854e3, 2015-05-20 (annotated)
- Committer:
- Alex Young
- Date:
- Wed May 20 12:47:50 2015 +0200
- Revision:
- 24:2cc49dc854e3
- Parent:
- 22:3eab999c5076
- Child:
- 25:01356fb59467
Extract data handling from other xbus messages.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Alex Young |
4:98f063b2e6da | 1 | #include "mbed.h" |
Alex Young |
4:98f063b2e6da | 2 | #include "xbusparser.h" |
Alex Young |
11:8593ba137917 | 3 | #include "xbusmessage.h" |
Alex Young |
4:98f063b2e6da | 4 | |
Alex Young |
4:98f063b2e6da | 5 | static Serial pc(PA_2, PA_3); |
Alex Young |
4:98f063b2e6da | 6 | static Serial mt(PB_9, PB_8); |
Alex Young |
4:98f063b2e6da | 7 | static XbusParser* xbusParser; |
Alex Young |
4:98f063b2e6da | 8 | static uint8_t rxBuffer[256]; |
Alex Young |
4:98f063b2e6da | 9 | |
Alex Young |
4:98f063b2e6da | 10 | static void* allocateBuffer(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 11 | { |
Alex Young |
4:98f063b2e6da | 12 | return bufSize < sizeof(rxBuffer) ? rxBuffer : NULL; |
Alex Young |
4:98f063b2e6da | 13 | } |
Alex Young |
4:98f063b2e6da | 14 | |
Alex Young |
4:98f063b2e6da | 15 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 16 | { |
Alex Young |
4:98f063b2e6da | 17 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 18 | { |
Alex Young |
4:98f063b2e6da | 19 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 20 | } |
Alex Young |
4:98f063b2e6da | 21 | } |
Alex Young |
4:98f063b2e6da | 22 | |
Alex Young |
11:8593ba137917 | 23 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
11:8593ba137917 | 24 | { |
Alex Young |
11:8593ba137917 | 25 | uint8_t buf[8]; |
Alex Young |
11:8593ba137917 | 26 | XbusMessage m = {cmdId}; |
Alex Young |
11:8593ba137917 | 27 | size_t rawLength = XbusMessage_format(buf, &m); |
Alex Young |
11:8593ba137917 | 28 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 29 | { |
Alex Young |
11:8593ba137917 | 30 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 31 | } |
Alex Young |
11:8593ba137917 | 32 | } |
Alex Young |
11:8593ba137917 | 33 | |
Alex Young |
11:8593ba137917 | 34 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 35 | { |
Alex Young |
11:8593ba137917 | 36 | switch (cmd) |
Alex Young |
11:8593ba137917 | 37 | { |
Alex Young |
11:8593ba137917 | 38 | case 'c': |
Alex Young |
11:8593ba137917 | 39 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 40 | break; |
Alex Young |
11:8593ba137917 | 41 | |
Alex Young |
11:8593ba137917 | 42 | case 'm': |
Alex Young |
11:8593ba137917 | 43 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 44 | break; |
Alex Young |
20:38560fa3d2eb | 45 | |
Alex Young |
20:38560fa3d2eb | 46 | case 'd': |
Alex Young |
20:38560fa3d2eb | 47 | sendCommand(XMID_ReqDid); |
Alex Young |
20:38560fa3d2eb | 48 | break; |
Alex Young |
22:3eab999c5076 | 49 | |
Alex Young |
22:3eab999c5076 | 50 | case 'o': |
Alex Young |
22:3eab999c5076 | 51 | sendCommand(XMID_ReqOutputConfig); |
Alex Young |
22:3eab999c5076 | 52 | break; |
Alex Young |
11:8593ba137917 | 53 | } |
Alex Young |
11:8593ba137917 | 54 | } |
Alex Young |
11:8593ba137917 | 55 | |
Alex Young |
11:8593ba137917 | 56 | static void pcHandler(void) |
Alex Young |
11:8593ba137917 | 57 | { |
Alex Young |
11:8593ba137917 | 58 | while (pc.readable()) |
Alex Young |
11:8593ba137917 | 59 | { |
Alex Young |
11:8593ba137917 | 60 | handlePcCommand(pc.getc()); |
Alex Young |
11:8593ba137917 | 61 | } |
Alex Young |
11:8593ba137917 | 62 | } |
Alex Young |
11:8593ba137917 | 63 | |
Alex Young |
24:2cc49dc854e3 | 64 | static void handleDataMessage(struct XbusMessage const* message) |
Alex Young |
24:2cc49dc854e3 | 65 | { |
Alex Young |
24:2cc49dc854e3 | 66 | pc.printf("MTData2:"); |
Alex Young |
24:2cc49dc854e3 | 67 | uint16_t counter; |
Alex Young |
24:2cc49dc854e3 | 68 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
24:2cc49dc854e3 | 69 | { |
Alex Young |
24:2cc49dc854e3 | 70 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
24:2cc49dc854e3 | 71 | } |
Alex Young |
24:2cc49dc854e3 | 72 | float ori[4]; |
Alex Young |
24:2cc49dc854e3 | 73 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
24:2cc49dc854e3 | 74 | { |
Alex Young |
24:2cc49dc854e3 | 75 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
24:2cc49dc854e3 | 76 | ori[2], ori[3]); |
Alex Young |
24:2cc49dc854e3 | 77 | } |
Alex Young |
24:2cc49dc854e3 | 78 | uint32_t status; |
Alex Young |
24:2cc49dc854e3 | 79 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
24:2cc49dc854e3 | 80 | { |
Alex Young |
24:2cc49dc854e3 | 81 | pc.printf(" Status:%X", status); |
Alex Young |
24:2cc49dc854e3 | 82 | } |
Alex Young |
24:2cc49dc854e3 | 83 | pc.printf("\n"); |
Alex Young |
24:2cc49dc854e3 | 84 | } |
Alex Young |
24:2cc49dc854e3 | 85 | |
Alex Young |
24:2cc49dc854e3 | 86 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 87 | { |
Alex Young |
15:558d279addd9 | 88 | if (message->mid == XMID_MtData2) |
Alex Young |
7:c913a7cd5231 | 89 | { |
Alex Young |
24:2cc49dc854e3 | 90 | handleDataMessage(message); |
Alex Young |
7:c913a7cd5231 | 91 | } |
Alex Young |
20:38560fa3d2eb | 92 | else if (message->mid == XMID_DeviceId) |
Alex Young |
20:38560fa3d2eb | 93 | { |
Alex Young |
20:38560fa3d2eb | 94 | pc.printf("Device ID: %8X\n", *(uint32_t*)message->data); |
Alex Young |
20:38560fa3d2eb | 95 | } |
Alex Young |
22:3eab999c5076 | 96 | else if (message->mid == XMID_OutputConfig) |
Alex Young |
22:3eab999c5076 | 97 | { |
Alex Young |
22:3eab999c5076 | 98 | pc.printf("Output configuration:\n"); |
Alex Young |
22:3eab999c5076 | 99 | struct OutputConfiguration* conf = (struct OutputConfiguration*)message->data; |
Alex Young |
22:3eab999c5076 | 100 | for (int i = 0; i < message->length; ++i) |
Alex Young |
22:3eab999c5076 | 101 | { |
Alex Young |
22:3eab999c5076 | 102 | pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
22:3eab999c5076 | 103 | ++conf; |
Alex Young |
22:3eab999c5076 | 104 | } |
Alex Young |
22:3eab999c5076 | 105 | } |
Alex Young |
7:c913a7cd5231 | 106 | else |
Alex Young |
7:c913a7cd5231 | 107 | { |
Alex Young |
14:155f9a55ec51 | 108 | pc.printf("Received Xbus message. MID=%X, length=%d\n", message->mid, message->length); |
Alex Young |
7:c913a7cd5231 | 109 | } |
Alex Young |
4:98f063b2e6da | 110 | } |
Alex Young |
4:98f063b2e6da | 111 | |
Alex Young |
4:98f063b2e6da | 112 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 113 | { |
Alex Young |
4:98f063b2e6da | 114 | pc.baud(921600); |
Alex Young |
4:98f063b2e6da | 115 | pc.format(8, Serial::None, 2); |
Alex Young |
11:8593ba137917 | 116 | pc.attach(pcHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 117 | |
Alex Young |
4:98f063b2e6da | 118 | mt.baud(921600); |
Alex Young |
4:98f063b2e6da | 119 | mt.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 120 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 121 | } |
Alex Young |
4:98f063b2e6da | 122 | |
Alex Young |
2:b3e402dc11ca | 123 | int main(void) |
Alex Young |
2:b3e402dc11ca | 124 | { |
Alex Young |
4:98f063b2e6da | 125 | XbusParserCallback xbusCallback = {}; |
Alex Young |
4:98f063b2e6da | 126 | xbusCallback.allocateBuffer = allocateBuffer; |
Alex Young |
24:2cc49dc854e3 | 127 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 128 | |
Alex Young |
4:98f063b2e6da | 129 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 130 | configureSerialPorts(); |
Alex Young |
5:abc52dd88be2 | 131 | |
Alex Young |
5:abc52dd88be2 | 132 | for (;;) |
Alex Young |
5:abc52dd88be2 | 133 | { |
Alex Young |
5:abc52dd88be2 | 134 | sleep(); |
Alex Young |
5:abc52dd88be2 | 135 | } |
Alex Young |
4:98f063b2e6da | 136 | } |