FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
main.cpp@52:e2197b38c029, 2015-05-22 (annotated)
- Committer:
- Alex Young
- Date:
- Fri May 22 15:45:18 2015 +0200
- Revision:
- 52:e2197b38c029
- Parent:
- 49:38ecfbff5391
- Child:
- 53:3891f4259901
Replace \n with \r\n
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Alex Young |
36:21198d933917 | 1 | /*! |
Alex Young |
36:21198d933917 | 2 | * \file |
Alex Young |
36:21198d933917 | 3 | * \copyright |
Alex Young |
36:21198d933917 | 4 | * Copyright (C) Xsens Technologies B.V., 2015. All rights reserved. |
Alex Young |
36:21198d933917 | 5 | * |
Alex Young |
36:21198d933917 | 6 | * This source code is intended for use only by Xsens Technologies BV and |
Alex Young |
36:21198d933917 | 7 | * those that have explicit written permission to use it from |
Alex Young |
36:21198d933917 | 8 | * Xsens Technologies BV. |
Alex Young |
36:21198d933917 | 9 | * |
Alex Young |
36:21198d933917 | 10 | * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY |
Alex Young |
36:21198d933917 | 11 | * KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE |
Alex Young |
36:21198d933917 | 12 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A |
Alex Young |
36:21198d933917 | 13 | * PARTICULAR PURPOSE. |
Alex Young |
36:21198d933917 | 14 | */ |
Alex Young |
36:21198d933917 | 15 | |
Alex Young |
4:98f063b2e6da | 16 | #include "mbed.h" |
Alex Young |
25:01356fb59467 | 17 | #include "rtos.h" |
Alex Young |
4:98f063b2e6da | 18 | #include "xbusparser.h" |
Alex Young |
11:8593ba137917 | 19 | #include "xbusmessage.h" |
Alex Young |
40:b77a8c10c76d | 20 | #include "xsdeviceid.h" |
Alex Young |
4:98f063b2e6da | 21 | |
Alex Young |
44:b3980e8ac074 | 22 | /*! |
Alex Young |
44:b3980e8ac074 | 23 | * \brief The number of items to hold in the memory pools. |
Alex Young |
44:b3980e8ac074 | 24 | */ |
Alex Young |
25:01356fb59467 | 25 | #define MEMORY_POOL_SIZE (4) |
Alex Young |
44:b3980e8ac074 | 26 | /*! |
Alex Young |
44:b3980e8ac074 | 27 | * \brief The size of the queue used for device responses. |
Alex Young |
44:b3980e8ac074 | 28 | * This is set to one as in typical Xbus operation each command receives a |
Alex Young |
44:b3980e8ac074 | 29 | * response before the next command is sent. |
Alex Young |
44:b3980e8ac074 | 30 | */ |
Alex Young |
26:665d3624f9ab | 31 | #define RESPONSE_QUEUE_SIZE (1) |
Alex Young |
44:b3980e8ac074 | 32 | /*! |
Alex Young |
44:b3980e8ac074 | 33 | * \brief The size of the queue used for data messages. |
Alex Young |
44:b3980e8ac074 | 34 | * This is set to two to allow some overlap between printing received data to |
Alex Young |
44:b3980e8ac074 | 35 | * the PC serial port and the reception of the subsequent data packet. In |
Alex Young |
44:b3980e8ac074 | 36 | * more complex applications it might be necessary to increase this if |
Alex Young |
44:b3980e8ac074 | 37 | * message processing might occasionally require more time than normal. |
Alex Young |
44:b3980e8ac074 | 38 | */ |
Alex Young |
43:470c019246e4 | 39 | #define DATA_QUEUE_SIZE (2) |
Alex Young |
44:b3980e8ac074 | 40 | /*! |
Alex Young |
49:38ecfbff5391 | 41 | * \brief The maximum size of an xbus message supported by the application. |
Alex Young |
44:b3980e8ac074 | 42 | * This is the size of the message buffers in the message data memory pool. |
Alex Young |
44:b3980e8ac074 | 43 | */ |
Alex Young |
25:01356fb59467 | 44 | #define MAX_XBUS_DATA_SIZE (128) |
Alex Young |
25:01356fb59467 | 45 | |
Alex Young |
44:b3980e8ac074 | 46 | /*! \brief Serial port for communication with the host PC. */ |
Alex Young |
4:98f063b2e6da | 47 | static Serial pc(PA_2, PA_3); |
Alex Young |
44:b3980e8ac074 | 48 | /*! \brief Serial port for communication with the MT. */ |
Alex Young |
4:98f063b2e6da | 49 | static Serial mt(PB_9, PB_8); |
Alex Young |
35:7e519b88c610 | 50 | /*! |
Alex Young |
35:7e519b88c610 | 51 | * \brief MT reset line. |
Alex Young |
35:7e519b88c610 | 52 | * |
Alex Young |
35:7e519b88c610 | 53 | * MT is held in reset on startup. |
Alex Young |
35:7e519b88c610 | 54 | */ |
Alex Young |
35:7e519b88c610 | 55 | static DigitalOut mtReset(PA_10, 0); |
Alex Young |
44:b3980e8ac074 | 56 | /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */ |
Alex Young |
4:98f063b2e6da | 57 | static XbusParser* xbusParser; |
Alex Young |
25:01356fb59467 | 58 | |
Alex Young |
44:b3980e8ac074 | 59 | /*! |
Alex Young |
44:b3980e8ac074 | 60 | * \brief Memory pool used for storing Xbus messages when passing them |
Alex Young |
44:b3980e8ac074 | 61 | * to the main thread. |
Alex Young |
44:b3980e8ac074 | 62 | */ |
Alex Young |
25:01356fb59467 | 63 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
Alex Young |
44:b3980e8ac074 | 64 | /*! |
Alex Young |
44:b3980e8ac074 | 65 | * \brief Memory pool used for storing the payload of Xbus messages. |
Alex Young |
44:b3980e8ac074 | 66 | */ |
Alex Young |
25:01356fb59467 | 67 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
Alex Young |
44:b3980e8ac074 | 68 | /*! |
Alex Young |
44:b3980e8ac074 | 69 | * \brief Queue used to pass data messages to the main thread for processing. |
Alex Young |
44:b3980e8ac074 | 70 | */ |
Alex Young |
44:b3980e8ac074 | 71 | Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue; |
Alex Young |
44:b3980e8ac074 | 72 | /*! |
Alex Young |
44:b3980e8ac074 | 73 | * \brief Queue used for passing all other messages to the main thread for processing. |
Alex Young |
44:b3980e8ac074 | 74 | */ |
Alex Young |
26:665d3624f9ab | 75 | Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; |
Alex Young |
4:98f063b2e6da | 76 | |
Alex Young |
44:b3980e8ac074 | 77 | /*! |
Alex Young |
44:b3980e8ac074 | 78 | * \brief Allocate message data buffer from the message data pool. |
Alex Young |
44:b3980e8ac074 | 79 | */ |
Alex Young |
25:01356fb59467 | 80 | static void* allocateMessageData(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 81 | { |
Alex Young |
25:01356fb59467 | 82 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
Alex Young |
25:01356fb59467 | 83 | } |
Alex Young |
25:01356fb59467 | 84 | |
Alex Young |
44:b3980e8ac074 | 85 | /*! |
Alex Young |
44:b3980e8ac074 | 86 | * \brief Deallocate message data previously allocated from the message |
Alex Young |
44:b3980e8ac074 | 87 | * data pool. |
Alex Young |
44:b3980e8ac074 | 88 | */ |
Alex Young |
25:01356fb59467 | 89 | static void deallocateMessageData(void const* buffer) |
Alex Young |
25:01356fb59467 | 90 | { |
Alex Young |
25:01356fb59467 | 91 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
Alex Young |
4:98f063b2e6da | 92 | } |
Alex Young |
4:98f063b2e6da | 93 | |
Alex Young |
44:b3980e8ac074 | 94 | /*! |
Alex Young |
44:b3980e8ac074 | 95 | * \brief RX Interrupt handler for the MT serial port. |
Alex Young |
44:b3980e8ac074 | 96 | * |
Alex Young |
44:b3980e8ac074 | 97 | * Passes received data to an XbusParser to extract messages. |
Alex Young |
44:b3980e8ac074 | 98 | */ |
Alex Young |
4:98f063b2e6da | 99 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 100 | { |
Alex Young |
4:98f063b2e6da | 101 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 102 | { |
Alex Young |
4:98f063b2e6da | 103 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 104 | } |
Alex Young |
4:98f063b2e6da | 105 | } |
Alex Young |
4:98f063b2e6da | 106 | |
Alex Young |
44:b3980e8ac074 | 107 | /*! |
Alex Young |
44:b3980e8ac074 | 108 | * \brief Send a message to the MT |
Alex Young |
44:b3980e8ac074 | 109 | * |
Alex Young |
44:b3980e8ac074 | 110 | * This function formats the message data and writes this to the MT serial |
Alex Young |
44:b3980e8ac074 | 111 | * port. It does not wait for any response. |
Alex Young |
44:b3980e8ac074 | 112 | */ |
Alex Young |
34:3d7a6519a256 | 113 | static void sendMessage(XbusMessage const* m) |
Alex Young |
11:8593ba137917 | 114 | { |
Alex Young |
26:665d3624f9ab | 115 | uint8_t buf[64]; |
Alex Young |
26:665d3624f9ab | 116 | size_t rawLength = XbusMessage_format(buf, m); |
Alex Young |
11:8593ba137917 | 117 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 118 | { |
Alex Young |
11:8593ba137917 | 119 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 120 | } |
Alex Young |
34:3d7a6519a256 | 121 | } |
Alex Young |
34:3d7a6519a256 | 122 | |
Alex Young |
44:b3980e8ac074 | 123 | /*! |
Alex Young |
44:b3980e8ac074 | 124 | * \brief Send a message to the MT and wait for a response. |
Alex Young |
44:b3980e8ac074 | 125 | * \returns Response message from the MT, or NULL is no response received |
Alex Young |
44:b3980e8ac074 | 126 | * within 500ms. |
Alex Young |
44:b3980e8ac074 | 127 | * |
Alex Young |
44:b3980e8ac074 | 128 | * Blocking behaviour is implemented by waiting for a response to be written |
Alex Young |
44:b3980e8ac074 | 129 | * to the response queue by the XbusParser. |
Alex Young |
44:b3980e8ac074 | 130 | */ |
Alex Young |
34:3d7a6519a256 | 131 | static XbusMessage const* doTransaction(XbusMessage const* m) |
Alex Young |
34:3d7a6519a256 | 132 | { |
Alex Young |
34:3d7a6519a256 | 133 | sendMessage(m); |
Alex Young |
26:665d3624f9ab | 134 | |
Alex Young |
26:665d3624f9ab | 135 | osEvent ev = g_responseQueue.get(500); |
Alex Young |
26:665d3624f9ab | 136 | return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; |
Alex Young |
26:665d3624f9ab | 137 | } |
Alex Young |
26:665d3624f9ab | 138 | |
Alex Young |
31:ce1ea9ae861e | 139 | /*! |
Alex Young |
31:ce1ea9ae861e | 140 | * \brief RAII object to manage message memory deallocation. |
Alex Young |
31:ce1ea9ae861e | 141 | * |
Alex Young |
49:38ecfbff5391 | 142 | * Will automatically free the memory used by an XbusMessage when going out |
Alex Young |
31:ce1ea9ae861e | 143 | * of scope. |
Alex Young |
31:ce1ea9ae861e | 144 | */ |
Alex Young |
31:ce1ea9ae861e | 145 | class XbusMessageMemoryManager |
Alex Young |
26:665d3624f9ab | 146 | { |
Alex Young |
31:ce1ea9ae861e | 147 | public: |
Alex Young |
31:ce1ea9ae861e | 148 | XbusMessageMemoryManager(XbusMessage const* message) |
Alex Young |
31:ce1ea9ae861e | 149 | : m_message(message) |
Alex Young |
31:ce1ea9ae861e | 150 | { |
Alex Young |
31:ce1ea9ae861e | 151 | } |
Alex Young |
31:ce1ea9ae861e | 152 | |
Alex Young |
31:ce1ea9ae861e | 153 | ~XbusMessageMemoryManager() |
Alex Young |
31:ce1ea9ae861e | 154 | { |
Alex Young |
31:ce1ea9ae861e | 155 | if (m_message) |
Alex Young |
31:ce1ea9ae861e | 156 | { |
Alex Young |
31:ce1ea9ae861e | 157 | if (m_message->data) |
Alex Young |
31:ce1ea9ae861e | 158 | deallocateMessageData(m_message->data); |
Alex Young |
31:ce1ea9ae861e | 159 | g_messagePool.free(const_cast<XbusMessage*>(m_message)); |
Alex Young |
31:ce1ea9ae861e | 160 | } |
Alex Young |
31:ce1ea9ae861e | 161 | } |
Alex Young |
31:ce1ea9ae861e | 162 | |
Alex Young |
31:ce1ea9ae861e | 163 | private: |
Alex Young |
31:ce1ea9ae861e | 164 | XbusMessage const* m_message; |
Alex Young |
31:ce1ea9ae861e | 165 | }; |
Alex Young |
26:665d3624f9ab | 166 | |
Alex Young |
44:b3980e8ac074 | 167 | /*! |
Alex Young |
44:b3980e8ac074 | 168 | * \brief Dump information from a message to the PC serial port. |
Alex Young |
44:b3980e8ac074 | 169 | */ |
Alex Young |
29:d9310e7b58b5 | 170 | static void dumpResponse(XbusMessage const* response) |
Alex Young |
29:d9310e7b58b5 | 171 | { |
Alex Young |
29:d9310e7b58b5 | 172 | switch (response->mid) |
Alex Young |
29:d9310e7b58b5 | 173 | { |
Alex Young |
29:d9310e7b58b5 | 174 | case XMID_GotoConfigAck: |
Alex Young |
52:e2197b38c029 | 175 | pc.printf("Device went to config mode.\r\n"); |
Alex Young |
29:d9310e7b58b5 | 176 | break; |
Alex Young |
29:d9310e7b58b5 | 177 | |
Alex Young |
29:d9310e7b58b5 | 178 | case XMID_Error: |
Alex Young |
29:d9310e7b58b5 | 179 | pc.printf("Device error!"); |
Alex Young |
29:d9310e7b58b5 | 180 | break; |
Alex Young |
29:d9310e7b58b5 | 181 | |
Alex Young |
29:d9310e7b58b5 | 182 | default: |
Alex Young |
52:e2197b38c029 | 183 | pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length); |
Alex Young |
29:d9310e7b58b5 | 184 | break; |
Alex Young |
29:d9310e7b58b5 | 185 | } |
Alex Young |
29:d9310e7b58b5 | 186 | } |
Alex Young |
29:d9310e7b58b5 | 187 | |
Alex Young |
44:b3980e8ac074 | 188 | /*! |
Alex Young |
44:b3980e8ac074 | 189 | * \brief Send a command to the MT and wait for a response. |
Alex Young |
44:b3980e8ac074 | 190 | * \param cmdId The XsMessageId of the command to send. |
Alex Young |
44:b3980e8ac074 | 191 | * |
Alex Young |
44:b3980e8ac074 | 192 | * Commands are simple messages without and payload data. |
Alex Young |
44:b3980e8ac074 | 193 | */ |
Alex Young |
26:665d3624f9ab | 194 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
26:665d3624f9ab | 195 | { |
Alex Young |
26:665d3624f9ab | 196 | XbusMessage m = {cmdId}; |
Alex Young |
26:665d3624f9ab | 197 | XbusMessage const* response = doTransaction(&m); |
Alex Young |
31:ce1ea9ae861e | 198 | XbusMessageMemoryManager janitor(response); |
Alex Young |
26:665d3624f9ab | 199 | |
Alex Young |
26:665d3624f9ab | 200 | if (response) |
Alex Young |
26:665d3624f9ab | 201 | { |
Alex Young |
29:d9310e7b58b5 | 202 | dumpResponse(response); |
Alex Young |
26:665d3624f9ab | 203 | } |
Alex Young |
26:665d3624f9ab | 204 | else |
Alex Young |
26:665d3624f9ab | 205 | { |
Alex Young |
52:e2197b38c029 | 206 | pc.printf("Timeout waiting for response.\r\n"); |
Alex Young |
26:665d3624f9ab | 207 | } |
Alex Young |
11:8593ba137917 | 208 | } |
Alex Young |
11:8593ba137917 | 209 | |
Alex Young |
44:b3980e8ac074 | 210 | /*! |
Alex Young |
44:b3980e8ac074 | 211 | * \brief Handle a command from the PC |
Alex Young |
44:b3980e8ac074 | 212 | * |
Alex Young |
44:b3980e8ac074 | 213 | * The example application supports single character commands from the host |
Alex Young |
44:b3980e8ac074 | 214 | * PC to switch between configuration and measurement modes. |
Alex Young |
44:b3980e8ac074 | 215 | */ |
Alex Young |
11:8593ba137917 | 216 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 217 | { |
Alex Young |
11:8593ba137917 | 218 | switch (cmd) |
Alex Young |
11:8593ba137917 | 219 | { |
Alex Young |
11:8593ba137917 | 220 | case 'c': |
Alex Young |
11:8593ba137917 | 221 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 222 | break; |
Alex Young |
11:8593ba137917 | 223 | |
Alex Young |
11:8593ba137917 | 224 | case 'm': |
Alex Young |
11:8593ba137917 | 225 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 226 | break; |
Alex Young |
11:8593ba137917 | 227 | } |
Alex Young |
11:8593ba137917 | 228 | } |
Alex Young |
11:8593ba137917 | 229 | |
Alex Young |
44:b3980e8ac074 | 230 | /*! |
Alex Young |
44:b3980e8ac074 | 231 | * \brief XbusParser callback function to handle received messages. |
Alex Young |
44:b3980e8ac074 | 232 | * \param message Pointer to the last received message. |
Alex Young |
44:b3980e8ac074 | 233 | * |
Alex Young |
44:b3980e8ac074 | 234 | * In this example received messages are copied into one of two message |
Alex Young |
44:b3980e8ac074 | 235 | * queues for later handling by the main thread. Data messages are put |
Alex Young |
49:38ecfbff5391 | 236 | * in one queue, while all other responses are placed in the second queue. |
Alex Young |
44:b3980e8ac074 | 237 | * This is done so that data and other messages can be handled separately |
Alex Young |
44:b3980e8ac074 | 238 | * by the application code. |
Alex Young |
44:b3980e8ac074 | 239 | */ |
Alex Young |
24:2cc49dc854e3 | 240 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 241 | { |
Alex Young |
43:470c019246e4 | 242 | XbusMessage* m = g_messagePool.alloc(); |
Alex Young |
43:470c019246e4 | 243 | if (m) |
Alex Young |
7:c913a7cd5231 | 244 | { |
Alex Young |
43:470c019246e4 | 245 | memcpy(m, message, sizeof(XbusMessage)); |
Alex Young |
43:470c019246e4 | 246 | if (message->mid == XMID_MtData2) |
Alex Young |
43:470c019246e4 | 247 | { |
Alex Young |
43:470c019246e4 | 248 | g_dataQueue.put(m); |
Alex Young |
43:470c019246e4 | 249 | } |
Alex Young |
43:470c019246e4 | 250 | else |
Alex Young |
43:470c019246e4 | 251 | { |
Alex Young |
43:470c019246e4 | 252 | g_responseQueue.put(m); |
Alex Young |
43:470c019246e4 | 253 | } |
Alex Young |
7:c913a7cd5231 | 254 | } |
Alex Young |
43:470c019246e4 | 255 | else if (message->data) |
Alex Young |
7:c913a7cd5231 | 256 | { |
Alex Young |
43:470c019246e4 | 257 | deallocateMessageData(message->data); |
Alex Young |
25:01356fb59467 | 258 | } |
Alex Young |
4:98f063b2e6da | 259 | } |
Alex Young |
4:98f063b2e6da | 260 | |
Alex Young |
44:b3980e8ac074 | 261 | /*! |
Alex Young |
44:b3980e8ac074 | 262 | * \brief Configure the serial ports used to communicate with the motion |
Alex Young |
44:b3980e8ac074 | 263 | * tracker and host PC. |
Alex Young |
44:b3980e8ac074 | 264 | */ |
Alex Young |
4:98f063b2e6da | 265 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 266 | { |
Alex Young |
4:98f063b2e6da | 267 | pc.baud(921600); |
Alex Young |
4:98f063b2e6da | 268 | pc.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 269 | |
Alex Young |
37:3e87bf647c68 | 270 | mt.baud(115200); |
Alex Young |
4:98f063b2e6da | 271 | mt.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 272 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 273 | } |
Alex Young |
4:98f063b2e6da | 274 | |
Alex Young |
44:b3980e8ac074 | 275 | /*! |
Alex Young |
44:b3980e8ac074 | 276 | * \brief Read the device ID of the motion tracker. |
Alex Young |
44:b3980e8ac074 | 277 | */ |
Alex Young |
29:d9310e7b58b5 | 278 | static uint32_t readDeviceId(void) |
Alex Young |
29:d9310e7b58b5 | 279 | { |
Alex Young |
29:d9310e7b58b5 | 280 | XbusMessage reqDid = {XMID_ReqDid}; |
Alex Young |
29:d9310e7b58b5 | 281 | XbusMessage const* didRsp = doTransaction(&reqDid); |
Alex Young |
31:ce1ea9ae861e | 282 | XbusMessageMemoryManager janitor(didRsp); |
Alex Young |
29:d9310e7b58b5 | 283 | uint32_t deviceId = 0; |
Alex Young |
29:d9310e7b58b5 | 284 | if (didRsp) |
Alex Young |
29:d9310e7b58b5 | 285 | { |
Alex Young |
29:d9310e7b58b5 | 286 | if (didRsp->mid == XMID_DeviceId) |
Alex Young |
29:d9310e7b58b5 | 287 | { |
Alex Young |
29:d9310e7b58b5 | 288 | deviceId = *(uint32_t*)didRsp->data; |
Alex Young |
29:d9310e7b58b5 | 289 | } |
Alex Young |
29:d9310e7b58b5 | 290 | } |
Alex Young |
29:d9310e7b58b5 | 291 | return deviceId; |
Alex Young |
29:d9310e7b58b5 | 292 | } |
Alex Young |
29:d9310e7b58b5 | 293 | |
Alex Young |
44:b3980e8ac074 | 294 | /*! |
Alex Young |
44:b3980e8ac074 | 295 | * \brief Sets MT output configuration. |
Alex Young |
44:b3980e8ac074 | 296 | * \param conf Pointer to an array of OutputConfiguration elements. |
Alex Young |
44:b3980e8ac074 | 297 | * \param elements The number of elements in the configuration array. |
Alex Young |
44:b3980e8ac074 | 298 | * |
Alex Young |
44:b3980e8ac074 | 299 | * The response from the device indicates the actual values that will |
Alex Young |
44:b3980e8ac074 | 300 | * be used by the motion tracker. These may differ from the requested |
Alex Young |
44:b3980e8ac074 | 301 | * parameters as the motion tracker validates the requested parameters |
Alex Young |
44:b3980e8ac074 | 302 | * before applying them. |
Alex Young |
44:b3980e8ac074 | 303 | */ |
Alex Young |
32:fafe0f42d82b | 304 | static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements) |
Alex Young |
29:d9310e7b58b5 | 305 | { |
Alex Young |
32:fafe0f42d82b | 306 | XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf}; |
Alex Young |
32:fafe0f42d82b | 307 | XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); |
Alex Young |
32:fafe0f42d82b | 308 | XbusMessageMemoryManager janitor(outputConfRsp); |
Alex Young |
32:fafe0f42d82b | 309 | if (outputConfRsp) |
Alex Young |
29:d9310e7b58b5 | 310 | { |
Alex Young |
32:fafe0f42d82b | 311 | if (outputConfRsp->mid == XMID_OutputConfig) |
Alex Young |
29:d9310e7b58b5 | 312 | { |
Alex Young |
52:e2197b38c029 | 313 | pc.printf("Output configuration set to:\r\n"); |
Alex Young |
32:fafe0f42d82b | 314 | OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; |
Alex Young |
32:fafe0f42d82b | 315 | for (int i = 0; i < outputConfRsp->length; ++i) |
Alex Young |
32:fafe0f42d82b | 316 | { |
Alex Young |
52:e2197b38c029 | 317 | pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
32:fafe0f42d82b | 318 | ++conf; |
Alex Young |
32:fafe0f42d82b | 319 | } |
Alex Young |
32:fafe0f42d82b | 320 | return true; |
Alex Young |
29:d9310e7b58b5 | 321 | } |
Alex Young |
29:d9310e7b58b5 | 322 | else |
Alex Young |
29:d9310e7b58b5 | 323 | { |
Alex Young |
32:fafe0f42d82b | 324 | dumpResponse(outputConfRsp); |
Alex Young |
29:d9310e7b58b5 | 325 | } |
Alex Young |
32:fafe0f42d82b | 326 | } |
Alex Young |
32:fafe0f42d82b | 327 | else |
Alex Young |
32:fafe0f42d82b | 328 | { |
Alex Young |
52:e2197b38c029 | 329 | pc.printf("Failed to set output configuration.\r\n"); |
Alex Young |
32:fafe0f42d82b | 330 | } |
Alex Young |
32:fafe0f42d82b | 331 | return false; |
Alex Young |
32:fafe0f42d82b | 332 | } |
Alex Young |
29:d9310e7b58b5 | 333 | |
Alex Young |
44:b3980e8ac074 | 334 | /*! |
Alex Young |
44:b3980e8ac074 | 335 | * \brief Sets the motion tracker output configuration based on the function |
Alex Young |
44:b3980e8ac074 | 336 | * of the attached device. |
Alex Young |
44:b3980e8ac074 | 337 | * |
Alex Young |
44:b3980e8ac074 | 338 | * The output configuration depends on the type of MTi-1 device connected. |
Alex Young |
49:38ecfbff5391 | 339 | * An MTI-1 (IMU) device does not have an onboard orientation filter so |
Alex Young |
44:b3980e8ac074 | 340 | * cannot output quaternion data, only inertial and magnetic measurement |
Alex Young |
44:b3980e8ac074 | 341 | * data. |
Alex Young |
44:b3980e8ac074 | 342 | * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions. |
Alex Young |
44:b3980e8ac074 | 343 | */ |
Alex Young |
32:fafe0f42d82b | 344 | static bool configureMotionTracker(void) |
Alex Young |
32:fafe0f42d82b | 345 | { |
Alex Young |
32:fafe0f42d82b | 346 | uint32_t deviceId = readDeviceId(); |
Alex Young |
32:fafe0f42d82b | 347 | |
Alex Young |
32:fafe0f42d82b | 348 | if (deviceId) |
Alex Young |
32:fafe0f42d82b | 349 | { |
Alex Young |
52:e2197b38c029 | 350 | pc.printf("Found device with ID: %08X.\r\n", deviceId); |
Alex Young |
40:b77a8c10c76d | 351 | if (!XsDeviceId_isMtMk4_X(deviceId)) |
Alex Young |
40:b77a8c10c76d | 352 | { |
Alex Young |
52:e2197b38c029 | 353 | pc.printf("Device is not an MTi-1 series.\r\n"); |
Alex Young |
40:b77a8c10c76d | 354 | return false; |
Alex Young |
40:b77a8c10c76d | 355 | } |
Alex Young |
32:fafe0f42d82b | 356 | |
Alex Young |
40:b77a8c10c76d | 357 | DeviceFunction function = XsDeviceId_getFunction(deviceId); |
Alex Young |
52:e2197b38c029 | 358 | pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function)); |
Alex Young |
40:b77a8c10c76d | 359 | |
Alex Young |
40:b77a8c10c76d | 360 | if (function == DF_IMU) |
Alex Young |
29:d9310e7b58b5 | 361 | { |
Alex Young |
32:fafe0f42d82b | 362 | OutputConfiguration conf[] = { |
Alex Young |
32:fafe0f42d82b | 363 | {XDI_PacketCounter, 65535}, |
Alex Young |
32:fafe0f42d82b | 364 | {XDI_SampleTimeFine, 65535}, |
Alex Young |
32:fafe0f42d82b | 365 | {XDI_Acceleration, 100}, |
Alex Young |
32:fafe0f42d82b | 366 | {XDI_RateOfTurn, 100}, |
Alex Young |
32:fafe0f42d82b | 367 | {XDI_MagneticField, 100} |
Alex Young |
32:fafe0f42d82b | 368 | }; |
Alex Young |
32:fafe0f42d82b | 369 | return setOutputConfiguration(conf, |
Alex Young |
32:fafe0f42d82b | 370 | sizeof(conf) / sizeof(OutputConfiguration)); |
Alex Young |
29:d9310e7b58b5 | 371 | } |
Alex Young |
29:d9310e7b58b5 | 372 | else |
Alex Young |
29:d9310e7b58b5 | 373 | { |
Alex Young |
32:fafe0f42d82b | 374 | OutputConfiguration conf[] = { |
Alex Young |
32:fafe0f42d82b | 375 | {XDI_PacketCounter, 65535}, |
Alex Young |
32:fafe0f42d82b | 376 | {XDI_SampleTimeFine, 65535}, |
Alex Young |
32:fafe0f42d82b | 377 | {XDI_Quaternion, 100}, |
Alex Young |
32:fafe0f42d82b | 378 | {XDI_StatusWord, 65535} |
Alex Young |
32:fafe0f42d82b | 379 | }; |
Alex Young |
32:fafe0f42d82b | 380 | return setOutputConfiguration(conf, |
Alex Young |
32:fafe0f42d82b | 381 | sizeof(conf) / sizeof(OutputConfiguration)); |
Alex Young |
29:d9310e7b58b5 | 382 | } |
Alex Young |
29:d9310e7b58b5 | 383 | } |
Alex Young |
32:fafe0f42d82b | 384 | |
Alex Young |
32:fafe0f42d82b | 385 | return false; |
Alex Young |
29:d9310e7b58b5 | 386 | } |
Alex Young |
29:d9310e7b58b5 | 387 | |
Alex Young |
35:7e519b88c610 | 388 | /*! |
Alex Young |
35:7e519b88c610 | 389 | * \brief Wait for a wakeup message from the MTi. |
Alex Young |
37:3e87bf647c68 | 390 | * \param timeout Time to wait to receive the wakeup message. |
Alex Young |
37:3e87bf647c68 | 391 | * \return true if wakeup received within timeout, else false. |
Alex Young |
35:7e519b88c610 | 392 | * |
Alex Young |
49:38ecfbff5391 | 393 | * The MTi sends an XMID_Wakeup message once it has completed its bootup |
Alex Young |
49:38ecfbff5391 | 394 | * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi |
Alex Young |
35:7e519b88c610 | 395 | * will stay in configuration mode. Otherwise it will automatically enter |
Alex Young |
35:7e519b88c610 | 396 | * measurement mode with the stored output configuration. |
Alex Young |
35:7e519b88c610 | 397 | */ |
Alex Young |
37:3e87bf647c68 | 398 | bool waitForWakeup(uint32_t timeout) |
Alex Young |
35:7e519b88c610 | 399 | { |
Alex Young |
37:3e87bf647c68 | 400 | osEvent ev = g_responseQueue.get(timeout); |
Alex Young |
35:7e519b88c610 | 401 | if (ev.status == osEventMessage) |
Alex Young |
35:7e519b88c610 | 402 | { |
Alex Young |
35:7e519b88c610 | 403 | XbusMessage const* m = (XbusMessage const*)ev.value.p; |
Alex Young |
35:7e519b88c610 | 404 | XbusMessageMemoryManager janitor(m); |
Alex Young |
35:7e519b88c610 | 405 | return m->mid == XMID_Wakeup; |
Alex Young |
35:7e519b88c610 | 406 | } |
Alex Young |
35:7e519b88c610 | 407 | return false; |
Alex Young |
35:7e519b88c610 | 408 | } |
Alex Young |
35:7e519b88c610 | 409 | |
Alex Young |
35:7e519b88c610 | 410 | /*! |
Alex Young |
37:3e87bf647c68 | 411 | * \brief Send wakeup acknowledge message to MTi. |
Alex Young |
37:3e87bf647c68 | 412 | * |
Alex Young |
37:3e87bf647c68 | 413 | * Sending a wakeup acknowledge will cause the device to stay in configuration |
Alex Young |
37:3e87bf647c68 | 414 | * mode instead of automatically transitioning to measurement mode with the |
Alex Young |
37:3e87bf647c68 | 415 | * stored output configuration. |
Alex Young |
37:3e87bf647c68 | 416 | */ |
Alex Young |
37:3e87bf647c68 | 417 | void sendWakeupAck(void) |
Alex Young |
37:3e87bf647c68 | 418 | { |
Alex Young |
37:3e87bf647c68 | 419 | XbusMessage ack = {XMID_WakeupAck}; |
Alex Young |
37:3e87bf647c68 | 420 | sendMessage(&ack); |
Alex Young |
52:e2197b38c029 | 421 | pc.printf("Device ready for operation.\r\n"); |
Alex Young |
37:3e87bf647c68 | 422 | } |
Alex Young |
37:3e87bf647c68 | 423 | |
Alex Young |
37:3e87bf647c68 | 424 | /*! |
Alex Young |
37:3e87bf647c68 | 425 | * \brief Restore communication with the MTi. |
Alex Young |
37:3e87bf647c68 | 426 | * |
Alex Young |
37:3e87bf647c68 | 427 | * On bootup the MTi will listen for a magic byte to signal that it should |
Alex Young |
37:3e87bf647c68 | 428 | * return to default baudrate and output configuration. This can be used to |
Alex Young |
37:3e87bf647c68 | 429 | * recover from a bad or unknown configuration. |
Alex Young |
37:3e87bf647c68 | 430 | */ |
Alex Young |
37:3e87bf647c68 | 431 | void restoreCommunication(void) |
Alex Young |
37:3e87bf647c68 | 432 | { |
Alex Young |
37:3e87bf647c68 | 433 | pc.printf("Restoring communication with device... "); |
Alex Young |
37:3e87bf647c68 | 434 | mtReset = 0; |
Alex Young |
37:3e87bf647c68 | 435 | Thread::wait(1); |
Alex Young |
37:3e87bf647c68 | 436 | mtReset = 1; |
Alex Young |
37:3e87bf647c68 | 437 | |
Alex Young |
37:3e87bf647c68 | 438 | do |
Alex Young |
37:3e87bf647c68 | 439 | { |
Alex Young |
37:3e87bf647c68 | 440 | mt.putc(0xDE); |
Alex Young |
37:3e87bf647c68 | 441 | } |
Alex Young |
37:3e87bf647c68 | 442 | while (!waitForWakeup(1)); |
Alex Young |
52:e2197b38c029 | 443 | pc.printf("done\r\n"); |
Alex Young |
37:3e87bf647c68 | 444 | |
Alex Young |
37:3e87bf647c68 | 445 | sendWakeupAck(); |
Alex Young |
37:3e87bf647c68 | 446 | } |
Alex Young |
37:3e87bf647c68 | 447 | |
Alex Young |
37:3e87bf647c68 | 448 | /*! |
Alex Young |
35:7e519b88c610 | 449 | * \brief Releases the MTi reset line and waits for a wakeup message. |
Alex Young |
37:3e87bf647c68 | 450 | * |
Alex Young |
37:3e87bf647c68 | 451 | * If no wakeup message is received within 1 second the restore communications |
Alex Young |
37:3e87bf647c68 | 452 | * procedure is done to reset the MTi to default baudrate and output configuration. |
Alex Young |
35:7e519b88c610 | 453 | */ |
Alex Young |
35:7e519b88c610 | 454 | static void wakeupMotionTracker(void) |
Alex Young |
35:7e519b88c610 | 455 | { |
Alex Young |
35:7e519b88c610 | 456 | mtReset.write(1); // Release MT from reset. |
Alex Young |
37:3e87bf647c68 | 457 | if (waitForWakeup(1000)) |
Alex Young |
35:7e519b88c610 | 458 | { |
Alex Young |
37:3e87bf647c68 | 459 | sendWakeupAck(); |
Alex Young |
37:3e87bf647c68 | 460 | } |
Alex Young |
37:3e87bf647c68 | 461 | else |
Alex Young |
37:3e87bf647c68 | 462 | { |
Alex Young |
37:3e87bf647c68 | 463 | restoreCommunication(); |
Alex Young |
35:7e519b88c610 | 464 | } |
Alex Young |
35:7e519b88c610 | 465 | } |
Alex Young |
35:7e519b88c610 | 466 | |
Alex Young |
38:d8d410d1662c | 467 | static void printIntroMessage(void) |
Alex Young |
38:d8d410d1662c | 468 | { |
Alex Young |
52:e2197b38c029 | 469 | pc.printf("\r\n\r\n\r\n\r\n\r\n"); |
Alex Young |
52:e2197b38c029 | 470 | pc.printf("MTi-1 series embedded example firmware.\r\n"); |
Alex Young |
38:d8d410d1662c | 471 | } |
Alex Young |
38:d8d410d1662c | 472 | |
Alex Young |
38:d8d410d1662c | 473 | static void printUsageInstructions(void) |
Alex Young |
38:d8d410d1662c | 474 | { |
Alex Young |
52:e2197b38c029 | 475 | pc.printf("\r\n"); |
Alex Young |
52:e2197b38c029 | 476 | pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n"); |
Alex Young |
38:d8d410d1662c | 477 | } |
Alex Young |
38:d8d410d1662c | 478 | |
Alex Young |
44:b3980e8ac074 | 479 | /*! |
Alex Young |
44:b3980e8ac074 | 480 | * \brief Output the contents of a data message to the PC serial port. |
Alex Young |
44:b3980e8ac074 | 481 | */ |
Alex Young |
43:470c019246e4 | 482 | static void printMessageData(struct XbusMessage const* message) |
Alex Young |
43:470c019246e4 | 483 | { |
Alex Young |
43:470c019246e4 | 484 | if (!message) |
Alex Young |
43:470c019246e4 | 485 | return; |
Alex Young |
43:470c019246e4 | 486 | |
Alex Young |
43:470c019246e4 | 487 | pc.printf("MTData2:"); |
Alex Young |
43:470c019246e4 | 488 | uint16_t counter; |
Alex Young |
43:470c019246e4 | 489 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
43:470c019246e4 | 490 | { |
Alex Young |
43:470c019246e4 | 491 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
43:470c019246e4 | 492 | } |
Alex Young |
43:470c019246e4 | 493 | float ori[4]; |
Alex Young |
43:470c019246e4 | 494 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
43:470c019246e4 | 495 | { |
Alex Young |
43:470c019246e4 | 496 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
43:470c019246e4 | 497 | ori[2], ori[3]); |
Alex Young |
43:470c019246e4 | 498 | } |
Alex Young |
43:470c019246e4 | 499 | float acc[3]; |
Alex Young |
43:470c019246e4 | 500 | if (XbusMessage_getDataItem(acc, XDI_Acceleration, message)) |
Alex Young |
43:470c019246e4 | 501 | { |
Alex Young |
43:470c019246e4 | 502 | pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]); |
Alex Young |
43:470c019246e4 | 503 | } |
Alex Young |
43:470c019246e4 | 504 | float gyr[3]; |
Alex Young |
43:470c019246e4 | 505 | if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message)) |
Alex Young |
43:470c019246e4 | 506 | { |
Alex Young |
43:470c019246e4 | 507 | pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]); |
Alex Young |
43:470c019246e4 | 508 | } |
Alex Young |
43:470c019246e4 | 509 | float mag[3]; |
Alex Young |
43:470c019246e4 | 510 | if (XbusMessage_getDataItem(mag, XDI_MagneticField, message)) |
Alex Young |
43:470c019246e4 | 511 | { |
Alex Young |
43:470c019246e4 | 512 | pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]); |
Alex Young |
43:470c019246e4 | 513 | } |
Alex Young |
43:470c019246e4 | 514 | uint32_t status; |
Alex Young |
43:470c019246e4 | 515 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
43:470c019246e4 | 516 | { |
Alex Young |
43:470c019246e4 | 517 | pc.printf(" Status:%X", status); |
Alex Young |
43:470c019246e4 | 518 | } |
Alex Young |
52:e2197b38c029 | 519 | pc.printf("\r\n"); |
Alex Young |
43:470c019246e4 | 520 | } |
Alex Young |
43:470c019246e4 | 521 | |
Alex Young |
43:470c019246e4 | 522 | |
Alex Young |
2:b3e402dc11ca | 523 | int main(void) |
Alex Young |
2:b3e402dc11ca | 524 | { |
Alex Young |
4:98f063b2e6da | 525 | XbusParserCallback xbusCallback = {}; |
Alex Young |
25:01356fb59467 | 526 | xbusCallback.allocateBuffer = allocateMessageData; |
Alex Young |
25:01356fb59467 | 527 | xbusCallback.deallocateBuffer = deallocateMessageData; |
Alex Young |
24:2cc49dc854e3 | 528 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 529 | |
Alex Young |
4:98f063b2e6da | 530 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 531 | configureSerialPorts(); |
Alex Young |
38:d8d410d1662c | 532 | |
Alex Young |
38:d8d410d1662c | 533 | printIntroMessage(); |
Alex Young |
35:7e519b88c610 | 534 | wakeupMotionTracker(); |
Alex Young |
29:d9310e7b58b5 | 535 | if (configureMotionTracker()) |
Alex Young |
5:abc52dd88be2 | 536 | { |
Alex Young |
38:d8d410d1662c | 537 | printUsageInstructions(); |
Alex Young |
29:d9310e7b58b5 | 538 | for (;;) |
Alex Young |
26:665d3624f9ab | 539 | { |
Alex Young |
29:d9310e7b58b5 | 540 | while (pc.readable()) |
Alex Young |
29:d9310e7b58b5 | 541 | { |
Alex Young |
29:d9310e7b58b5 | 542 | handlePcCommand(pc.getc()); |
Alex Young |
29:d9310e7b58b5 | 543 | } |
Alex Young |
43:470c019246e4 | 544 | |
Alex Young |
43:470c019246e4 | 545 | osEvent ev = g_dataQueue.get(10); |
Alex Young |
43:470c019246e4 | 546 | if (ev.status == osEventMessage) |
Alex Young |
43:470c019246e4 | 547 | { |
Alex Young |
43:470c019246e4 | 548 | XbusMessage const* data = (XbusMessage const*)ev.value.p; |
Alex Young |
43:470c019246e4 | 549 | XbusMessageMemoryManager janitor(data); |
Alex Young |
43:470c019246e4 | 550 | printMessageData(data); |
Alex Young |
43:470c019246e4 | 551 | } |
Alex Young |
26:665d3624f9ab | 552 | } |
Alex Young |
5:abc52dd88be2 | 553 | } |
Alex Young |
29:d9310e7b58b5 | 554 | else |
Alex Young |
29:d9310e7b58b5 | 555 | { |
Alex Young |
52:e2197b38c029 | 556 | pc.printf("Failed to configure motion tracker.\r\n"); |
Alex Young |
29:d9310e7b58b5 | 557 | return -1; |
Alex Young |
29:d9310e7b58b5 | 558 | } |
Alex Young |
4:98f063b2e6da | 559 | } |