HyunGyu Kim / Mbed 2 deprecated MTi-1_example

kjj

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

main.cpp@65:38c908d1b515, 2015-10-05 (annotated)

Committer:
tjerkhofmeijer
Date:
Mon Oct 05 15:18:26 2015 +0200
Revision:
65:38c908d1b515
Parent:
64:8a0f00a064bb
Child:
66:f12dec1c0c3d
Added support for I2C/SPI on FRDM-KL46Z platform.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex Young 36:21198d933917 1 /*!
Alex Young 36:21198d933917 2 * \file
Alex Young 61:b9d3e7e5ba0c 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
Alex Young 61:b9d3e7e5ba0c 4 *
Alex Young 61:b9d3e7e5ba0c 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
Alex Young 61:b9d3e7e5ba0c 6 * use this file except in compliance with the License. You may obtain a copy
Alex Young 61:b9d3e7e5ba0c 7 * of the License at
Alex Young 36:21198d933917 8 *
Alex Young 61:b9d3e7e5ba0c 9 * http://www.apache.org/licenses/LICENSE-2.0
Alex Young 36:21198d933917 10 *
Alex Young 61:b9d3e7e5ba0c 11 * Unless required by applicable law or agreed to in writing, software
Alex Young 61:b9d3e7e5ba0c 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
Alex Young 61:b9d3e7e5ba0c 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
Alex Young 61:b9d3e7e5ba0c 14 * License for the specific language governing permissions and limitations
Alex Young 61:b9d3e7e5ba0c 15 * under the License.
Alex Young 61:b9d3e7e5ba0c 16 *
Alex Young 54:2e9bb1390c9c 17 * \page Overview Firmware overview
Alex Young 54:2e9bb1390c9c 18 *
Alex Young 54:2e9bb1390c9c 19 * Example firmware for communicating with an Xsens MTi-1 series motion
Alex Young 54:2e9bb1390c9c 20 * tracker (MT).
Alex Young 54:2e9bb1390c9c 21 *
Alex Young 54:2e9bb1390c9c 22 * The firmware uses the mbed-rtos library to provide RTOS features such as
Alex Young 54:2e9bb1390c9c 23 * memory pools and queues. A single thread (main) is used with reception of
tjerkhofmeijer 64:8a0f00a064bb 24 * data from the motion tracker.
Alex Young 54:2e9bb1390c9c 25 *
Alex Young 54:2e9bb1390c9c 26 * \section Hardware setup
Alex Young 54:2e9bb1390c9c 27 * The firmware has been tested with a ST Nucleo F302R8 development board.
Alex Young 54:2e9bb1390c9c 28 * The Nucleo board should be connected to the MTi1 development board using the
Alex Young 54:2e9bb1390c9c 29 * Arduino compatible headers on the Nucleo board as follows:
Alex Young 54:2e9bb1390c9c 30 *
tjerkhofmeijer 64:8a0f00a064bb 31 * | Nucleo pin | MTi1 func. | MTi1 dev. pin | Used for PSEL |
tjerkhofmeijer 64:8a0f00a064bb 32 * |------------|-------------|---------------|---------------|
tjerkhofmeijer 64:8a0f00a064bb 33 * | 5V | VDD | P300-1 | Any |
tjerkhofmeijer 64:8a0f00a064bb 34 * | IORef | VDDIO | P300-2 | Any |
tjerkhofmeijer 64:8a0f00a064bb 35 * | GND | GND | P300-3 | Any |
tjerkhofmeijer 64:8a0f00a064bb 36 * | D2 | nRST | P300-5 | Any |
tjerkhofmeijer 64:8a0f00a064bb 37 * | SCL/D15 | UART_TX/SCL | P300-9 | UART / I2C |
tjerkhofmeijer 64:8a0f00a064bb 38 * | SDA/D14 | UART_RX/SDA | P300-11 | UART / I2C |
tjerkhofmeijer 64:8a0f00a064bb 39 * | D3 | DRDY | P300-15 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 40 * | SCK/D13 | SCK/ADD0 | P300-17 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 41 * | MISO/D12 | MISO/ADD1 | P300-19 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 42 * | MOSI/D11 | MOSI/ADD2 | P300-21 | SPI / I2C |
tjerkhofmeijer 64:8a0f00a064bb 43 * | CS/D10 | nCS | P300-23 | SPI |
Alex Young 54:2e9bb1390c9c 44 *
Alex Young 54:2e9bb1390c9c 45 * Communication with the host PC is achieved using the built-in USB serial
tjerkhofmeijer 64:8a0f00a064bb 46 * bridge of the Nucleo board. Communication with the MT is achieved through
tjerkhofmeijer 64:8a0f00a064bb 47 * either the UART, I2C or SPI interface. The active interface is chosen
tjerkhofmeijer 64:8a0f00a064bb 48 * on the MT's side by use of the PSEL0 and PSEL1 switch on the MTi1
tjerkhofmeijer 64:8a0f00a064bb 49 * development board. This example needs to be built with the matching
tjerkhofmeijer 64:8a0f00a064bb 50 * MTI_USES_xxxx_INTERFACE define set (see below)
Alex Young 54:2e9bb1390c9c 51 *
Alex Young 54:2e9bb1390c9c 52 * \subsection Porting
tjerkhofmeijer 64:8a0f00a064bb 53 * To port to a different mbed platform the following pin definitions need
tjerkhofmeijer 64:8a0f00a064bb 54 * to be updated.
tjerkhofmeijer 64:8a0f00a064bb 55 * In all cases: the reset line pin
tjerkhofmeijer 64:8a0f00a064bb 56 * For UART: the serial Rx/Tx lines UART_TX and UART_RX
tjerkhofmeijer 64:8a0f00a064bb 57 * For I2C: the SCL,SDA,DRDY and address lines
tjerkhofmeijer 64:8a0f00a064bb 58 * For SPI: The SCK,MISO,MOSI,nCS and DRDY lines
Alex Young 54:2e9bb1390c9c 59 *
Alex Young 54:2e9bb1390c9c 60 * \section Firmware Operation
Alex Young 54:2e9bb1390c9c 61 * The firmware starts by initializing the serial ports used to communicate
Alex Young 54:2e9bb1390c9c 62 * with the host PC and with the MT. During the initialization the MT is held
Alex Young 54:2e9bb1390c9c 63 * in reset using the nRST input.
Alex Young 54:2e9bb1390c9c 64 *
Alex Young 54:2e9bb1390c9c 65 * Once the firmware is ready to communicate with the MT the reset line is
Alex Young 54:2e9bb1390c9c 66 * released and the firmware waits for a wakeup message from the MT. If this is
Alex Young 54:2e9bb1390c9c 67 * not received within 1 second the firmware will try to restore communication
Alex Young 54:2e9bb1390c9c 68 * with the MT using a special restore communication procedure.
Alex Young 54:2e9bb1390c9c 69 *
Alex Young 54:2e9bb1390c9c 70 * When the MT is ready for communication the firmware requests the device ID
Alex Young 54:2e9bb1390c9c 71 * of the MT, and based on this determines which type of MTi is connected.
Alex Young 54:2e9bb1390c9c 72 * If the MT is an MTi-1 then it will be configured to send inertial and
tjerkhofmeijer 56:041d3d9c300a 73 * magnetic measurement data. MTi-2 and MTi-3 devices have onboard orientation
Alex Young 54:2e9bb1390c9c 74 * estimation and will therefore be configured to provide quaternion output.
Alex Young 36:21198d933917 75 */
Alex Young 36:21198d933917 76
Alex Young 4:98f063b2e6da 77 #include "mbed.h"
Alex Young 25:01356fb59467 78 #include "rtos.h"
Alex Young 4:98f063b2e6da 79 #include "xbusparser.h"
Alex Young 11:8593ba137917 80 #include "xbusmessage.h"
Alex Young 40:b77a8c10c76d 81 #include "xsdeviceid.h"
tjerkhofmeijer 64:8a0f00a064bb 82 #include "xbusdef.h"
tjerkhofmeijer 64:8a0f00a064bb 83
tjerkhofmeijer 64:8a0f00a064bb 84 // Select communication interface to use for MTi
tjerkhofmeijer 64:8a0f00a064bb 85 #define MTI_USES_I2C_INTERFACE
tjerkhofmeijer 64:8a0f00a064bb 86
tjerkhofmeijer 64:8a0f00a064bb 87 #if !(defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE) || defined(MTI_USES_UART_INTERFACE))
tjerkhofmeijer 64:8a0f00a064bb 88 #error "Must select communication interface by defining one of: MTI_USES_I2C_INTERFACE, MTI_USES_SPI_INTERFACE or MTI_USES_UART_INTERFACE"
tjerkhofmeijer 64:8a0f00a064bb 89 #endif
Alex Young 4:98f063b2e6da 90
Alex Young 59:f9166c19451f 91 #if defined(TARGET_NUCLEO_F302R8)
tjerkhofmeijer 64:8a0f00a064bb 92
Alex Young 57:c3c85ebb7375 93 #define PC_TX PA_2
Alex Young 57:c3c85ebb7375 94 #define PC_RX PA_3
Alex Young 57:c3c85ebb7375 95 #define MT_TX PB_9
Alex Young 57:c3c85ebb7375 96 #define MT_RX PB_8
tjerkhofmeijer 64:8a0f00a064bb 97 #define MT_SDA PB_9
tjerkhofmeijer 64:8a0f00a064bb 98 #define MT_SCL PB_8
tjerkhofmeijer 64:8a0f00a064bb 99 #define MT_ADD0 PB_13
tjerkhofmeijer 64:8a0f00a064bb 100 #define MT_ADD1 PB_14
tjerkhofmeijer 64:8a0f00a064bb 101 #define MT_ADD2 PB_15
tjerkhofmeijer 64:8a0f00a064bb 102 #define MT_MOSI PB_15
tjerkhofmeijer 64:8a0f00a064bb 103 #define MT_MISO PB_14
tjerkhofmeijer 64:8a0f00a064bb 104 #define MT_SCLK PB_13
tjerkhofmeijer 64:8a0f00a064bb 105 #define MT_nCS PB_6
Alex Young 57:c3c85ebb7375 106 #define MT_NRESET PA_10
tjerkhofmeijer 64:8a0f00a064bb 107 #define MT_DRDY PB_3
tjerkhofmeijer 64:8a0f00a064bb 108
Alex Young 59:f9166c19451f 109 #elif defined(TARGET_KL46Z)
tjerkhofmeijer 64:8a0f00a064bb 110
Alex Young 59:f9166c19451f 111 #define PC_TX USBTX
Alex Young 59:f9166c19451f 112 #define PC_RX USBRX
Alex Young 59:f9166c19451f 113 #define MT_TX PTE0
Alex Young 59:f9166c19451f 114 #define MT_RX PTE1
tjerkhofmeijer 65:38c908d1b515 115 #define MT_SDA PTE0
tjerkhofmeijer 65:38c908d1b515 116 #define MT_SCL PTE1
tjerkhofmeijer 65:38c908d1b515 117 #define MT_ADD0 PTD5
tjerkhofmeijer 65:38c908d1b515 118 #define MT_ADD1 PTD7
tjerkhofmeijer 65:38c908d1b515 119 #define MT_ADD2 PTD6
tjerkhofmeijer 65:38c908d1b515 120 #define MT_MOSI PTD6
tjerkhofmeijer 65:38c908d1b515 121 #define MT_MISO PTD7
tjerkhofmeijer 65:38c908d1b515 122 #define MT_SCLK PTD5
tjerkhofmeijer 65:38c908d1b515 123 #define MT_nCS PTD4
Alex Young 59:f9166c19451f 124 #define MT_NRESET PTD3
tjerkhofmeijer 65:38c908d1b515 125 #define MT_DRDY PTD2
tjerkhofmeijer 64:8a0f00a064bb 126
Alex Young 60:ab9dad3560d3 127 #elif defined(TARGET_LPC4088)
tjerkhofmeijer 64:8a0f00a064bb 128
tjerkhofmeijer 64:8a0f00a064bb 129 #if !defined(MTI_USES_UART_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 130 #error "Support for I2C/SPI has not been added for this platform."
tjerkhofmeijer 64:8a0f00a064bb 131 #endif
tjerkhofmeijer 64:8a0f00a064bb 132
tjerkhofmeijer 64:8a0f00a064bb 133
Alex Young 60:ab9dad3560d3 134 #define PC_TX USBTX
Alex Young 60:ab9dad3560d3 135 #define PC_RX USBRX
Alex Young 60:ab9dad3560d3 136 #define MT_TX P0_25
Alex Young 60:ab9dad3560d3 137 #define MT_RX P0_26
Alex Young 60:ab9dad3560d3 138 #define MT_NRESET P1_30
Alex Young 57:c3c85ebb7375 139 #else
Alex Young 57:c3c85ebb7375 140 #error "Support for selected mbed platform has not been added."
Alex Young 57:c3c85ebb7375 141 #endif
Alex Young 57:c3c85ebb7375 142
Alex Young 57:c3c85ebb7375 143
Alex Young 44:b3980e8ac074 144 /*!
Alex Young 53:3891f4259901 145 * \brief Baudrate used to communicate with host PC.
Alex Young 53:3891f4259901 146 */
Alex Young 53:3891f4259901 147 #define PC_UART_BAUDRATE (921600)
Alex Young 53:3891f4259901 148
Alex Young 53:3891f4259901 149 /*!
Alex Young 44:b3980e8ac074 150 * \brief The number of items to hold in the memory pools.
Alex Young 44:b3980e8ac074 151 */
Alex Young 25:01356fb59467 152 #define MEMORY_POOL_SIZE (4)
Alex Young 44:b3980e8ac074 153 /*!
Alex Young 44:b3980e8ac074 154 * \brief The size of the queue used for device responses.
Alex Young 44:b3980e8ac074 155 * This is set to one as in typical Xbus operation each command receives a
Alex Young 44:b3980e8ac074 156 * response before the next command is sent.
Alex Young 44:b3980e8ac074 157 */
Alex Young 26:665d3624f9ab 158 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 44:b3980e8ac074 159 /*!
Alex Young 44:b3980e8ac074 160 * \brief The size of the queue used for data messages.
Alex Young 44:b3980e8ac074 161 * This is set to two to allow some overlap between printing received data to
Alex Young 44:b3980e8ac074 162 * the PC serial port and the reception of the subsequent data packet. In
Alex Young 44:b3980e8ac074 163 * more complex applications it might be necessary to increase this if
Alex Young 44:b3980e8ac074 164 * message processing might occasionally require more time than normal.
Alex Young 44:b3980e8ac074 165 */
Alex Young 43:470c019246e4 166 #define DATA_QUEUE_SIZE (2)
Alex Young 44:b3980e8ac074 167 /*!
Alex Young 49:38ecfbff5391 168 * \brief The maximum size of an xbus message supported by the application.
Alex Young 44:b3980e8ac074 169 * This is the size of the message buffers in the message data memory pool.
Alex Young 44:b3980e8ac074 170 */
Alex Young 25:01356fb59467 171 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 172
Alex Young 44:b3980e8ac074 173 /*! \brief Serial port for communication with the host PC. */
Alex Young 57:c3c85ebb7375 174 static Serial pc(PC_TX, PC_RX);
tjerkhofmeijer 64:8a0f00a064bb 175
tjerkhofmeijer 64:8a0f00a064bb 176 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 177 /*!
tjerkhofmeijer 64:8a0f00a064bb 178 * \brief I2C master used for communication with the MT.
tjerkhofmeijer 64:8a0f00a064bb 179 */
tjerkhofmeijer 64:8a0f00a064bb 180 static I2C mt(MT_SDA, MT_SCL);
tjerkhofmeijer 64:8a0f00a064bb 181 static DigitalOut add0(MT_ADD0);
tjerkhofmeijer 64:8a0f00a064bb 182 static DigitalOut add1(MT_ADD1);
tjerkhofmeijer 64:8a0f00a064bb 183 static DigitalOut add2(MT_ADD2);
tjerkhofmeijer 64:8a0f00a064bb 184
tjerkhofmeijer 64:8a0f00a064bb 185 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 186 /*! \brief SPI master used for communication with the MT. */
tjerkhofmeijer 64:8a0f00a064bb 187 static SPI mt(MT_MOSI, MT_MISO, MT_SCLK);
tjerkhofmeijer 64:8a0f00a064bb 188
tjerkhofmeijer 64:8a0f00a064bb 189 /*! \brief Chip select line for the MT. */
tjerkhofmeijer 64:8a0f00a064bb 190 static DigitalOut cs(MT_nCS, 1);
tjerkhofmeijer 64:8a0f00a064bb 191
tjerkhofmeijer 64:8a0f00a064bb 192 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 58:db60ef0a0d16 193 /*!
Alex Young 58:db60ef0a0d16 194 * \brief Serial port for communication with the MT.
Alex Young 58:db60ef0a0d16 195 *
Alex Young 58:db60ef0a0d16 196 * We use a RawSerial port as the Stream inteface used by the regular
Alex Young 58:db60ef0a0d16 197 * Serial class can have problems with the RTOS when using interrupts.
Alex Young 58:db60ef0a0d16 198 */
Alex Young 58:db60ef0a0d16 199 static RawSerial mt(MT_TX, MT_RX);
tjerkhofmeijer 64:8a0f00a064bb 200 #endif
tjerkhofmeijer 64:8a0f00a064bb 201
tjerkhofmeijer 64:8a0f00a064bb 202 #if defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 203 /*!
tjerkhofmeijer 64:8a0f00a064bb 204 * \brief Interrput line used by MT to signal that data is available.
tjerkhofmeijer 64:8a0f00a064bb 205 */
tjerkhofmeijer 64:8a0f00a064bb 206 static InterruptIn drdy(MT_DRDY);
tjerkhofmeijer 64:8a0f00a064bb 207 #endif
tjerkhofmeijer 64:8a0f00a064bb 208
Alex Young 35:7e519b88c610 209 /*!
Alex Young 35:7e519b88c610 210 * \brief MT reset line.
Alex Young 35:7e519b88c610 211 *
Alex Young 35:7e519b88c610 212 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 213 */
Alex Young 57:c3c85ebb7375 214 static DigitalOut mtReset(MT_NRESET, 0);
Alex Young 44:b3980e8ac074 215 /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */
Alex Young 4:98f063b2e6da 216 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 217
Alex Young 44:b3980e8ac074 218 /*!
Alex Young 44:b3980e8ac074 219 * \brief Memory pool used for storing Xbus messages when passing them
Alex Young 44:b3980e8ac074 220 * to the main thread.
Alex Young 44:b3980e8ac074 221 */
Alex Young 25:01356fb59467 222 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 44:b3980e8ac074 223 /*!
Alex Young 44:b3980e8ac074 224 * \brief Memory pool used for storing the payload of Xbus messages.
Alex Young 44:b3980e8ac074 225 */
Alex Young 25:01356fb59467 226 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 44:b3980e8ac074 227 /*!
Alex Young 44:b3980e8ac074 228 * \brief Queue used to pass data messages to the main thread for processing.
Alex Young 44:b3980e8ac074 229 */
Alex Young 44:b3980e8ac074 230 Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue;
Alex Young 44:b3980e8ac074 231 /*!
Alex Young 44:b3980e8ac074 232 * \brief Queue used for passing all other messages to the main thread for processing.
Alex Young 44:b3980e8ac074 233 */
Alex Young 26:665d3624f9ab 234 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 235
Alex Young 44:b3980e8ac074 236 /*!
Alex Young 44:b3980e8ac074 237 * \brief Allocate message data buffer from the message data pool.
Alex Young 44:b3980e8ac074 238 */
Alex Young 25:01356fb59467 239 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 240 {
Alex Young 25:01356fb59467 241 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 242 }
Alex Young 25:01356fb59467 243
Alex Young 44:b3980e8ac074 244 /*!
Alex Young 44:b3980e8ac074 245 * \brief Deallocate message data previously allocated from the message
Alex Young 44:b3980e8ac074 246 * data pool.
Alex Young 44:b3980e8ac074 247 */
Alex Young 25:01356fb59467 248 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 249 {
Alex Young 25:01356fb59467 250 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 251 }
Alex Young 4:98f063b2e6da 252
tjerkhofmeijer 64:8a0f00a064bb 253 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 254 #define MTI_I2C_ADDRESS (0x1D << 1)
tjerkhofmeijer 64:8a0f00a064bb 255 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 256 {
tjerkhofmeijer 64:8a0f00a064bb 257 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 258 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 259 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 260 {
tjerkhofmeijer 64:8a0f00a064bb 261 buf[0] = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 262 buf[1] = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 263 mt.write(MTI_I2C_ADDRESS, (char*)&pipe, sizeof(pipe), true);
tjerkhofmeijer 64:8a0f00a064bb 264 mt.read(MTI_I2C_ADDRESS, (char*)buf+preambleLength, dataLength);
tjerkhofmeijer 64:8a0f00a064bb 265 XbusParser_parseBuffer(xbusParser, buf, dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 266 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 267 }
tjerkhofmeijer 64:8a0f00a064bb 268 }
tjerkhofmeijer 64:8a0f00a064bb 269 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 270 {
tjerkhofmeijer 64:8a0f00a064bb 271 while (true)
tjerkhofmeijer 64:8a0f00a064bb 272 {
tjerkhofmeijer 64:8a0f00a064bb 273 uint8_t opcode = XBUS_PIPE_STATUS;
tjerkhofmeijer 64:8a0f00a064bb 274 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 275 mt.write(MTI_I2C_ADDRESS, (char*)&opcode, sizeof(opcode), true);
tjerkhofmeijer 64:8a0f00a064bb 276 mt.read(MTI_I2C_ADDRESS, (char*)status, sizeof(status));
tjerkhofmeijer 64:8a0f00a064bb 277
tjerkhofmeijer 64:8a0f00a064bb 278 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 279 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 280
tjerkhofmeijer 64:8a0f00a064bb 281 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 282 {
tjerkhofmeijer 64:8a0f00a064bb 283 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 284 }
tjerkhofmeijer 64:8a0f00a064bb 285 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 286 {
tjerkhofmeijer 64:8a0f00a064bb 287 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 288 }
tjerkhofmeijer 64:8a0f00a064bb 289 else
tjerkhofmeijer 64:8a0f00a064bb 290 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 291 }
tjerkhofmeijer 64:8a0f00a064bb 292 }
tjerkhofmeijer 64:8a0f00a064bb 293
tjerkhofmeijer 64:8a0f00a064bb 294 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 295 {
tjerkhofmeijer 64:8a0f00a064bb 296 mt.frequency(400000);
tjerkhofmeijer 64:8a0f00a064bb 297 //Use the addX pins to configure I2C address 0x1D
tjerkhofmeijer 64:8a0f00a064bb 298 add0.write(0);
tjerkhofmeijer 64:8a0f00a064bb 299 add1.write(0);
tjerkhofmeijer 64:8a0f00a064bb 300 add2.write(0);
tjerkhofmeijer 64:8a0f00a064bb 301 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 302 }
tjerkhofmeijer 64:8a0f00a064bb 303
tjerkhofmeijer 64:8a0f00a064bb 304 /*!
tjerkhofmeijer 64:8a0f00a064bb 305 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 306 *
tjerkhofmeijer 64:8a0f00a064bb 307 * This function formats the message data and writes this to the MT I2C
tjerkhofmeijer 64:8a0f00a064bb 308 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 309 */
tjerkhofmeijer 64:8a0f00a064bb 310 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 311 {
tjerkhofmeijer 64:8a0f00a064bb 312 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 313 size_t rawLength = XbusMessage_format(buf, m, XLLF_I2c);
tjerkhofmeijer 64:8a0f00a064bb 314 mt.write(MTI_I2C_ADDRESS, (char*)buf, rawLength);
tjerkhofmeijer 64:8a0f00a064bb 315 }
tjerkhofmeijer 64:8a0f00a064bb 316 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 317 static void sendOpcode(uint8_t opcode)
tjerkhofmeijer 64:8a0f00a064bb 318 {
tjerkhofmeijer 64:8a0f00a064bb 319 mt.write(opcode);
tjerkhofmeijer 64:8a0f00a064bb 320 for (int filler = 0; filler < 3; ++filler)
tjerkhofmeijer 64:8a0f00a064bb 321 {
tjerkhofmeijer 64:8a0f00a064bb 322 mt.write(filler);
tjerkhofmeijer 64:8a0f00a064bb 323 }
tjerkhofmeijer 64:8a0f00a064bb 324 }
tjerkhofmeijer 64:8a0f00a064bb 325
tjerkhofmeijer 64:8a0f00a064bb 326 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 327 {
tjerkhofmeijer 64:8a0f00a064bb 328 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 329 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 330 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 331 {
tjerkhofmeijer 64:8a0f00a064bb 332 uint8_t* dptr = buf;
tjerkhofmeijer 64:8a0f00a064bb 333 *dptr++ = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 334 *dptr++ = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 335 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 336 sendOpcode(pipe);
tjerkhofmeijer 64:8a0f00a064bb 337 for (int i = 0; i < dataLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 338 {
tjerkhofmeijer 64:8a0f00a064bb 339 *dptr++ = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 340 }
tjerkhofmeijer 64:8a0f00a064bb 341 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 342 XbusParser_parseBuffer(xbusParser, buf, dptr - buf);
tjerkhofmeijer 64:8a0f00a064bb 343 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 344 }
tjerkhofmeijer 64:8a0f00a064bb 345 }
tjerkhofmeijer 64:8a0f00a064bb 346 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 347 {
tjerkhofmeijer 64:8a0f00a064bb 348 while (true)
tjerkhofmeijer 64:8a0f00a064bb 349 {
tjerkhofmeijer 64:8a0f00a064bb 350 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 351 sendOpcode(XBUS_PIPE_STATUS);
tjerkhofmeijer 64:8a0f00a064bb 352 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 353 for (int i = 0; i < sizeof(status); ++i)
tjerkhofmeijer 64:8a0f00a064bb 354 {
tjerkhofmeijer 64:8a0f00a064bb 355 status[i] = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 356 }
tjerkhofmeijer 64:8a0f00a064bb 357 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 358
tjerkhofmeijer 64:8a0f00a064bb 359 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 360 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 361
tjerkhofmeijer 64:8a0f00a064bb 362 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 363 {
tjerkhofmeijer 64:8a0f00a064bb 364 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 365 }
tjerkhofmeijer 64:8a0f00a064bb 366 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 367 {
tjerkhofmeijer 64:8a0f00a064bb 368 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 369 }
tjerkhofmeijer 64:8a0f00a064bb 370 else
tjerkhofmeijer 64:8a0f00a064bb 371 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 372 }
tjerkhofmeijer 64:8a0f00a064bb 373 }
tjerkhofmeijer 64:8a0f00a064bb 374
tjerkhofmeijer 64:8a0f00a064bb 375 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 376 {
tjerkhofmeijer 64:8a0f00a064bb 377 mt.frequency(1000000);
tjerkhofmeijer 64:8a0f00a064bb 378 mt.format(8, 3);
tjerkhofmeijer 64:8a0f00a064bb 379 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 380 }
tjerkhofmeijer 64:8a0f00a064bb 381
tjerkhofmeijer 64:8a0f00a064bb 382 /*!
tjerkhofmeijer 64:8a0f00a064bb 383 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 384 *
tjerkhofmeijer 64:8a0f00a064bb 385 * This function formats the message data and writes this to the MT SPI
tjerkhofmeijer 64:8a0f00a064bb 386 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 387 */
tjerkhofmeijer 64:8a0f00a064bb 388 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 389 {
tjerkhofmeijer 64:8a0f00a064bb 390 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 391 size_t rawLength = XbusMessage_format(buf, m, XLLF_Spi);
tjerkhofmeijer 64:8a0f00a064bb 392 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 393 for (int i = 0; i < rawLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 394 {
tjerkhofmeijer 64:8a0f00a064bb 395 mt.write(buf[i]);
tjerkhofmeijer 64:8a0f00a064bb 396 }
tjerkhofmeijer 64:8a0f00a064bb 397 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 398 }
tjerkhofmeijer 64:8a0f00a064bb 399 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 44:b3980e8ac074 400 /*!
Alex Young 44:b3980e8ac074 401 * \brief RX Interrupt handler for the MT serial port.
Alex Young 44:b3980e8ac074 402 *
Alex Young 44:b3980e8ac074 403 * Passes received data to an XbusParser to extract messages.
Alex Young 44:b3980e8ac074 404 */
Alex Young 4:98f063b2e6da 405 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 406 {
Alex Young 4:98f063b2e6da 407 while (mt.readable())
Alex Young 4:98f063b2e6da 408 {
Alex Young 4:98f063b2e6da 409 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 410 }
Alex Young 4:98f063b2e6da 411 }
Alex Young 4:98f063b2e6da 412
Alex Young 44:b3980e8ac074 413 /*!
tjerkhofmeijer 64:8a0f00a064bb 414 * \brief Configure the serial port used for communication with the
tjerkhofmeijer 64:8a0f00a064bb 415 * motion tracker.
tjerkhofmeijer 64:8a0f00a064bb 416 */
tjerkhofmeijer 64:8a0f00a064bb 417 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 418 {
tjerkhofmeijer 64:8a0f00a064bb 419 mt.baud(115200);
tjerkhofmeijer 64:8a0f00a064bb 420 mt.format(8, Serial::None, 1);
tjerkhofmeijer 64:8a0f00a064bb 421 mt.attach(mtLowLevelHandler, Serial::RxIrq);
tjerkhofmeijer 64:8a0f00a064bb 422 }
tjerkhofmeijer 64:8a0f00a064bb 423
tjerkhofmeijer 64:8a0f00a064bb 424 /*!
Alex Young 44:b3980e8ac074 425 * \brief Send a message to the MT
Alex Young 44:b3980e8ac074 426 *
Alex Young 44:b3980e8ac074 427 * This function formats the message data and writes this to the MT serial
Alex Young 44:b3980e8ac074 428 * port. It does not wait for any response.
Alex Young 44:b3980e8ac074 429 */
Alex Young 34:3d7a6519a256 430 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 431 {
Alex Young 26:665d3624f9ab 432 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 433 size_t rawLength = XbusMessage_format(buf, m, XLLF_Uart);
Alex Young 11:8593ba137917 434 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 435 {
Alex Young 11:8593ba137917 436 mt.putc(buf[i]);
Alex Young 11:8593ba137917 437 }
Alex Young 34:3d7a6519a256 438 }
tjerkhofmeijer 64:8a0f00a064bb 439 #endif
tjerkhofmeijer 64:8a0f00a064bb 440
Alex Young 34:3d7a6519a256 441
Alex Young 44:b3980e8ac074 442 /*!
Alex Young 44:b3980e8ac074 443 * \brief Send a message to the MT and wait for a response.
Alex Young 44:b3980e8ac074 444 * \returns Response message from the MT, or NULL is no response received
Alex Young 44:b3980e8ac074 445 * within 500ms.
Alex Young 44:b3980e8ac074 446 *
Alex Young 44:b3980e8ac074 447 * Blocking behaviour is implemented by waiting for a response to be written
Alex Young 44:b3980e8ac074 448 * to the response queue by the XbusParser.
Alex Young 44:b3980e8ac074 449 */
Alex Young 34:3d7a6519a256 450 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 451 {
Alex Young 34:3d7a6519a256 452 sendMessage(m);
Alex Young 26:665d3624f9ab 453
Alex Young 26:665d3624f9ab 454 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 455 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 456 }
Alex Young 26:665d3624f9ab 457
Alex Young 31:ce1ea9ae861e 458 /*!
Alex Young 31:ce1ea9ae861e 459 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 460 *
Alex Young 49:38ecfbff5391 461 * Will automatically free the memory used by an XbusMessage when going out
Alex Young 31:ce1ea9ae861e 462 * of scope.
Alex Young 31:ce1ea9ae861e 463 */
Alex Young 31:ce1ea9ae861e 464 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 465 {
Alex Young 31:ce1ea9ae861e 466 public:
Alex Young 31:ce1ea9ae861e 467 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 468 : m_message(message)
Alex Young 31:ce1ea9ae861e 469 {
Alex Young 31:ce1ea9ae861e 470 }
Alex Young 31:ce1ea9ae861e 471
Alex Young 31:ce1ea9ae861e 472 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 473 {
Alex Young 31:ce1ea9ae861e 474 if (m_message)
Alex Young 31:ce1ea9ae861e 475 {
Alex Young 31:ce1ea9ae861e 476 if (m_message->data)
Alex Young 31:ce1ea9ae861e 477 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 478 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 479 }
Alex Young 31:ce1ea9ae861e 480 }
Alex Young 31:ce1ea9ae861e 481
Alex Young 31:ce1ea9ae861e 482 private:
Alex Young 31:ce1ea9ae861e 483 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 484 };
Alex Young 26:665d3624f9ab 485
Alex Young 44:b3980e8ac074 486 /*!
Alex Young 44:b3980e8ac074 487 * \brief Dump information from a message to the PC serial port.
Alex Young 44:b3980e8ac074 488 */
Alex Young 29:d9310e7b58b5 489 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 490 {
Alex Young 29:d9310e7b58b5 491 switch (response->mid)
Alex Young 29:d9310e7b58b5 492 {
Alex Young 29:d9310e7b58b5 493 case XMID_GotoConfigAck:
Alex Young 52:e2197b38c029 494 pc.printf("Device went to config mode.\r\n");
Alex Young 29:d9310e7b58b5 495 break;
Alex Young 29:d9310e7b58b5 496
Alex Young 29:d9310e7b58b5 497 case XMID_Error:
Alex Young 29:d9310e7b58b5 498 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 499 break;
Alex Young 29:d9310e7b58b5 500
Alex Young 29:d9310e7b58b5 501 default:
Alex Young 52:e2197b38c029 502 pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 503 break;
Alex Young 29:d9310e7b58b5 504 }
Alex Young 29:d9310e7b58b5 505 }
Alex Young 29:d9310e7b58b5 506
Alex Young 44:b3980e8ac074 507 /*!
Alex Young 44:b3980e8ac074 508 * \brief Send a command to the MT and wait for a response.
Alex Young 44:b3980e8ac074 509 * \param cmdId The XsMessageId of the command to send.
Alex Young 44:b3980e8ac074 510 *
Alex Young 44:b3980e8ac074 511 * Commands are simple messages without and payload data.
Alex Young 44:b3980e8ac074 512 */
Alex Young 26:665d3624f9ab 513 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 514 {
Alex Young 26:665d3624f9ab 515 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 516 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 517 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 518
Alex Young 26:665d3624f9ab 519 if (response)
Alex Young 26:665d3624f9ab 520 {
Alex Young 29:d9310e7b58b5 521 dumpResponse(response);
Alex Young 26:665d3624f9ab 522 }
Alex Young 26:665d3624f9ab 523 else
Alex Young 26:665d3624f9ab 524 {
Alex Young 52:e2197b38c029 525 pc.printf("Timeout waiting for response.\r\n");
Alex Young 26:665d3624f9ab 526 }
Alex Young 11:8593ba137917 527 }
Alex Young 11:8593ba137917 528
Alex Young 44:b3980e8ac074 529 /*!
Alex Young 44:b3980e8ac074 530 * \brief Handle a command from the PC
Alex Young 44:b3980e8ac074 531 *
Alex Young 44:b3980e8ac074 532 * The example application supports single character commands from the host
Alex Young 44:b3980e8ac074 533 * PC to switch between configuration and measurement modes.
Alex Young 44:b3980e8ac074 534 */
Alex Young 11:8593ba137917 535 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 536 {
Alex Young 11:8593ba137917 537 switch (cmd)
Alex Young 11:8593ba137917 538 {
Alex Young 11:8593ba137917 539 case 'c':
Alex Young 11:8593ba137917 540 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 541 break;
Alex Young 11:8593ba137917 542
Alex Young 11:8593ba137917 543 case 'm':
Alex Young 11:8593ba137917 544 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 545 break;
Alex Young 11:8593ba137917 546 }
Alex Young 11:8593ba137917 547 }
Alex Young 11:8593ba137917 548
Alex Young 44:b3980e8ac074 549 /*!
Alex Young 44:b3980e8ac074 550 * \brief XbusParser callback function to handle received messages.
Alex Young 44:b3980e8ac074 551 * \param message Pointer to the last received message.
Alex Young 44:b3980e8ac074 552 *
Alex Young 44:b3980e8ac074 553 * In this example received messages are copied into one of two message
Alex Young 44:b3980e8ac074 554 * queues for later handling by the main thread. Data messages are put
Alex Young 49:38ecfbff5391 555 * in one queue, while all other responses are placed in the second queue.
Alex Young 44:b3980e8ac074 556 * This is done so that data and other messages can be handled separately
Alex Young 44:b3980e8ac074 557 * by the application code.
Alex Young 44:b3980e8ac074 558 */
Alex Young 24:2cc49dc854e3 559 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 560 {
Alex Young 43:470c019246e4 561 XbusMessage* m = g_messagePool.alloc();
Alex Young 43:470c019246e4 562 if (m)
Alex Young 7:c913a7cd5231 563 {
Alex Young 43:470c019246e4 564 memcpy(m, message, sizeof(XbusMessage));
Alex Young 43:470c019246e4 565 if (message->mid == XMID_MtData2)
Alex Young 43:470c019246e4 566 {
Alex Young 43:470c019246e4 567 g_dataQueue.put(m);
Alex Young 43:470c019246e4 568 }
Alex Young 43:470c019246e4 569 else
Alex Young 43:470c019246e4 570 {
Alex Young 43:470c019246e4 571 g_responseQueue.put(m);
Alex Young 43:470c019246e4 572 }
Alex Young 7:c913a7cd5231 573 }
Alex Young 43:470c019246e4 574 else if (message->data)
Alex Young 7:c913a7cd5231 575 {
Alex Young 43:470c019246e4 576 deallocateMessageData(message->data);
Alex Young 25:01356fb59467 577 }
Alex Young 4:98f063b2e6da 578 }
Alex Young 4:98f063b2e6da 579
Alex Young 44:b3980e8ac074 580 /*!
tjerkhofmeijer 64:8a0f00a064bb 581 * \brief Configure the serial port used to communicate with the host PC.
Alex Young 44:b3980e8ac074 582 */
tjerkhofmeijer 64:8a0f00a064bb 583 static void configurePcInterface(void)
Alex Young 4:98f063b2e6da 584 {
Alex Young 53:3891f4259901 585 pc.baud(PC_UART_BAUDRATE);
Alex Young 55:9a2d6f947f0d 586 pc.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 587 }
Alex Young 4:98f063b2e6da 588
Alex Young 44:b3980e8ac074 589 /*!
Alex Young 44:b3980e8ac074 590 * \brief Read the device ID of the motion tracker.
Alex Young 44:b3980e8ac074 591 */
Alex Young 29:d9310e7b58b5 592 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 593 {
Alex Young 29:d9310e7b58b5 594 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 595 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 596 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 597 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 598 if (didRsp)
Alex Young 29:d9310e7b58b5 599 {
Alex Young 29:d9310e7b58b5 600 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 601 {
Alex Young 29:d9310e7b58b5 602 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 603 }
Alex Young 29:d9310e7b58b5 604 }
Alex Young 29:d9310e7b58b5 605 return deviceId;
Alex Young 29:d9310e7b58b5 606 }
Alex Young 29:d9310e7b58b5 607
Alex Young 44:b3980e8ac074 608 /*!
Alex Young 44:b3980e8ac074 609 * \brief Sets MT output configuration.
Alex Young 44:b3980e8ac074 610 * \param conf Pointer to an array of OutputConfiguration elements.
Alex Young 44:b3980e8ac074 611 * \param elements The number of elements in the configuration array.
Alex Young 44:b3980e8ac074 612 *
Alex Young 44:b3980e8ac074 613 * The response from the device indicates the actual values that will
Alex Young 44:b3980e8ac074 614 * be used by the motion tracker. These may differ from the requested
Alex Young 44:b3980e8ac074 615 * parameters as the motion tracker validates the requested parameters
Alex Young 44:b3980e8ac074 616 * before applying them.
Alex Young 44:b3980e8ac074 617 */
Alex Young 32:fafe0f42d82b 618 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 619 {
Alex Young 32:fafe0f42d82b 620 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 621 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 622 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 623 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 624 {
Alex Young 32:fafe0f42d82b 625 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 626 {
Alex Young 52:e2197b38c029 627 pc.printf("Output configuration set to:\r\n");
Alex Young 32:fafe0f42d82b 628 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 629 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 630 {
Alex Young 52:e2197b38c029 631 pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 632 ++conf;
Alex Young 32:fafe0f42d82b 633 }
Alex Young 32:fafe0f42d82b 634 return true;
Alex Young 29:d9310e7b58b5 635 }
Alex Young 29:d9310e7b58b5 636 else
Alex Young 29:d9310e7b58b5 637 {
Alex Young 32:fafe0f42d82b 638 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 639 }
Alex Young 32:fafe0f42d82b 640 }
Alex Young 32:fafe0f42d82b 641 else
Alex Young 32:fafe0f42d82b 642 {
Alex Young 52:e2197b38c029 643 pc.printf("Failed to set output configuration.\r\n");
Alex Young 32:fafe0f42d82b 644 }
Alex Young 32:fafe0f42d82b 645 return false;
Alex Young 32:fafe0f42d82b 646 }
Alex Young 29:d9310e7b58b5 647
Alex Young 44:b3980e8ac074 648 /*!
Alex Young 44:b3980e8ac074 649 * \brief Sets the motion tracker output configuration based on the function
Alex Young 44:b3980e8ac074 650 * of the attached device.
Alex Young 44:b3980e8ac074 651 *
Alex Young 44:b3980e8ac074 652 * The output configuration depends on the type of MTi-1 device connected.
Alex Young 49:38ecfbff5391 653 * An MTI-1 (IMU) device does not have an onboard orientation filter so
Alex Young 44:b3980e8ac074 654 * cannot output quaternion data, only inertial and magnetic measurement
Alex Young 44:b3980e8ac074 655 * data.
Alex Young 44:b3980e8ac074 656 * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions.
Alex Young 44:b3980e8ac074 657 */
Alex Young 32:fafe0f42d82b 658 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 659 {
Alex Young 32:fafe0f42d82b 660 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 661
Alex Young 32:fafe0f42d82b 662 if (deviceId)
Alex Young 32:fafe0f42d82b 663 {
Alex Young 52:e2197b38c029 664 pc.printf("Found device with ID: %08X.\r\n", deviceId);
Alex Young 40:b77a8c10c76d 665 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 666 {
Alex Young 52:e2197b38c029 667 pc.printf("Device is not an MTi-1 series.\r\n");
Alex Young 40:b77a8c10c76d 668 return false;
Alex Young 40:b77a8c10c76d 669 }
Alex Young 32:fafe0f42d82b 670
Alex Young 40:b77a8c10c76d 671 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 52:e2197b38c029 672 pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 673
Alex Young 40:b77a8c10c76d 674 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 675 {
Alex Young 32:fafe0f42d82b 676 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 677 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 678 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 679 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 680 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 681 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 682 };
Alex Young 32:fafe0f42d82b 683 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 684 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 685 }
Alex Young 29:d9310e7b58b5 686 else
Alex Young 29:d9310e7b58b5 687 {
Alex Young 32:fafe0f42d82b 688 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 689 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 690 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 691 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 692 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 693 };
Alex Young 32:fafe0f42d82b 694 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 695 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 696 }
Alex Young 29:d9310e7b58b5 697 }
Alex Young 32:fafe0f42d82b 698
Alex Young 32:fafe0f42d82b 699 return false;
Alex Young 29:d9310e7b58b5 700 }
Alex Young 29:d9310e7b58b5 701
Alex Young 35:7e519b88c610 702 /*!
Alex Young 35:7e519b88c610 703 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 704 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 705 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 706 *
Alex Young 49:38ecfbff5391 707 * The MTi sends an XMID_Wakeup message once it has completed its bootup
Alex Young 49:38ecfbff5391 708 * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 709 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 710 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 711 */
Alex Young 37:3e87bf647c68 712 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 713 {
Alex Young 37:3e87bf647c68 714 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 715 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 716 {
Alex Young 35:7e519b88c610 717 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 718 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 719 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 720 }
Alex Young 35:7e519b88c610 721 return false;
Alex Young 35:7e519b88c610 722 }
Alex Young 35:7e519b88c610 723
Alex Young 35:7e519b88c610 724 /*!
Alex Young 37:3e87bf647c68 725 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 726 *
Alex Young 37:3e87bf647c68 727 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 728 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 729 * stored output configuration.
Alex Young 37:3e87bf647c68 730 */
Alex Young 37:3e87bf647c68 731 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 732 {
Alex Young 37:3e87bf647c68 733 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 734 sendMessage(&ack);
Alex Young 52:e2197b38c029 735 pc.printf("Device ready for operation.\r\n");
Alex Young 37:3e87bf647c68 736 }
Alex Young 37:3e87bf647c68 737
tjerkhofmeijer 64:8a0f00a064bb 738 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 739 /*!
Alex Young 37:3e87bf647c68 740 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 741 *
Alex Young 37:3e87bf647c68 742 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 743 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 744 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 745 */
Alex Young 37:3e87bf647c68 746 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 747 {
Alex Young 37:3e87bf647c68 748 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 749 mtReset = 0;
Alex Young 37:3e87bf647c68 750 Thread::wait(1);
Alex Young 37:3e87bf647c68 751 mtReset = 1;
Alex Young 37:3e87bf647c68 752
Alex Young 37:3e87bf647c68 753 do
Alex Young 37:3e87bf647c68 754 {
Alex Young 37:3e87bf647c68 755 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 756 }
Alex Young 37:3e87bf647c68 757 while (!waitForWakeup(1));
Alex Young 52:e2197b38c029 758 pc.printf("done\r\n");
Alex Young 37:3e87bf647c68 759
Alex Young 37:3e87bf647c68 760 sendWakeupAck();
Alex Young 37:3e87bf647c68 761 }
tjerkhofmeijer 64:8a0f00a064bb 762 #endif
Alex Young 37:3e87bf647c68 763
Alex Young 37:3e87bf647c68 764 /*!
Alex Young 35:7e519b88c610 765 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 766 *
Alex Young 37:3e87bf647c68 767 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 768 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 769 */
tjerkhofmeijer 64:8a0f00a064bb 770 static bool wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 771 {
Alex Young 35:7e519b88c610 772 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 773 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 774 {
Alex Young 37:3e87bf647c68 775 sendWakeupAck();
Alex Young 37:3e87bf647c68 776 }
Alex Young 37:3e87bf647c68 777 else
Alex Young 37:3e87bf647c68 778 {
tjerkhofmeijer 64:8a0f00a064bb 779 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 780 restoreCommunication();
tjerkhofmeijer 64:8a0f00a064bb 781 #else
tjerkhofmeijer 64:8a0f00a064bb 782 pc.printf("Failed to communicate with MTi device\r\n");
tjerkhofmeijer 64:8a0f00a064bb 783 return true;
tjerkhofmeijer 64:8a0f00a064bb 784 #endif
Alex Young 35:7e519b88c610 785 }
tjerkhofmeijer 64:8a0f00a064bb 786 return true;
Alex Young 35:7e519b88c610 787 }
Alex Young 35:7e519b88c610 788
Alex Young 38:d8d410d1662c 789 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 790 {
Alex Young 52:e2197b38c029 791 pc.printf("\r\n\r\n\r\n\r\n\r\n");
Alex Young 52:e2197b38c029 792 pc.printf("MTi-1 series embedded example firmware.\r\n");
Alex Young 38:d8d410d1662c 793 }
Alex Young 38:d8d410d1662c 794
Alex Young 38:d8d410d1662c 795 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 796 {
Alex Young 52:e2197b38c029 797 pc.printf("\r\n");
Alex Young 52:e2197b38c029 798 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n");
Alex Young 38:d8d410d1662c 799 }
Alex Young 38:d8d410d1662c 800
Alex Young 44:b3980e8ac074 801 /*!
Alex Young 44:b3980e8ac074 802 * \brief Output the contents of a data message to the PC serial port.
Alex Young 44:b3980e8ac074 803 */
Alex Young 43:470c019246e4 804 static void printMessageData(struct XbusMessage const* message)
Alex Young 43:470c019246e4 805 {
Alex Young 43:470c019246e4 806 if (!message)
Alex Young 43:470c019246e4 807 return;
Alex Young 43:470c019246e4 808
Alex Young 43:470c019246e4 809 pc.printf("MTData2:");
Alex Young 43:470c019246e4 810 uint16_t counter;
Alex Young 43:470c019246e4 811 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 43:470c019246e4 812 {
Alex Young 43:470c019246e4 813 pc.printf(" Packet counter: %5d", counter);
Alex Young 43:470c019246e4 814 }
Alex Young 43:470c019246e4 815 float ori[4];
Alex Young 43:470c019246e4 816 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 43:470c019246e4 817 {
Alex Young 43:470c019246e4 818 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 43:470c019246e4 819 ori[2], ori[3]);
Alex Young 43:470c019246e4 820 }
Alex Young 43:470c019246e4 821 float acc[3];
Alex Young 43:470c019246e4 822 if (XbusMessage_getDataItem(acc, XDI_Acceleration, message))
Alex Young 43:470c019246e4 823 {
Alex Young 43:470c019246e4 824 pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]);
Alex Young 43:470c019246e4 825 }
Alex Young 43:470c019246e4 826 float gyr[3];
Alex Young 43:470c019246e4 827 if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message))
Alex Young 43:470c019246e4 828 {
Alex Young 43:470c019246e4 829 pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]);
Alex Young 43:470c019246e4 830 }
Alex Young 43:470c019246e4 831 float mag[3];
Alex Young 43:470c019246e4 832 if (XbusMessage_getDataItem(mag, XDI_MagneticField, message))
Alex Young 43:470c019246e4 833 {
Alex Young 43:470c019246e4 834 pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]);
Alex Young 43:470c019246e4 835 }
Alex Young 43:470c019246e4 836 uint32_t status;
Alex Young 43:470c019246e4 837 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 43:470c019246e4 838 {
Alex Young 43:470c019246e4 839 pc.printf(" Status:%X", status);
Alex Young 43:470c019246e4 840 }
Alex Young 52:e2197b38c029 841 pc.printf("\r\n");
Alex Young 43:470c019246e4 842 }
Alex Young 43:470c019246e4 843
Alex Young 43:470c019246e4 844
Alex Young 2:b3e402dc11ca 845 int main(void)
Alex Young 2:b3e402dc11ca 846 {
Alex Young 4:98f063b2e6da 847 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 848 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 849 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 850 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 851
Alex Young 4:98f063b2e6da 852 xbusParser = XbusParser_create(&xbusCallback);
tjerkhofmeijer 64:8a0f00a064bb 853 configurePcInterface();
tjerkhofmeijer 64:8a0f00a064bb 854 configureMtCommunicationInterface();
Alex Young 38:d8d410d1662c 855
Alex Young 38:d8d410d1662c 856 printIntroMessage();
tjerkhofmeijer 64:8a0f00a064bb 857 if (wakeupMotionTracker())
Alex Young 5:abc52dd88be2 858 {
tjerkhofmeijer 64:8a0f00a064bb 859 if (configureMotionTracker())
Alex Young 26:665d3624f9ab 860 {
tjerkhofmeijer 64:8a0f00a064bb 861 printUsageInstructions();
tjerkhofmeijer 64:8a0f00a064bb 862 for (;;)
Alex Young 29:d9310e7b58b5 863 {
tjerkhofmeijer 64:8a0f00a064bb 864 while (pc.readable())
tjerkhofmeijer 64:8a0f00a064bb 865 {
tjerkhofmeijer 64:8a0f00a064bb 866 handlePcCommand(pc.getc());
tjerkhofmeijer 64:8a0f00a064bb 867 }
Alex Young 43:470c019246e4 868
tjerkhofmeijer 64:8a0f00a064bb 869 osEvent ev = g_dataQueue.get(10);
tjerkhofmeijer 64:8a0f00a064bb 870 if (ev.status == osEventMessage)
tjerkhofmeijer 64:8a0f00a064bb 871 {
tjerkhofmeijer 64:8a0f00a064bb 872 XbusMessage const* data = (XbusMessage const*)ev.value.p;
tjerkhofmeijer 64:8a0f00a064bb 873 XbusMessageMemoryManager janitor(data);
tjerkhofmeijer 64:8a0f00a064bb 874 printMessageData(data);
tjerkhofmeijer 64:8a0f00a064bb 875 }
Alex Young 43:470c019246e4 876 }
Alex Young 26:665d3624f9ab 877 }
tjerkhofmeijer 64:8a0f00a064bb 878 else
tjerkhofmeijer 64:8a0f00a064bb 879 {
tjerkhofmeijer 64:8a0f00a064bb 880 pc.printf("Failed to configure motion tracker.\r\n");
tjerkhofmeijer 64:8a0f00a064bb 881 return -1;
tjerkhofmeijer 64:8a0f00a064bb 882 }
Alex Young 29:d9310e7b58b5 883 }
Alex Young 4:98f063b2e6da 884 }