kjj
Dependencies: mbed-rtos mbed Xbus
Fork of MTi-1_example by
main.cpp@26:665d3624f9ab, 2015-05-20 (annotated)
- Committer:
- Alex Young
- Date:
- Wed May 20 14:49:54 2015 +0200
- Revision:
- 26:665d3624f9ab
- Parent:
- 25:01356fb59467
- Child:
- 29:d9310e7b58b5
Move PC command handling to a thread.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Alex Young |
4:98f063b2e6da | 1 | #include "mbed.h" |
Alex Young |
25:01356fb59467 | 2 | #include "rtos.h" |
Alex Young |
4:98f063b2e6da | 3 | #include "xbusparser.h" |
Alex Young |
11:8593ba137917 | 4 | #include "xbusmessage.h" |
Alex Young |
4:98f063b2e6da | 5 | |
Alex Young |
25:01356fb59467 | 6 | #define MEMORY_POOL_SIZE (4) |
Alex Young |
26:665d3624f9ab | 7 | #define RESPONSE_QUEUE_SIZE (1) |
Alex Young |
25:01356fb59467 | 8 | #define MAX_XBUS_DATA_SIZE (128) |
Alex Young |
25:01356fb59467 | 9 | |
Alex Young |
4:98f063b2e6da | 10 | static Serial pc(PA_2, PA_3); |
Alex Young |
4:98f063b2e6da | 11 | static Serial mt(PB_9, PB_8); |
Alex Young |
4:98f063b2e6da | 12 | static XbusParser* xbusParser; |
Alex Young |
25:01356fb59467 | 13 | |
Alex Young |
25:01356fb59467 | 14 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
Alex Young |
25:01356fb59467 | 15 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
Alex Young |
26:665d3624f9ab | 16 | Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; |
Alex Young |
4:98f063b2e6da | 17 | |
Alex Young |
25:01356fb59467 | 18 | static void* allocateMessageData(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 19 | { |
Alex Young |
25:01356fb59467 | 20 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
Alex Young |
25:01356fb59467 | 21 | } |
Alex Young |
25:01356fb59467 | 22 | |
Alex Young |
25:01356fb59467 | 23 | static void deallocateMessageData(void const* buffer) |
Alex Young |
25:01356fb59467 | 24 | { |
Alex Young |
25:01356fb59467 | 25 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
Alex Young |
4:98f063b2e6da | 26 | } |
Alex Young |
4:98f063b2e6da | 27 | |
Alex Young |
4:98f063b2e6da | 28 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 29 | { |
Alex Young |
4:98f063b2e6da | 30 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 31 | { |
Alex Young |
4:98f063b2e6da | 32 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 33 | } |
Alex Young |
4:98f063b2e6da | 34 | } |
Alex Young |
4:98f063b2e6da | 35 | |
Alex Young |
26:665d3624f9ab | 36 | XbusMessage const* doTransaction(XbusMessage* m) |
Alex Young |
11:8593ba137917 | 37 | { |
Alex Young |
26:665d3624f9ab | 38 | uint8_t buf[64]; |
Alex Young |
26:665d3624f9ab | 39 | size_t rawLength = XbusMessage_format(buf, m); |
Alex Young |
11:8593ba137917 | 40 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 41 | { |
Alex Young |
11:8593ba137917 | 42 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 43 | } |
Alex Young |
26:665d3624f9ab | 44 | |
Alex Young |
26:665d3624f9ab | 45 | osEvent ev = g_responseQueue.get(500); |
Alex Young |
26:665d3624f9ab | 46 | return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; |
Alex Young |
26:665d3624f9ab | 47 | } |
Alex Young |
26:665d3624f9ab | 48 | |
Alex Young |
26:665d3624f9ab | 49 | static void freeMessage(XbusMessage const* m) |
Alex Young |
26:665d3624f9ab | 50 | { |
Alex Young |
26:665d3624f9ab | 51 | if (m->data) |
Alex Young |
26:665d3624f9ab | 52 | deallocateMessageData(m->data); |
Alex Young |
26:665d3624f9ab | 53 | g_messagePool.free((XbusMessage*)m); |
Alex Young |
26:665d3624f9ab | 54 | } |
Alex Young |
26:665d3624f9ab | 55 | |
Alex Young |
26:665d3624f9ab | 56 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
26:665d3624f9ab | 57 | { |
Alex Young |
26:665d3624f9ab | 58 | XbusMessage m = {cmdId}; |
Alex Young |
26:665d3624f9ab | 59 | XbusMessage const* response = doTransaction(&m); |
Alex Young |
26:665d3624f9ab | 60 | |
Alex Young |
26:665d3624f9ab | 61 | if (response) |
Alex Young |
26:665d3624f9ab | 62 | { |
Alex Young |
26:665d3624f9ab | 63 | switch (response->mid) |
Alex Young |
26:665d3624f9ab | 64 | { |
Alex Young |
26:665d3624f9ab | 65 | case XMID_GotoConfigAck: |
Alex Young |
26:665d3624f9ab | 66 | pc.printf("Device went to config mode\n"); |
Alex Young |
26:665d3624f9ab | 67 | break; |
Alex Young |
26:665d3624f9ab | 68 | |
Alex Young |
26:665d3624f9ab | 69 | case XMID_DeviceId: |
Alex Young |
26:665d3624f9ab | 70 | pc.printf("Device ID: %08X\n", *(uint32_t*)response->data); |
Alex Young |
26:665d3624f9ab | 71 | break; |
Alex Young |
26:665d3624f9ab | 72 | |
Alex Young |
26:665d3624f9ab | 73 | case XMID_OutputConfig: |
Alex Young |
26:665d3624f9ab | 74 | { |
Alex Young |
26:665d3624f9ab | 75 | pc.printf("Output configuration\n"); |
Alex Young |
26:665d3624f9ab | 76 | OutputConfiguration* conf = (OutputConfiguration*)response->data; |
Alex Young |
26:665d3624f9ab | 77 | for (int i = 0; i < response->length; ++i) |
Alex Young |
26:665d3624f9ab | 78 | { |
Alex Young |
26:665d3624f9ab | 79 | pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
26:665d3624f9ab | 80 | ++conf; |
Alex Young |
26:665d3624f9ab | 81 | } |
Alex Young |
26:665d3624f9ab | 82 | } |
Alex Young |
26:665d3624f9ab | 83 | break; |
Alex Young |
26:665d3624f9ab | 84 | |
Alex Young |
26:665d3624f9ab | 85 | |
Alex Young |
26:665d3624f9ab | 86 | default: |
Alex Young |
26:665d3624f9ab | 87 | pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length); |
Alex Young |
26:665d3624f9ab | 88 | break; |
Alex Young |
26:665d3624f9ab | 89 | } |
Alex Young |
26:665d3624f9ab | 90 | freeMessage(response); |
Alex Young |
26:665d3624f9ab | 91 | } |
Alex Young |
26:665d3624f9ab | 92 | else |
Alex Young |
26:665d3624f9ab | 93 | { |
Alex Young |
26:665d3624f9ab | 94 | pc.printf("Timeout waiting for response.\n"); |
Alex Young |
26:665d3624f9ab | 95 | } |
Alex Young |
11:8593ba137917 | 96 | } |
Alex Young |
11:8593ba137917 | 97 | |
Alex Young |
11:8593ba137917 | 98 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 99 | { |
Alex Young |
11:8593ba137917 | 100 | switch (cmd) |
Alex Young |
11:8593ba137917 | 101 | { |
Alex Young |
11:8593ba137917 | 102 | case 'c': |
Alex Young |
11:8593ba137917 | 103 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 104 | break; |
Alex Young |
11:8593ba137917 | 105 | |
Alex Young |
11:8593ba137917 | 106 | case 'm': |
Alex Young |
11:8593ba137917 | 107 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 108 | break; |
Alex Young |
20:38560fa3d2eb | 109 | |
Alex Young |
20:38560fa3d2eb | 110 | case 'd': |
Alex Young |
20:38560fa3d2eb | 111 | sendCommand(XMID_ReqDid); |
Alex Young |
20:38560fa3d2eb | 112 | break; |
Alex Young |
22:3eab999c5076 | 113 | |
Alex Young |
22:3eab999c5076 | 114 | case 'o': |
Alex Young |
22:3eab999c5076 | 115 | sendCommand(XMID_ReqOutputConfig); |
Alex Young |
22:3eab999c5076 | 116 | break; |
Alex Young |
11:8593ba137917 | 117 | } |
Alex Young |
11:8593ba137917 | 118 | } |
Alex Young |
11:8593ba137917 | 119 | |
Alex Young |
24:2cc49dc854e3 | 120 | static void handleDataMessage(struct XbusMessage const* message) |
Alex Young |
24:2cc49dc854e3 | 121 | { |
Alex Young |
24:2cc49dc854e3 | 122 | pc.printf("MTData2:"); |
Alex Young |
24:2cc49dc854e3 | 123 | uint16_t counter; |
Alex Young |
24:2cc49dc854e3 | 124 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
24:2cc49dc854e3 | 125 | { |
Alex Young |
24:2cc49dc854e3 | 126 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
24:2cc49dc854e3 | 127 | } |
Alex Young |
24:2cc49dc854e3 | 128 | float ori[4]; |
Alex Young |
24:2cc49dc854e3 | 129 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
24:2cc49dc854e3 | 130 | { |
Alex Young |
24:2cc49dc854e3 | 131 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
24:2cc49dc854e3 | 132 | ori[2], ori[3]); |
Alex Young |
24:2cc49dc854e3 | 133 | } |
Alex Young |
24:2cc49dc854e3 | 134 | uint32_t status; |
Alex Young |
24:2cc49dc854e3 | 135 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
24:2cc49dc854e3 | 136 | { |
Alex Young |
24:2cc49dc854e3 | 137 | pc.printf(" Status:%X", status); |
Alex Young |
24:2cc49dc854e3 | 138 | } |
Alex Young |
24:2cc49dc854e3 | 139 | pc.printf("\n"); |
Alex Young |
26:665d3624f9ab | 140 | deallocateMessageData(message->data); |
Alex Young |
24:2cc49dc854e3 | 141 | } |
Alex Young |
24:2cc49dc854e3 | 142 | |
Alex Young |
24:2cc49dc854e3 | 143 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 144 | { |
Alex Young |
15:558d279addd9 | 145 | if (message->mid == XMID_MtData2) |
Alex Young |
7:c913a7cd5231 | 146 | { |
Alex Young |
24:2cc49dc854e3 | 147 | handleDataMessage(message); |
Alex Young |
7:c913a7cd5231 | 148 | } |
Alex Young |
7:c913a7cd5231 | 149 | else |
Alex Young |
7:c913a7cd5231 | 150 | { |
Alex Young |
26:665d3624f9ab | 151 | XbusMessage* m = g_messagePool.alloc(); |
Alex Young |
26:665d3624f9ab | 152 | memcpy(m, message, sizeof(XbusMessage)); |
Alex Young |
26:665d3624f9ab | 153 | g_responseQueue.put(m); |
Alex Young |
25:01356fb59467 | 154 | } |
Alex Young |
4:98f063b2e6da | 155 | } |
Alex Young |
4:98f063b2e6da | 156 | |
Alex Young |
4:98f063b2e6da | 157 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 158 | { |
Alex Young |
4:98f063b2e6da | 159 | pc.baud(921600); |
Alex Young |
4:98f063b2e6da | 160 | pc.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 161 | |
Alex Young |
4:98f063b2e6da | 162 | mt.baud(921600); |
Alex Young |
4:98f063b2e6da | 163 | mt.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 164 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 165 | } |
Alex Young |
4:98f063b2e6da | 166 | |
Alex Young |
2:b3e402dc11ca | 167 | int main(void) |
Alex Young |
2:b3e402dc11ca | 168 | { |
Alex Young |
4:98f063b2e6da | 169 | XbusParserCallback xbusCallback = {}; |
Alex Young |
25:01356fb59467 | 170 | xbusCallback.allocateBuffer = allocateMessageData; |
Alex Young |
25:01356fb59467 | 171 | xbusCallback.deallocateBuffer = deallocateMessageData; |
Alex Young |
24:2cc49dc854e3 | 172 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 173 | |
Alex Young |
4:98f063b2e6da | 174 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 175 | configureSerialPorts(); |
Alex Young |
5:abc52dd88be2 | 176 | |
Alex Young |
5:abc52dd88be2 | 177 | for (;;) |
Alex Young |
5:abc52dd88be2 | 178 | { |
Alex Young |
26:665d3624f9ab | 179 | while (pc.readable()) |
Alex Young |
26:665d3624f9ab | 180 | { |
Alex Young |
26:665d3624f9ab | 181 | handlePcCommand(pc.getc()); |
Alex Young |
26:665d3624f9ab | 182 | } |
Alex Young |
5:abc52dd88be2 | 183 | } |
Alex Young |
4:98f063b2e6da | 184 | } |