rik freije / Mbed 2 deprecated MTi-1_rikbeun

rikbeuncode

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

main.cpp@64:8a0f00a064bb, 2015-10-02 (annotated)

Committer:
tjerkhofmeijer
Date:
Fri Oct 02 16:24:06 2015 +0200
Revision:
64:8a0f00a064bb
Parent:
63:138c196f0b88
Child:
65:38c908d1b515
MTi 1-series example is updated with support for I2C and SPI interfaces

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