rik freije
rikbeuncode
Dependencies: mbed-rtos mbed Xbus
Fork of
MTi-1_example
by 
Xsens
main.cpp@57:c3c85ebb7375, 2015-06-11 (annotated)
- Committer:
- Alex Young
- Date:
- Thu Jun 11 12:35:57 2015 +0200
- Revision:
- 57:c3c85ebb7375
- Parent:
- 56:041d3d9c300a
- Child:
- 58:db60ef0a0d16
Use platform defines to setup GPIO/UARTs
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Alex Young |
36:21198d933917 | 1 | /*! |
| Alex Young |
36:21198d933917 | 2 | * \file |
| Alex Young |
36:21198d933917 | 3 | * \copyright |
| Alex Young |
36:21198d933917 | 4 | * Copyright (C) Xsens Technologies B.V., 2015. All rights reserved. |
| Alex Young |
36:21198d933917 | 5 | * |
| Alex Young |
36:21198d933917 | 6 | * This source code is intended for use only by Xsens Technologies BV and |
| Alex Young |
36:21198d933917 | 7 | * those that have explicit written permission to use it from |
| Alex Young |
36:21198d933917 | 8 | * Xsens Technologies BV. |
| Alex Young |
36:21198d933917 | 9 | * |
| Alex Young |
36:21198d933917 | 10 | * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY |
| Alex Young |
36:21198d933917 | 11 | * KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE |
| Alex Young |
36:21198d933917 | 12 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A |
| Alex Young |
36:21198d933917 | 13 | * PARTICULAR PURPOSE. |
| Alex Young |
54:2e9bb1390c9c | 14 | |
| Alex Young |
54:2e9bb1390c9c | 15 | * \page Overview Firmware overview |
| Alex Young |
54:2e9bb1390c9c | 16 | * |
| Alex Young |
54:2e9bb1390c9c | 17 | * Example firmware for communicating with an Xsens MTi-1 series motion |
| Alex Young |
54:2e9bb1390c9c | 18 | * tracker (MT). |
| Alex Young |
54:2e9bb1390c9c | 19 | * |
| Alex Young |
54:2e9bb1390c9c | 20 | * The firmware uses the mbed-rtos library to provide RTOS features such as |
| Alex Young |
54:2e9bb1390c9c | 21 | * memory pools and queues. A single thread (main) is used with reception of |
| Alex Young |
54:2e9bb1390c9c | 22 | * data from the motion tracker via a UART handled by interrupts. |
| Alex Young |
54:2e9bb1390c9c | 23 | * |
| Alex Young |
54:2e9bb1390c9c | 24 | * \section Hardware setup |
| Alex Young |
54:2e9bb1390c9c | 25 | * The firmware has been tested with a ST Nucleo F302R8 development board. |
| Alex Young |
54:2e9bb1390c9c | 26 | * The Nucleo board should be connected to the MTi1 development board using the |
| Alex Young |
54:2e9bb1390c9c | 27 | * Arduino compatible headers on the Nucleo board as follows: |
| Alex Young |
54:2e9bb1390c9c | 28 | * |
| Alex Young |
54:2e9bb1390c9c | 29 | * | Nucleo pin | MTi1 func. | MTi1 dev. pin | |
| Alex Young |
54:2e9bb1390c9c | 30 | * |------------|-------------|---------------| |
| Alex Young |
54:2e9bb1390c9c | 31 | * | IORef | VDDIO_EXT | P301-3 | |
| Alex Young |
54:2e9bb1390c9c | 32 | * | 5V | VDD_EXT | P301-1 | |
| Alex Young |
54:2e9bb1390c9c | 33 | * | GND | GND | P301-2 | |
| Alex Young |
54:2e9bb1390c9c | 34 | * | SCL/D15 | DEV_UART_TX | P301-9 | |
| Alex Young |
54:2e9bb1390c9c | 35 | * | SDA/D14 | DEV_UART_RX | P301-11 | |
| Alex Young |
54:2e9bb1390c9c | 36 | * | D2 | nRST | P301-7 | |
| Alex Young |
54:2e9bb1390c9c | 37 | * |
| Alex Young |
54:2e9bb1390c9c | 38 | * Communication with the host PC is achieved using the built-in USB serial |
| Alex Young |
54:2e9bb1390c9c | 39 | * bridge of the Nucleo board. |
| Alex Young |
54:2e9bb1390c9c | 40 | * |
| Alex Young |
54:2e9bb1390c9c | 41 | * \subsection Porting |
| Alex Young |
54:2e9bb1390c9c | 42 | * To port to a different mbed platform only the serial Rx/Tx lines and the |
| Alex Young |
54:2e9bb1390c9c | 43 | * reset line pins should need to be updated. |
| Alex Young |
54:2e9bb1390c9c | 44 | * |
| Alex Young |
54:2e9bb1390c9c | 45 | * \section Firmware Operation |
| Alex Young |
54:2e9bb1390c9c | 46 | * The firmware starts by initializing the serial ports used to communicate |
| Alex Young |
54:2e9bb1390c9c | 47 | * with the host PC and with the MT. During the initialization the MT is held |
| Alex Young |
54:2e9bb1390c9c | 48 | * in reset using the nRST input. |
| Alex Young |
54:2e9bb1390c9c | 49 | * |
| Alex Young |
54:2e9bb1390c9c | 50 | * Once the firmware is ready to communicate with the MT the reset line is |
| Alex Young |
54:2e9bb1390c9c | 51 | * released and the firmware waits for a wakeup message from the MT. If this is |
| Alex Young |
54:2e9bb1390c9c | 52 | * not received within 1 second the firmware will try to restore communication |
| Alex Young |
54:2e9bb1390c9c | 53 | * with the MT using a special restore communication procedure. |
| Alex Young |
54:2e9bb1390c9c | 54 | * |
| Alex Young |
54:2e9bb1390c9c | 55 | * When the MT is ready for communication the firmware requests the device ID |
| Alex Young |
54:2e9bb1390c9c | 56 | * of the MT, and based on this determines which type of MTi is connected. |
| Alex Young |
54:2e9bb1390c9c | 57 | * If the MT is an MTi-1 then it will be configured to send inertial and |
| tjerkhofmeijer | 56:041d3d9c300a | 58 | * magnetic measurement data. MTi-2 and MTi-3 devices have onboard orientation |
| Alex Young |
54:2e9bb1390c9c | 59 | * estimation and will therefore be configured to provide quaternion output. |
| Alex Young |
36:21198d933917 | 60 | */ |
| Alex Young |
36:21198d933917 | 61 | |
| Alex Young |
4:98f063b2e6da | 62 | #include "mbed.h" |
| Alex Young |
25:01356fb59467 | 63 | #include "rtos.h" |
| Alex Young |
4:98f063b2e6da | 64 | #include "xbusparser.h" |
| Alex Young |
11:8593ba137917 | 65 | #include "xbusmessage.h" |
| Alex Young |
40:b77a8c10c76d | 66 | #include "xsdeviceid.h" |
| Alex Young |
4:98f063b2e6da | 67 | |
| Alex Young |
57:c3c85ebb7375 | 68 | #ifdef TARGET_NUCLEO_F302R8 |
| Alex Young |
57:c3c85ebb7375 | 69 | #define PC_TX PA_2 |
| Alex Young |
57:c3c85ebb7375 | 70 | #define PC_RX PA_3 |
| Alex Young |
57:c3c85ebb7375 | 71 | #define MT_TX PB_9 |
| Alex Young |
57:c3c85ebb7375 | 72 | #define MT_RX PB_8 |
| Alex Young |
57:c3c85ebb7375 | 73 | #define MT_NRESET PA_10 |
| Alex Young |
57:c3c85ebb7375 | 74 | #else |
| Alex Young |
57:c3c85ebb7375 | 75 | #error "Support for selected mbed platform has not been added." |
| Alex Young |
57:c3c85ebb7375 | 76 | #endif |
| Alex Young |
57:c3c85ebb7375 | 77 | |
| Alex Young |
57:c3c85ebb7375 | 78 | |
| Alex Young |
44:b3980e8ac074 | 79 | /*! |
| Alex Young |
53:3891f4259901 | 80 | * \brief Baudrate used to communicate with host PC. |
| Alex Young |
53:3891f4259901 | 81 | */ |
| Alex Young |
53:3891f4259901 | 82 | #define PC_UART_BAUDRATE (921600) |
| Alex Young |
53:3891f4259901 | 83 | |
| Alex Young |
53:3891f4259901 | 84 | /*! |
| Alex Young |
44:b3980e8ac074 | 85 | * \brief The number of items to hold in the memory pools. |
| Alex Young |
44:b3980e8ac074 | 86 | */ |
| Alex Young |
25:01356fb59467 | 87 | #define MEMORY_POOL_SIZE (4) |
| Alex Young |
44:b3980e8ac074 | 88 | /*! |
| Alex Young |
44:b3980e8ac074 | 89 | * \brief The size of the queue used for device responses. |
| Alex Young |
44:b3980e8ac074 | 90 | * This is set to one as in typical Xbus operation each command receives a |
| Alex Young |
44:b3980e8ac074 | 91 | * response before the next command is sent. |
| Alex Young |
44:b3980e8ac074 | 92 | */ |
| Alex Young |
26:665d3624f9ab | 93 | #define RESPONSE_QUEUE_SIZE (1) |
| Alex Young |
44:b3980e8ac074 | 94 | /*! |
| Alex Young |
44:b3980e8ac074 | 95 | * \brief The size of the queue used for data messages. |
| Alex Young |
44:b3980e8ac074 | 96 | * This is set to two to allow some overlap between printing received data to |
| Alex Young |
44:b3980e8ac074 | 97 | * the PC serial port and the reception of the subsequent data packet. In |
| Alex Young |
44:b3980e8ac074 | 98 | * more complex applications it might be necessary to increase this if |
| Alex Young |
44:b3980e8ac074 | 99 | * message processing might occasionally require more time than normal. |
| Alex Young |
44:b3980e8ac074 | 100 | */ |
| Alex Young |
43:470c019246e4 | 101 | #define DATA_QUEUE_SIZE (2) |
| Alex Young |
44:b3980e8ac074 | 102 | /*! |
| Alex Young |
49:38ecfbff5391 | 103 | * \brief The maximum size of an xbus message supported by the application. |
| Alex Young |
44:b3980e8ac074 | 104 | * This is the size of the message buffers in the message data memory pool. |
| Alex Young |
44:b3980e8ac074 | 105 | */ |
| Alex Young |
25:01356fb59467 | 106 | #define MAX_XBUS_DATA_SIZE (128) |
| Alex Young |
25:01356fb59467 | 107 | |
| Alex Young |
44:b3980e8ac074 | 108 | /*! \brief Serial port for communication with the host PC. */ |
| Alex Young |
57:c3c85ebb7375 | 109 | static Serial pc(PC_TX, PC_RX); |
| Alex Young |
44:b3980e8ac074 | 110 | /*! \brief Serial port for communication with the MT. */ |
| Alex Young |
57:c3c85ebb7375 | 111 | static Serial mt(MT_TX, MT_RX); |
| Alex Young |
35:7e519b88c610 | 112 | /*! |
| Alex Young |
35:7e519b88c610 | 113 | * \brief MT reset line. |
| Alex Young |
35:7e519b88c610 | 114 | * |
| Alex Young |
35:7e519b88c610 | 115 | * MT is held in reset on startup. |
| Alex Young |
35:7e519b88c610 | 116 | */ |
| Alex Young |
57:c3c85ebb7375 | 117 | static DigitalOut mtReset(MT_NRESET, 0); |
| Alex Young |
44:b3980e8ac074 | 118 | /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */ |
| Alex Young |
4:98f063b2e6da | 119 | static XbusParser* xbusParser; |
| Alex Young |
25:01356fb59467 | 120 | |
| Alex Young |
44:b3980e8ac074 | 121 | /*! |
| Alex Young |
44:b3980e8ac074 | 122 | * \brief Memory pool used for storing Xbus messages when passing them |
| Alex Young |
44:b3980e8ac074 | 123 | * to the main thread. |
| Alex Young |
44:b3980e8ac074 | 124 | */ |
| Alex Young |
25:01356fb59467 | 125 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
| Alex Young |
44:b3980e8ac074 | 126 | /*! |
| Alex Young |
44:b3980e8ac074 | 127 | * \brief Memory pool used for storing the payload of Xbus messages. |
| Alex Young |
44:b3980e8ac074 | 128 | */ |
| Alex Young |
25:01356fb59467 | 129 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
| Alex Young |
44:b3980e8ac074 | 130 | /*! |
| Alex Young |
44:b3980e8ac074 | 131 | * \brief Queue used to pass data messages to the main thread for processing. |
| Alex Young |
44:b3980e8ac074 | 132 | */ |
| Alex Young |
44:b3980e8ac074 | 133 | Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue; |
| Alex Young |
44:b3980e8ac074 | 134 | /*! |
| Alex Young |
44:b3980e8ac074 | 135 | * \brief Queue used for passing all other messages to the main thread for processing. |
| Alex Young |
44:b3980e8ac074 | 136 | */ |
| Alex Young |
26:665d3624f9ab | 137 | Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; |
| Alex Young |
4:98f063b2e6da | 138 | |
| Alex Young |
44:b3980e8ac074 | 139 | /*! |
| Alex Young |
44:b3980e8ac074 | 140 | * \brief Allocate message data buffer from the message data pool. |
| Alex Young |
44:b3980e8ac074 | 141 | */ |
| Alex Young |
25:01356fb59467 | 142 | static void* allocateMessageData(size_t bufSize) |
| Alex Young |
4:98f063b2e6da | 143 | { |
| Alex Young |
25:01356fb59467 | 144 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
| Alex Young |
25:01356fb59467 | 145 | } |
| Alex Young |
25:01356fb59467 | 146 | |
| Alex Young |
44:b3980e8ac074 | 147 | /*! |
| Alex Young |
44:b3980e8ac074 | 148 | * \brief Deallocate message data previously allocated from the message |
| Alex Young |
44:b3980e8ac074 | 149 | * data pool. |
| Alex Young |
44:b3980e8ac074 | 150 | */ |
| Alex Young |
25:01356fb59467 | 151 | static void deallocateMessageData(void const* buffer) |
| Alex Young |
25:01356fb59467 | 152 | { |
| Alex Young |
25:01356fb59467 | 153 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
| Alex Young |
4:98f063b2e6da | 154 | } |
| Alex Young |
4:98f063b2e6da | 155 | |
| Alex Young |
44:b3980e8ac074 | 156 | /*! |
| Alex Young |
44:b3980e8ac074 | 157 | * \brief RX Interrupt handler for the MT serial port. |
| Alex Young |
44:b3980e8ac074 | 158 | * |
| Alex Young |
44:b3980e8ac074 | 159 | * Passes received data to an XbusParser to extract messages. |
| Alex Young |
44:b3980e8ac074 | 160 | */ |
| Alex Young |
4:98f063b2e6da | 161 | static void mtLowLevelHandler(void) |
| Alex Young |
4:98f063b2e6da | 162 | { |
| Alex Young |
4:98f063b2e6da | 163 | while (mt.readable()) |
| Alex Young |
4:98f063b2e6da | 164 | { |
| Alex Young |
4:98f063b2e6da | 165 | XbusParser_parseByte(xbusParser, mt.getc()); |
| Alex Young |
4:98f063b2e6da | 166 | } |
| Alex Young |
4:98f063b2e6da | 167 | } |
| Alex Young |
4:98f063b2e6da | 168 | |
| Alex Young |
44:b3980e8ac074 | 169 | /*! |
| Alex Young |
44:b3980e8ac074 | 170 | * \brief Send a message to the MT |
| Alex Young |
44:b3980e8ac074 | 171 | * |
| Alex Young |
44:b3980e8ac074 | 172 | * This function formats the message data and writes this to the MT serial |
| Alex Young |
44:b3980e8ac074 | 173 | * port. It does not wait for any response. |
| Alex Young |
44:b3980e8ac074 | 174 | */ |
| Alex Young |
34:3d7a6519a256 | 175 | static void sendMessage(XbusMessage const* m) |
| Alex Young |
11:8593ba137917 | 176 | { |
| Alex Young |
26:665d3624f9ab | 177 | uint8_t buf[64]; |
| Alex Young |
26:665d3624f9ab | 178 | size_t rawLength = XbusMessage_format(buf, m); |
| Alex Young |
11:8593ba137917 | 179 | for (size_t i = 0; i < rawLength; ++i) |
| Alex Young |
11:8593ba137917 | 180 | { |
| Alex Young |
11:8593ba137917 | 181 | mt.putc(buf[i]); |
| Alex Young |
11:8593ba137917 | 182 | } |
| Alex Young |
34:3d7a6519a256 | 183 | } |
| Alex Young |
34:3d7a6519a256 | 184 | |
| Alex Young |
44:b3980e8ac074 | 185 | /*! |
| Alex Young |
44:b3980e8ac074 | 186 | * \brief Send a message to the MT and wait for a response. |
| Alex Young |
44:b3980e8ac074 | 187 | * \returns Response message from the MT, or NULL is no response received |
| Alex Young |
44:b3980e8ac074 | 188 | * within 500ms. |
| Alex Young |
44:b3980e8ac074 | 189 | * |
| Alex Young |
44:b3980e8ac074 | 190 | * Blocking behaviour is implemented by waiting for a response to be written |
| Alex Young |
44:b3980e8ac074 | 191 | * to the response queue by the XbusParser. |
| Alex Young |
44:b3980e8ac074 | 192 | */ |
| Alex Young |
34:3d7a6519a256 | 193 | static XbusMessage const* doTransaction(XbusMessage const* m) |
| Alex Young |
34:3d7a6519a256 | 194 | { |
| Alex Young |
34:3d7a6519a256 | 195 | sendMessage(m); |
| Alex Young |
26:665d3624f9ab | 196 | |
| Alex Young |
26:665d3624f9ab | 197 | osEvent ev = g_responseQueue.get(500); |
| Alex Young |
26:665d3624f9ab | 198 | return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; |
| Alex Young |
26:665d3624f9ab | 199 | } |
| Alex Young |
26:665d3624f9ab | 200 | |
| Alex Young |
31:ce1ea9ae861e | 201 | /*! |
| Alex Young |
31:ce1ea9ae861e | 202 | * \brief RAII object to manage message memory deallocation. |
| Alex Young |
31:ce1ea9ae861e | 203 | * |
| Alex Young |
49:38ecfbff5391 | 204 | * Will automatically free the memory used by an XbusMessage when going out |
| Alex Young |
31:ce1ea9ae861e | 205 | * of scope. |
| Alex Young |
31:ce1ea9ae861e | 206 | */ |
| Alex Young |
31:ce1ea9ae861e | 207 | class XbusMessageMemoryManager |
| Alex Young |
26:665d3624f9ab | 208 | { |
| Alex Young |
31:ce1ea9ae861e | 209 | public: |
| Alex Young |
31:ce1ea9ae861e | 210 | XbusMessageMemoryManager(XbusMessage const* message) |
| Alex Young |
31:ce1ea9ae861e | 211 | : m_message(message) |
| Alex Young |
31:ce1ea9ae861e | 212 | { |
| Alex Young |
31:ce1ea9ae861e | 213 | } |
| Alex Young |
31:ce1ea9ae861e | 214 | |
| Alex Young |
31:ce1ea9ae861e | 215 | ~XbusMessageMemoryManager() |
| Alex Young |
31:ce1ea9ae861e | 216 | { |
| Alex Young |
31:ce1ea9ae861e | 217 | if (m_message) |
| Alex Young |
31:ce1ea9ae861e | 218 | { |
| Alex Young |
31:ce1ea9ae861e | 219 | if (m_message->data) |
| Alex Young |
31:ce1ea9ae861e | 220 | deallocateMessageData(m_message->data); |
| Alex Young |
31:ce1ea9ae861e | 221 | g_messagePool.free(const_cast<XbusMessage*>(m_message)); |
| Alex Young |
31:ce1ea9ae861e | 222 | } |
| Alex Young |
31:ce1ea9ae861e | 223 | } |
| Alex Young |
31:ce1ea9ae861e | 224 | |
| Alex Young |
31:ce1ea9ae861e | 225 | private: |
| Alex Young |
31:ce1ea9ae861e | 226 | XbusMessage const* m_message; |
| Alex Young |
31:ce1ea9ae861e | 227 | }; |
| Alex Young |
26:665d3624f9ab | 228 | |
| Alex Young |
44:b3980e8ac074 | 229 | /*! |
| Alex Young |
44:b3980e8ac074 | 230 | * \brief Dump information from a message to the PC serial port. |
| Alex Young |
44:b3980e8ac074 | 231 | */ |
| Alex Young |
29:d9310e7b58b5 | 232 | static void dumpResponse(XbusMessage const* response) |
| Alex Young |
29:d9310e7b58b5 | 233 | { |
| Alex Young |
29:d9310e7b58b5 | 234 | switch (response->mid) |
| Alex Young |
29:d9310e7b58b5 | 235 | { |
| Alex Young |
29:d9310e7b58b5 | 236 | case XMID_GotoConfigAck: |
| Alex Young |
52:e2197b38c029 | 237 | pc.printf("Device went to config mode.\r\n"); |
| Alex Young |
29:d9310e7b58b5 | 238 | break; |
| Alex Young |
29:d9310e7b58b5 | 239 | |
| Alex Young |
29:d9310e7b58b5 | 240 | case XMID_Error: |
| Alex Young |
29:d9310e7b58b5 | 241 | pc.printf("Device error!"); |
| Alex Young |
29:d9310e7b58b5 | 242 | break; |
| Alex Young |
29:d9310e7b58b5 | 243 | |
| Alex Young |
29:d9310e7b58b5 | 244 | default: |
| Alex Young |
52:e2197b38c029 | 245 | pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length); |
| Alex Young |
29:d9310e7b58b5 | 246 | break; |
| Alex Young |
29:d9310e7b58b5 | 247 | } |
| Alex Young |
29:d9310e7b58b5 | 248 | } |
| Alex Young |
29:d9310e7b58b5 | 249 | |
| Alex Young |
44:b3980e8ac074 | 250 | /*! |
| Alex Young |
44:b3980e8ac074 | 251 | * \brief Send a command to the MT and wait for a response. |
| Alex Young |
44:b3980e8ac074 | 252 | * \param cmdId The XsMessageId of the command to send. |
| Alex Young |
44:b3980e8ac074 | 253 | * |
| Alex Young |
44:b3980e8ac074 | 254 | * Commands are simple messages without and payload data. |
| Alex Young |
44:b3980e8ac074 | 255 | */ |
| Alex Young |
26:665d3624f9ab | 256 | static void sendCommand(XsMessageId cmdId) |
| Alex Young |
26:665d3624f9ab | 257 | { |
| Alex Young |
26:665d3624f9ab | 258 | XbusMessage m = {cmdId}; |
| Alex Young |
26:665d3624f9ab | 259 | XbusMessage const* response = doTransaction(&m); |
| Alex Young |
31:ce1ea9ae861e | 260 | XbusMessageMemoryManager janitor(response); |
| Alex Young |
26:665d3624f9ab | 261 | |
| Alex Young |
26:665d3624f9ab | 262 | if (response) |
| Alex Young |
26:665d3624f9ab | 263 | { |
| Alex Young |
29:d9310e7b58b5 | 264 | dumpResponse(response); |
| Alex Young |
26:665d3624f9ab | 265 | } |
| Alex Young |
26:665d3624f9ab | 266 | else |
| Alex Young |
26:665d3624f9ab | 267 | { |
| Alex Young |
52:e2197b38c029 | 268 | pc.printf("Timeout waiting for response.\r\n"); |
| Alex Young |
26:665d3624f9ab | 269 | } |
| Alex Young |
11:8593ba137917 | 270 | } |
| Alex Young |
11:8593ba137917 | 271 | |
| Alex Young |
44:b3980e8ac074 | 272 | /*! |
| Alex Young |
44:b3980e8ac074 | 273 | * \brief Handle a command from the PC |
| Alex Young |
44:b3980e8ac074 | 274 | * |
| Alex Young |
44:b3980e8ac074 | 275 | * The example application supports single character commands from the host |
| Alex Young |
44:b3980e8ac074 | 276 | * PC to switch between configuration and measurement modes. |
| Alex Young |
44:b3980e8ac074 | 277 | */ |
| Alex Young |
11:8593ba137917 | 278 | static void handlePcCommand(char cmd) |
| Alex Young |
11:8593ba137917 | 279 | { |
| Alex Young |
11:8593ba137917 | 280 | switch (cmd) |
| Alex Young |
11:8593ba137917 | 281 | { |
| Alex Young |
11:8593ba137917 | 282 | case 'c': |
| Alex Young |
11:8593ba137917 | 283 | sendCommand(XMID_GotoConfig); |
| Alex Young |
11:8593ba137917 | 284 | break; |
| Alex Young |
11:8593ba137917 | 285 | |
| Alex Young |
11:8593ba137917 | 286 | case 'm': |
| Alex Young |
11:8593ba137917 | 287 | sendCommand(XMID_GotoMeasurement); |
| Alex Young |
11:8593ba137917 | 288 | break; |
| Alex Young |
11:8593ba137917 | 289 | } |
| Alex Young |
11:8593ba137917 | 290 | } |
| Alex Young |
11:8593ba137917 | 291 | |
| Alex Young |
44:b3980e8ac074 | 292 | /*! |
| Alex Young |
44:b3980e8ac074 | 293 | * \brief XbusParser callback function to handle received messages. |
| Alex Young |
44:b3980e8ac074 | 294 | * \param message Pointer to the last received message. |
| Alex Young |
44:b3980e8ac074 | 295 | * |
| Alex Young |
44:b3980e8ac074 | 296 | * In this example received messages are copied into one of two message |
| Alex Young |
44:b3980e8ac074 | 297 | * queues for later handling by the main thread. Data messages are put |
| Alex Young |
49:38ecfbff5391 | 298 | * in one queue, while all other responses are placed in the second queue. |
| Alex Young |
44:b3980e8ac074 | 299 | * This is done so that data and other messages can be handled separately |
| Alex Young |
44:b3980e8ac074 | 300 | * by the application code. |
| Alex Young |
44:b3980e8ac074 | 301 | */ |
| Alex Young |
24:2cc49dc854e3 | 302 | static void mtMessageHandler(struct XbusMessage const* message) |
| Alex Young |
4:98f063b2e6da | 303 | { |
| Alex Young |
43:470c019246e4 | 304 | XbusMessage* m = g_messagePool.alloc(); |
| Alex Young |
43:470c019246e4 | 305 | if (m) |
| Alex Young |
7:c913a7cd5231 | 306 | { |
| Alex Young |
43:470c019246e4 | 307 | memcpy(m, message, sizeof(XbusMessage)); |
| Alex Young |
43:470c019246e4 | 308 | if (message->mid == XMID_MtData2) |
| Alex Young |
43:470c019246e4 | 309 | { |
| Alex Young |
43:470c019246e4 | 310 | g_dataQueue.put(m); |
| Alex Young |
43:470c019246e4 | 311 | } |
| Alex Young |
43:470c019246e4 | 312 | else |
| Alex Young |
43:470c019246e4 | 313 | { |
| Alex Young |
43:470c019246e4 | 314 | g_responseQueue.put(m); |
| Alex Young |
43:470c019246e4 | 315 | } |
| Alex Young |
7:c913a7cd5231 | 316 | } |
| Alex Young |
43:470c019246e4 | 317 | else if (message->data) |
| Alex Young |
7:c913a7cd5231 | 318 | { |
| Alex Young |
43:470c019246e4 | 319 | deallocateMessageData(message->data); |
| Alex Young |
25:01356fb59467 | 320 | } |
| Alex Young |
4:98f063b2e6da | 321 | } |
| Alex Young |
4:98f063b2e6da | 322 | |
| Alex Young |
44:b3980e8ac074 | 323 | /*! |
| Alex Young |
44:b3980e8ac074 | 324 | * \brief Configure the serial ports used to communicate with the motion |
| Alex Young |
44:b3980e8ac074 | 325 | * tracker and host PC. |
| Alex Young |
44:b3980e8ac074 | 326 | */ |
| Alex Young |
4:98f063b2e6da | 327 | static void configureSerialPorts(void) |
| Alex Young |
4:98f063b2e6da | 328 | { |
| Alex Young |
53:3891f4259901 | 329 | pc.baud(PC_UART_BAUDRATE); |
| Alex Young |
55:9a2d6f947f0d | 330 | pc.format(8, Serial::None, 1); |
| Alex Young |
4:98f063b2e6da | 331 | |
| Alex Young |
37:3e87bf647c68 | 332 | mt.baud(115200); |
| Alex Young |
55:9a2d6f947f0d | 333 | mt.format(8, Serial::None, 1); |
| Alex Young |
4:98f063b2e6da | 334 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
| Alex Young |
4:98f063b2e6da | 335 | } |
| Alex Young |
4:98f063b2e6da | 336 | |
| Alex Young |
44:b3980e8ac074 | 337 | /*! |
| Alex Young |
44:b3980e8ac074 | 338 | * \brief Read the device ID of the motion tracker. |
| Alex Young |
44:b3980e8ac074 | 339 | */ |
| Alex Young |
29:d9310e7b58b5 | 340 | static uint32_t readDeviceId(void) |
| Alex Young |
29:d9310e7b58b5 | 341 | { |
| Alex Young |
29:d9310e7b58b5 | 342 | XbusMessage reqDid = {XMID_ReqDid}; |
| Alex Young |
29:d9310e7b58b5 | 343 | XbusMessage const* didRsp = doTransaction(&reqDid); |
| Alex Young |
31:ce1ea9ae861e | 344 | XbusMessageMemoryManager janitor(didRsp); |
| Alex Young |
29:d9310e7b58b5 | 345 | uint32_t deviceId = 0; |
| Alex Young |
29:d9310e7b58b5 | 346 | if (didRsp) |
| Alex Young |
29:d9310e7b58b5 | 347 | { |
| Alex Young |
29:d9310e7b58b5 | 348 | if (didRsp->mid == XMID_DeviceId) |
| Alex Young |
29:d9310e7b58b5 | 349 | { |
| Alex Young |
29:d9310e7b58b5 | 350 | deviceId = *(uint32_t*)didRsp->data; |
| Alex Young |
29:d9310e7b58b5 | 351 | } |
| Alex Young |
29:d9310e7b58b5 | 352 | } |
| Alex Young |
29:d9310e7b58b5 | 353 | return deviceId; |
| Alex Young |
29:d9310e7b58b5 | 354 | } |
| Alex Young |
29:d9310e7b58b5 | 355 | |
| Alex Young |
44:b3980e8ac074 | 356 | /*! |
| Alex Young |
44:b3980e8ac074 | 357 | * \brief Sets MT output configuration. |
| Alex Young |
44:b3980e8ac074 | 358 | * \param conf Pointer to an array of OutputConfiguration elements. |
| Alex Young |
44:b3980e8ac074 | 359 | * \param elements The number of elements in the configuration array. |
| Alex Young |
44:b3980e8ac074 | 360 | * |
| Alex Young |
44:b3980e8ac074 | 361 | * The response from the device indicates the actual values that will |
| Alex Young |
44:b3980e8ac074 | 362 | * be used by the motion tracker. These may differ from the requested |
| Alex Young |
44:b3980e8ac074 | 363 | * parameters as the motion tracker validates the requested parameters |
| Alex Young |
44:b3980e8ac074 | 364 | * before applying them. |
| Alex Young |
44:b3980e8ac074 | 365 | */ |
| Alex Young |
32:fafe0f42d82b | 366 | static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements) |
| Alex Young |
29:d9310e7b58b5 | 367 | { |
| Alex Young |
32:fafe0f42d82b | 368 | XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf}; |
| Alex Young |
32:fafe0f42d82b | 369 | XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); |
| Alex Young |
32:fafe0f42d82b | 370 | XbusMessageMemoryManager janitor(outputConfRsp); |
| Alex Young |
32:fafe0f42d82b | 371 | if (outputConfRsp) |
| Alex Young |
29:d9310e7b58b5 | 372 | { |
| Alex Young |
32:fafe0f42d82b | 373 | if (outputConfRsp->mid == XMID_OutputConfig) |
| Alex Young |
29:d9310e7b58b5 | 374 | { |
| Alex Young |
52:e2197b38c029 | 375 | pc.printf("Output configuration set to:\r\n"); |
| Alex Young |
32:fafe0f42d82b | 376 | OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; |
| Alex Young |
32:fafe0f42d82b | 377 | for (int i = 0; i < outputConfRsp->length; ++i) |
| Alex Young |
32:fafe0f42d82b | 378 | { |
| Alex Young |
52:e2197b38c029 | 379 | pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
| Alex Young |
32:fafe0f42d82b | 380 | ++conf; |
| Alex Young |
32:fafe0f42d82b | 381 | } |
| Alex Young |
32:fafe0f42d82b | 382 | return true; |
| Alex Young |
29:d9310e7b58b5 | 383 | } |
| Alex Young |
29:d9310e7b58b5 | 384 | else |
| Alex Young |
29:d9310e7b58b5 | 385 | { |
| Alex Young |
32:fafe0f42d82b | 386 | dumpResponse(outputConfRsp); |
| Alex Young |
29:d9310e7b58b5 | 387 | } |
| Alex Young |
32:fafe0f42d82b | 388 | } |
| Alex Young |
32:fafe0f42d82b | 389 | else |
| Alex Young |
32:fafe0f42d82b | 390 | { |
| Alex Young |
52:e2197b38c029 | 391 | pc.printf("Failed to set output configuration.\r\n"); |
| Alex Young |
32:fafe0f42d82b | 392 | } |
| Alex Young |
32:fafe0f42d82b | 393 | return false; |
| Alex Young |
32:fafe0f42d82b | 394 | } |
| Alex Young |
29:d9310e7b58b5 | 395 | |
| Alex Young |
44:b3980e8ac074 | 396 | /*! |
| Alex Young |
44:b3980e8ac074 | 397 | * \brief Sets the motion tracker output configuration based on the function |
| Alex Young |
44:b3980e8ac074 | 398 | * of the attached device. |
| Alex Young |
44:b3980e8ac074 | 399 | * |
| Alex Young |
44:b3980e8ac074 | 400 | * The output configuration depends on the type of MTi-1 device connected. |
| Alex Young |
49:38ecfbff5391 | 401 | * An MTI-1 (IMU) device does not have an onboard orientation filter so |
| Alex Young |
44:b3980e8ac074 | 402 | * cannot output quaternion data, only inertial and magnetic measurement |
| Alex Young |
44:b3980e8ac074 | 403 | * data. |
| Alex Young |
44:b3980e8ac074 | 404 | * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions. |
| Alex Young |
44:b3980e8ac074 | 405 | */ |
| Alex Young |
32:fafe0f42d82b | 406 | static bool configureMotionTracker(void) |
| Alex Young |
32:fafe0f42d82b | 407 | { |
| Alex Young |
32:fafe0f42d82b | 408 | uint32_t deviceId = readDeviceId(); |
| Alex Young |
32:fafe0f42d82b | 409 | |
| Alex Young |
32:fafe0f42d82b | 410 | if (deviceId) |
| Alex Young |
32:fafe0f42d82b | 411 | { |
| Alex Young |
52:e2197b38c029 | 412 | pc.printf("Found device with ID: %08X.\r\n", deviceId); |
| Alex Young |
40:b77a8c10c76d | 413 | if (!XsDeviceId_isMtMk4_X(deviceId)) |
| Alex Young |
40:b77a8c10c76d | 414 | { |
| Alex Young |
52:e2197b38c029 | 415 | pc.printf("Device is not an MTi-1 series.\r\n"); |
| Alex Young |
40:b77a8c10c76d | 416 | return false; |
| Alex Young |
40:b77a8c10c76d | 417 | } |
| Alex Young |
32:fafe0f42d82b | 418 | |
| Alex Young |
40:b77a8c10c76d | 419 | DeviceFunction function = XsDeviceId_getFunction(deviceId); |
| Alex Young |
52:e2197b38c029 | 420 | pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function)); |
| Alex Young |
40:b77a8c10c76d | 421 | |
| Alex Young |
40:b77a8c10c76d | 422 | if (function == DF_IMU) |
| Alex Young |
29:d9310e7b58b5 | 423 | { |
| Alex Young |
32:fafe0f42d82b | 424 | OutputConfiguration conf[] = { |
| Alex Young |
32:fafe0f42d82b | 425 | {XDI_PacketCounter, 65535}, |
| Alex Young |
32:fafe0f42d82b | 426 | {XDI_SampleTimeFine, 65535}, |
| Alex Young |
32:fafe0f42d82b | 427 | {XDI_Acceleration, 100}, |
| Alex Young |
32:fafe0f42d82b | 428 | {XDI_RateOfTurn, 100}, |
| Alex Young |
32:fafe0f42d82b | 429 | {XDI_MagneticField, 100} |
| Alex Young |
32:fafe0f42d82b | 430 | }; |
| Alex Young |
32:fafe0f42d82b | 431 | return setOutputConfiguration(conf, |
| Alex Young |
32:fafe0f42d82b | 432 | sizeof(conf) / sizeof(OutputConfiguration)); |
| Alex Young |
29:d9310e7b58b5 | 433 | } |
| Alex Young |
29:d9310e7b58b5 | 434 | else |
| Alex Young |
29:d9310e7b58b5 | 435 | { |
| Alex Young |
32:fafe0f42d82b | 436 | OutputConfiguration conf[] = { |
| Alex Young |
32:fafe0f42d82b | 437 | {XDI_PacketCounter, 65535}, |
| Alex Young |
32:fafe0f42d82b | 438 | {XDI_SampleTimeFine, 65535}, |
| Alex Young |
32:fafe0f42d82b | 439 | {XDI_Quaternion, 100}, |
| Alex Young |
32:fafe0f42d82b | 440 | {XDI_StatusWord, 65535} |
| Alex Young |
32:fafe0f42d82b | 441 | }; |
| Alex Young |
32:fafe0f42d82b | 442 | return setOutputConfiguration(conf, |
| Alex Young |
32:fafe0f42d82b | 443 | sizeof(conf) / sizeof(OutputConfiguration)); |
| Alex Young |
29:d9310e7b58b5 | 444 | } |
| Alex Young |
29:d9310e7b58b5 | 445 | } |
| Alex Young |
32:fafe0f42d82b | 446 | |
| Alex Young |
32:fafe0f42d82b | 447 | return false; |
| Alex Young |
29:d9310e7b58b5 | 448 | } |
| Alex Young |
29:d9310e7b58b5 | 449 | |
| Alex Young |
35:7e519b88c610 | 450 | /*! |
| Alex Young |
35:7e519b88c610 | 451 | * \brief Wait for a wakeup message from the MTi. |
| Alex Young |
37:3e87bf647c68 | 452 | * \param timeout Time to wait to receive the wakeup message. |
| Alex Young |
37:3e87bf647c68 | 453 | * \return true if wakeup received within timeout, else false. |
| Alex Young |
35:7e519b88c610 | 454 | * |
| Alex Young |
49:38ecfbff5391 | 455 | * The MTi sends an XMID_Wakeup message once it has completed its bootup |
| Alex Young |
49:38ecfbff5391 | 456 | * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi |
| Alex Young |
35:7e519b88c610 | 457 | * will stay in configuration mode. Otherwise it will automatically enter |
| Alex Young |
35:7e519b88c610 | 458 | * measurement mode with the stored output configuration. |
| Alex Young |
35:7e519b88c610 | 459 | */ |
| Alex Young |
37:3e87bf647c68 | 460 | bool waitForWakeup(uint32_t timeout) |
| Alex Young |
35:7e519b88c610 | 461 | { |
| Alex Young |
37:3e87bf647c68 | 462 | osEvent ev = g_responseQueue.get(timeout); |
| Alex Young |
35:7e519b88c610 | 463 | if (ev.status == osEventMessage) |
| Alex Young |
35:7e519b88c610 | 464 | { |
| Alex Young |
35:7e519b88c610 | 465 | XbusMessage const* m = (XbusMessage const*)ev.value.p; |
| Alex Young |
35:7e519b88c610 | 466 | XbusMessageMemoryManager janitor(m); |
| Alex Young |
35:7e519b88c610 | 467 | return m->mid == XMID_Wakeup; |
| Alex Young |
35:7e519b88c610 | 468 | } |
| Alex Young |
35:7e519b88c610 | 469 | return false; |
| Alex Young |
35:7e519b88c610 | 470 | } |
| Alex Young |
35:7e519b88c610 | 471 | |
| Alex Young |
35:7e519b88c610 | 472 | /*! |
| Alex Young |
37:3e87bf647c68 | 473 | * \brief Send wakeup acknowledge message to MTi. |
| Alex Young |
37:3e87bf647c68 | 474 | * |
| Alex Young |
37:3e87bf647c68 | 475 | * Sending a wakeup acknowledge will cause the device to stay in configuration |
| Alex Young |
37:3e87bf647c68 | 476 | * mode instead of automatically transitioning to measurement mode with the |
| Alex Young |
37:3e87bf647c68 | 477 | * stored output configuration. |
| Alex Young |
37:3e87bf647c68 | 478 | */ |
| Alex Young |
37:3e87bf647c68 | 479 | void sendWakeupAck(void) |
| Alex Young |
37:3e87bf647c68 | 480 | { |
| Alex Young |
37:3e87bf647c68 | 481 | XbusMessage ack = {XMID_WakeupAck}; |
| Alex Young |
37:3e87bf647c68 | 482 | sendMessage(&ack); |
| Alex Young |
52:e2197b38c029 | 483 | pc.printf("Device ready for operation.\r\n"); |
| Alex Young |
37:3e87bf647c68 | 484 | } |
| Alex Young |
37:3e87bf647c68 | 485 | |
| Alex Young |
37:3e87bf647c68 | 486 | /*! |
| Alex Young |
37:3e87bf647c68 | 487 | * \brief Restore communication with the MTi. |
| Alex Young |
37:3e87bf647c68 | 488 | * |
| Alex Young |
37:3e87bf647c68 | 489 | * On bootup the MTi will listen for a magic byte to signal that it should |
| Alex Young |
37:3e87bf647c68 | 490 | * return to default baudrate and output configuration. This can be used to |
| Alex Young |
37:3e87bf647c68 | 491 | * recover from a bad or unknown configuration. |
| Alex Young |
37:3e87bf647c68 | 492 | */ |
| Alex Young |
37:3e87bf647c68 | 493 | void restoreCommunication(void) |
| Alex Young |
37:3e87bf647c68 | 494 | { |
| Alex Young |
37:3e87bf647c68 | 495 | pc.printf("Restoring communication with device... "); |
| Alex Young |
37:3e87bf647c68 | 496 | mtReset = 0; |
| Alex Young |
37:3e87bf647c68 | 497 | Thread::wait(1); |
| Alex Young |
37:3e87bf647c68 | 498 | mtReset = 1; |
| Alex Young |
37:3e87bf647c68 | 499 | |
| Alex Young |
37:3e87bf647c68 | 500 | do |
| Alex Young |
37:3e87bf647c68 | 501 | { |
| Alex Young |
37:3e87bf647c68 | 502 | mt.putc(0xDE); |
| Alex Young |
37:3e87bf647c68 | 503 | } |
| Alex Young |
37:3e87bf647c68 | 504 | while (!waitForWakeup(1)); |
| Alex Young |
52:e2197b38c029 | 505 | pc.printf("done\r\n"); |
| Alex Young |
37:3e87bf647c68 | 506 | |
| Alex Young |
37:3e87bf647c68 | 507 | sendWakeupAck(); |
| Alex Young |
37:3e87bf647c68 | 508 | } |
| Alex Young |
37:3e87bf647c68 | 509 | |
| Alex Young |
37:3e87bf647c68 | 510 | /*! |
| Alex Young |
35:7e519b88c610 | 511 | * \brief Releases the MTi reset line and waits for a wakeup message. |
| Alex Young |
37:3e87bf647c68 | 512 | * |
| Alex Young |
37:3e87bf647c68 | 513 | * If no wakeup message is received within 1 second the restore communications |
| Alex Young |
37:3e87bf647c68 | 514 | * procedure is done to reset the MTi to default baudrate and output configuration. |
| Alex Young |
35:7e519b88c610 | 515 | */ |
| Alex Young |
35:7e519b88c610 | 516 | static void wakeupMotionTracker(void) |
| Alex Young |
35:7e519b88c610 | 517 | { |
| Alex Young |
35:7e519b88c610 | 518 | mtReset.write(1); // Release MT from reset. |
| Alex Young |
37:3e87bf647c68 | 519 | if (waitForWakeup(1000)) |
| Alex Young |
35:7e519b88c610 | 520 | { |
| Alex Young |
37:3e87bf647c68 | 521 | sendWakeupAck(); |
| Alex Young |
37:3e87bf647c68 | 522 | } |
| Alex Young |
37:3e87bf647c68 | 523 | else |
| Alex Young |
37:3e87bf647c68 | 524 | { |
| Alex Young |
37:3e87bf647c68 | 525 | restoreCommunication(); |
| Alex Young |
35:7e519b88c610 | 526 | } |
| Alex Young |
35:7e519b88c610 | 527 | } |
| Alex Young |
35:7e519b88c610 | 528 | |
| Alex Young |
38:d8d410d1662c | 529 | static void printIntroMessage(void) |
| Alex Young |
38:d8d410d1662c | 530 | { |
| Alex Young |
52:e2197b38c029 | 531 | pc.printf("\r\n\r\n\r\n\r\n\r\n"); |
| Alex Young |
52:e2197b38c029 | 532 | pc.printf("MTi-1 series embedded example firmware.\r\n"); |
| Alex Young |
38:d8d410d1662c | 533 | } |
| Alex Young |
38:d8d410d1662c | 534 | |
| Alex Young |
38:d8d410d1662c | 535 | static void printUsageInstructions(void) |
| Alex Young |
38:d8d410d1662c | 536 | { |
| Alex Young |
52:e2197b38c029 | 537 | pc.printf("\r\n"); |
| Alex Young |
52:e2197b38c029 | 538 | pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n"); |
| Alex Young |
38:d8d410d1662c | 539 | } |
| Alex Young |
38:d8d410d1662c | 540 | |
| Alex Young |
44:b3980e8ac074 | 541 | /*! |
| Alex Young |
44:b3980e8ac074 | 542 | * \brief Output the contents of a data message to the PC serial port. |
| Alex Young |
44:b3980e8ac074 | 543 | */ |
| Alex Young |
43:470c019246e4 | 544 | static void printMessageData(struct XbusMessage const* message) |
| Alex Young |
43:470c019246e4 | 545 | { |
| Alex Young |
43:470c019246e4 | 546 | if (!message) |
| Alex Young |
43:470c019246e4 | 547 | return; |
| Alex Young |
43:470c019246e4 | 548 | |
| Alex Young |
43:470c019246e4 | 549 | pc.printf("MTData2:"); |
| Alex Young |
43:470c019246e4 | 550 | uint16_t counter; |
| Alex Young |
43:470c019246e4 | 551 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
| Alex Young |
43:470c019246e4 | 552 | { |
| Alex Young |
43:470c019246e4 | 553 | pc.printf(" Packet counter: %5d", counter); |
| Alex Young |
43:470c019246e4 | 554 | } |
| Alex Young |
43:470c019246e4 | 555 | float ori[4]; |
| Alex Young |
43:470c019246e4 | 556 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
| Alex Young |
43:470c019246e4 | 557 | { |
| Alex Young |
43:470c019246e4 | 558 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
| Alex Young |
43:470c019246e4 | 559 | ori[2], ori[3]); |
| Alex Young |
43:470c019246e4 | 560 | } |
| Alex Young |
43:470c019246e4 | 561 | float acc[3]; |
| Alex Young |
43:470c019246e4 | 562 | if (XbusMessage_getDataItem(acc, XDI_Acceleration, message)) |
| Alex Young |
43:470c019246e4 | 563 | { |
| Alex Young |
43:470c019246e4 | 564 | pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]); |
| Alex Young |
43:470c019246e4 | 565 | } |
| Alex Young |
43:470c019246e4 | 566 | float gyr[3]; |
| Alex Young |
43:470c019246e4 | 567 | if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message)) |
| Alex Young |
43:470c019246e4 | 568 | { |
| Alex Young |
43:470c019246e4 | 569 | pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]); |
| Alex Young |
43:470c019246e4 | 570 | } |
| Alex Young |
43:470c019246e4 | 571 | float mag[3]; |
| Alex Young |
43:470c019246e4 | 572 | if (XbusMessage_getDataItem(mag, XDI_MagneticField, message)) |
| Alex Young |
43:470c019246e4 | 573 | { |
| Alex Young |
43:470c019246e4 | 574 | pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]); |
| Alex Young |
43:470c019246e4 | 575 | } |
| Alex Young |
43:470c019246e4 | 576 | uint32_t status; |
| Alex Young |
43:470c019246e4 | 577 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
| Alex Young |
43:470c019246e4 | 578 | { |
| Alex Young |
43:470c019246e4 | 579 | pc.printf(" Status:%X", status); |
| Alex Young |
43:470c019246e4 | 580 | } |
| Alex Young |
52:e2197b38c029 | 581 | pc.printf("\r\n"); |
| Alex Young |
43:470c019246e4 | 582 | } |
| Alex Young |
43:470c019246e4 | 583 | |
| Alex Young |
43:470c019246e4 | 584 | |
| Alex Young |
2:b3e402dc11ca | 585 | int main(void) |
| Alex Young |
2:b3e402dc11ca | 586 | { |
| Alex Young |
4:98f063b2e6da | 587 | XbusParserCallback xbusCallback = {}; |
| Alex Young |
25:01356fb59467 | 588 | xbusCallback.allocateBuffer = allocateMessageData; |
| Alex Young |
25:01356fb59467 | 589 | xbusCallback.deallocateBuffer = deallocateMessageData; |
| Alex Young |
24:2cc49dc854e3 | 590 | xbusCallback.handleMessage = mtMessageHandler; |
| Alex Young |
4:98f063b2e6da | 591 | |
| Alex Young |
4:98f063b2e6da | 592 | xbusParser = XbusParser_create(&xbusCallback); |
| Alex Young |
4:98f063b2e6da | 593 | configureSerialPorts(); |
| Alex Young |
38:d8d410d1662c | 594 | |
| Alex Young |
38:d8d410d1662c | 595 | printIntroMessage(); |
| Alex Young |
35:7e519b88c610 | 596 | wakeupMotionTracker(); |
| Alex Young |
29:d9310e7b58b5 | 597 | if (configureMotionTracker()) |
| Alex Young |
5:abc52dd88be2 | 598 | { |
| Alex Young |
38:d8d410d1662c | 599 | printUsageInstructions(); |
| Alex Young |
29:d9310e7b58b5 | 600 | for (;;) |
| Alex Young |
26:665d3624f9ab | 601 | { |
| Alex Young |
29:d9310e7b58b5 | 602 | while (pc.readable()) |
| Alex Young |
29:d9310e7b58b5 | 603 | { |
| Alex Young |
29:d9310e7b58b5 | 604 | handlePcCommand(pc.getc()); |
| Alex Young |
29:d9310e7b58b5 | 605 | } |
| Alex Young |
43:470c019246e4 | 606 | |
| Alex Young |
43:470c019246e4 | 607 | osEvent ev = g_dataQueue.get(10); |
| Alex Young |
43:470c019246e4 | 608 | if (ev.status == osEventMessage) |
| Alex Young |
43:470c019246e4 | 609 | { |
| Alex Young |
43:470c019246e4 | 610 | XbusMessage const* data = (XbusMessage const*)ev.value.p; |
| Alex Young |
43:470c019246e4 | 611 | XbusMessageMemoryManager janitor(data); |
| Alex Young |
43:470c019246e4 | 612 | printMessageData(data); |
| Alex Young |
43:470c019246e4 | 613 | } |
| Alex Young |
26:665d3624f9ab | 614 | } |
| Alex Young |
5:abc52dd88be2 | 615 | } |
| Alex Young |
29:d9310e7b58b5 | 616 | else |
| Alex Young |
29:d9310e7b58b5 | 617 | { |
| Alex Young |
52:e2197b38c029 | 618 | pc.printf("Failed to configure motion tracker.\r\n"); |
| Alex Young |
29:d9310e7b58b5 | 619 | return -1; |
| Alex Young |
29:d9310e7b58b5 | 620 | } |
| Alex Young |
4:98f063b2e6da | 621 | } |