rik freije / Mbed 2 deprecated MTi-1_rikbeun

rikbeuncode

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

main.cpp@59:f9166c19451f, 2015-06-12 (annotated)

Committer:
Alex Young
Date:
Fri Jun 12 11:36:37 2015 +0200
Revision:
59:f9166c19451f
Parent:
58:db60ef0a0d16
Child:
60:ab9dad3560d3
Add support for Freescale FRDM-KL46Z development board

Who changed what in which revision?

UserRevisionLine numberNew 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 59:f9166c19451f 68 #if defined(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 59:f9166c19451f 74 #elif defined(TARGET_KL46Z)
Alex Young 59:f9166c19451f 75 #define PC_TX USBTX
Alex Young 59:f9166c19451f 76 #define PC_RX USBRX
Alex Young 59:f9166c19451f 77 #define MT_TX PTE0
Alex Young 59:f9166c19451f 78 #define MT_RX PTE1
Alex Young 59:f9166c19451f 79 #define MT_NRESET PTD3
Alex Young 57:c3c85ebb7375 80 #else
Alex Young 57:c3c85ebb7375 81 #error "Support for selected mbed platform has not been added."
Alex Young 57:c3c85ebb7375 82 #endif
Alex Young 57:c3c85ebb7375 83
Alex Young 57:c3c85ebb7375 84
Alex Young 44:b3980e8ac074 85 /*!
Alex Young 53:3891f4259901 86 * \brief Baudrate used to communicate with host PC.
Alex Young 53:3891f4259901 87 */
Alex Young 53:3891f4259901 88 #define PC_UART_BAUDRATE (921600)
Alex Young 53:3891f4259901 89
Alex Young 53:3891f4259901 90 /*!
Alex Young 44:b3980e8ac074 91 * \brief The number of items to hold in the memory pools.
Alex Young 44:b3980e8ac074 92 */
Alex Young 25:01356fb59467 93 #define MEMORY_POOL_SIZE (4)
Alex Young 44:b3980e8ac074 94 /*!
Alex Young 44:b3980e8ac074 95 * \brief The size of the queue used for device responses.
Alex Young 44:b3980e8ac074 96 * This is set to one as in typical Xbus operation each command receives a
Alex Young 44:b3980e8ac074 97 * response before the next command is sent.
Alex Young 44:b3980e8ac074 98 */
Alex Young 26:665d3624f9ab 99 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 44:b3980e8ac074 100 /*!
Alex Young 44:b3980e8ac074 101 * \brief The size of the queue used for data messages.
Alex Young 44:b3980e8ac074 102 * This is set to two to allow some overlap between printing received data to
Alex Young 44:b3980e8ac074 103 * the PC serial port and the reception of the subsequent data packet. In
Alex Young 44:b3980e8ac074 104 * more complex applications it might be necessary to increase this if
Alex Young 44:b3980e8ac074 105 * message processing might occasionally require more time than normal.
Alex Young 44:b3980e8ac074 106 */
Alex Young 43:470c019246e4 107 #define DATA_QUEUE_SIZE (2)
Alex Young 44:b3980e8ac074 108 /*!
Alex Young 49:38ecfbff5391 109 * \brief The maximum size of an xbus message supported by the application.
Alex Young 44:b3980e8ac074 110 * This is the size of the message buffers in the message data memory pool.
Alex Young 44:b3980e8ac074 111 */
Alex Young 25:01356fb59467 112 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 113
Alex Young 44:b3980e8ac074 114 /*! \brief Serial port for communication with the host PC. */
Alex Young 57:c3c85ebb7375 115 static Serial pc(PC_TX, PC_RX);
Alex Young 58:db60ef0a0d16 116 /*!
Alex Young 58:db60ef0a0d16 117 * \brief Serial port for communication with the MT.
Alex Young 58:db60ef0a0d16 118 *
Alex Young 58:db60ef0a0d16 119 * We use a RawSerial port as the Stream inteface used by the regular
Alex Young 58:db60ef0a0d16 120 * Serial class can have problems with the RTOS when using interrupts.
Alex Young 58:db60ef0a0d16 121 */
Alex Young 58:db60ef0a0d16 122 static RawSerial mt(MT_TX, MT_RX);
Alex Young 35:7e519b88c610 123 /*!
Alex Young 35:7e519b88c610 124 * \brief MT reset line.
Alex Young 35:7e519b88c610 125 *
Alex Young 35:7e519b88c610 126 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 127 */
Alex Young 57:c3c85ebb7375 128 static DigitalOut mtReset(MT_NRESET, 0);
Alex Young 44:b3980e8ac074 129 /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */
Alex Young 4:98f063b2e6da 130 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 131
Alex Young 44:b3980e8ac074 132 /*!
Alex Young 44:b3980e8ac074 133 * \brief Memory pool used for storing Xbus messages when passing them
Alex Young 44:b3980e8ac074 134 * to the main thread.
Alex Young 44:b3980e8ac074 135 */
Alex Young 25:01356fb59467 136 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 44:b3980e8ac074 137 /*!
Alex Young 44:b3980e8ac074 138 * \brief Memory pool used for storing the payload of Xbus messages.
Alex Young 44:b3980e8ac074 139 */
Alex Young 25:01356fb59467 140 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 44:b3980e8ac074 141 /*!
Alex Young 44:b3980e8ac074 142 * \brief Queue used to pass data messages to the main thread for processing.
Alex Young 44:b3980e8ac074 143 */
Alex Young 44:b3980e8ac074 144 Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue;
Alex Young 44:b3980e8ac074 145 /*!
Alex Young 44:b3980e8ac074 146 * \brief Queue used for passing all other messages to the main thread for processing.
Alex Young 44:b3980e8ac074 147 */
Alex Young 26:665d3624f9ab 148 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 149
Alex Young 44:b3980e8ac074 150 /*!
Alex Young 44:b3980e8ac074 151 * \brief Allocate message data buffer from the message data pool.
Alex Young 44:b3980e8ac074 152 */
Alex Young 25:01356fb59467 153 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 154 {
Alex Young 25:01356fb59467 155 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 156 }
Alex Young 25:01356fb59467 157
Alex Young 44:b3980e8ac074 158 /*!
Alex Young 44:b3980e8ac074 159 * \brief Deallocate message data previously allocated from the message
Alex Young 44:b3980e8ac074 160 * data pool.
Alex Young 44:b3980e8ac074 161 */
Alex Young 25:01356fb59467 162 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 163 {
Alex Young 25:01356fb59467 164 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 165 }
Alex Young 4:98f063b2e6da 166
Alex Young 44:b3980e8ac074 167 /*!
Alex Young 44:b3980e8ac074 168 * \brief RX Interrupt handler for the MT serial port.
Alex Young 44:b3980e8ac074 169 *
Alex Young 44:b3980e8ac074 170 * Passes received data to an XbusParser to extract messages.
Alex Young 44:b3980e8ac074 171 */
Alex Young 4:98f063b2e6da 172 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 173 {
Alex Young 4:98f063b2e6da 174 while (mt.readable())
Alex Young 4:98f063b2e6da 175 {
Alex Young 4:98f063b2e6da 176 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 177 }
Alex Young 4:98f063b2e6da 178 }
Alex Young 4:98f063b2e6da 179
Alex Young 44:b3980e8ac074 180 /*!
Alex Young 44:b3980e8ac074 181 * \brief Send a message to the MT
Alex Young 44:b3980e8ac074 182 *
Alex Young 44:b3980e8ac074 183 * This function formats the message data and writes this to the MT serial
Alex Young 44:b3980e8ac074 184 * port. It does not wait for any response.
Alex Young 44:b3980e8ac074 185 */
Alex Young 34:3d7a6519a256 186 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 187 {
Alex Young 26:665d3624f9ab 188 uint8_t buf[64];
Alex Young 26:665d3624f9ab 189 size_t rawLength = XbusMessage_format(buf, m);
Alex Young 11:8593ba137917 190 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 191 {
Alex Young 11:8593ba137917 192 mt.putc(buf[i]);
Alex Young 11:8593ba137917 193 }
Alex Young 34:3d7a6519a256 194 }
Alex Young 34:3d7a6519a256 195
Alex Young 44:b3980e8ac074 196 /*!
Alex Young 44:b3980e8ac074 197 * \brief Send a message to the MT and wait for a response.
Alex Young 44:b3980e8ac074 198 * \returns Response message from the MT, or NULL is no response received
Alex Young 44:b3980e8ac074 199 * within 500ms.
Alex Young 44:b3980e8ac074 200 *
Alex Young 44:b3980e8ac074 201 * Blocking behaviour is implemented by waiting for a response to be written
Alex Young 44:b3980e8ac074 202 * to the response queue by the XbusParser.
Alex Young 44:b3980e8ac074 203 */
Alex Young 34:3d7a6519a256 204 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 205 {
Alex Young 34:3d7a6519a256 206 sendMessage(m);
Alex Young 26:665d3624f9ab 207
Alex Young 26:665d3624f9ab 208 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 209 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 210 }
Alex Young 26:665d3624f9ab 211
Alex Young 31:ce1ea9ae861e 212 /*!
Alex Young 31:ce1ea9ae861e 213 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 214 *
Alex Young 49:38ecfbff5391 215 * Will automatically free the memory used by an XbusMessage when going out
Alex Young 31:ce1ea9ae861e 216 * of scope.
Alex Young 31:ce1ea9ae861e 217 */
Alex Young 31:ce1ea9ae861e 218 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 219 {
Alex Young 31:ce1ea9ae861e 220 public:
Alex Young 31:ce1ea9ae861e 221 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 222 : m_message(message)
Alex Young 31:ce1ea9ae861e 223 {
Alex Young 31:ce1ea9ae861e 224 }
Alex Young 31:ce1ea9ae861e 225
Alex Young 31:ce1ea9ae861e 226 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 227 {
Alex Young 31:ce1ea9ae861e 228 if (m_message)
Alex Young 31:ce1ea9ae861e 229 {
Alex Young 31:ce1ea9ae861e 230 if (m_message->data)
Alex Young 31:ce1ea9ae861e 231 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 232 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 233 }
Alex Young 31:ce1ea9ae861e 234 }
Alex Young 31:ce1ea9ae861e 235
Alex Young 31:ce1ea9ae861e 236 private:
Alex Young 31:ce1ea9ae861e 237 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 238 };
Alex Young 26:665d3624f9ab 239
Alex Young 44:b3980e8ac074 240 /*!
Alex Young 44:b3980e8ac074 241 * \brief Dump information from a message to the PC serial port.
Alex Young 44:b3980e8ac074 242 */
Alex Young 29:d9310e7b58b5 243 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 244 {
Alex Young 29:d9310e7b58b5 245 switch (response->mid)
Alex Young 29:d9310e7b58b5 246 {
Alex Young 29:d9310e7b58b5 247 case XMID_GotoConfigAck:
Alex Young 52:e2197b38c029 248 pc.printf("Device went to config mode.\r\n");
Alex Young 29:d9310e7b58b5 249 break;
Alex Young 29:d9310e7b58b5 250
Alex Young 29:d9310e7b58b5 251 case XMID_Error:
Alex Young 29:d9310e7b58b5 252 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 253 break;
Alex Young 29:d9310e7b58b5 254
Alex Young 29:d9310e7b58b5 255 default:
Alex Young 52:e2197b38c029 256 pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 257 break;
Alex Young 29:d9310e7b58b5 258 }
Alex Young 29:d9310e7b58b5 259 }
Alex Young 29:d9310e7b58b5 260
Alex Young 44:b3980e8ac074 261 /*!
Alex Young 44:b3980e8ac074 262 * \brief Send a command to the MT and wait for a response.
Alex Young 44:b3980e8ac074 263 * \param cmdId The XsMessageId of the command to send.
Alex Young 44:b3980e8ac074 264 *
Alex Young 44:b3980e8ac074 265 * Commands are simple messages without and payload data.
Alex Young 44:b3980e8ac074 266 */
Alex Young 26:665d3624f9ab 267 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 268 {
Alex Young 26:665d3624f9ab 269 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 270 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 271 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 272
Alex Young 26:665d3624f9ab 273 if (response)
Alex Young 26:665d3624f9ab 274 {
Alex Young 29:d9310e7b58b5 275 dumpResponse(response);
Alex Young 26:665d3624f9ab 276 }
Alex Young 26:665d3624f9ab 277 else
Alex Young 26:665d3624f9ab 278 {
Alex Young 52:e2197b38c029 279 pc.printf("Timeout waiting for response.\r\n");
Alex Young 26:665d3624f9ab 280 }
Alex Young 11:8593ba137917 281 }
Alex Young 11:8593ba137917 282
Alex Young 44:b3980e8ac074 283 /*!
Alex Young 44:b3980e8ac074 284 * \brief Handle a command from the PC
Alex Young 44:b3980e8ac074 285 *
Alex Young 44:b3980e8ac074 286 * The example application supports single character commands from the host
Alex Young 44:b3980e8ac074 287 * PC to switch between configuration and measurement modes.
Alex Young 44:b3980e8ac074 288 */
Alex Young 11:8593ba137917 289 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 290 {
Alex Young 11:8593ba137917 291 switch (cmd)
Alex Young 11:8593ba137917 292 {
Alex Young 11:8593ba137917 293 case 'c':
Alex Young 11:8593ba137917 294 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 295 break;
Alex Young 11:8593ba137917 296
Alex Young 11:8593ba137917 297 case 'm':
Alex Young 11:8593ba137917 298 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 299 break;
Alex Young 11:8593ba137917 300 }
Alex Young 11:8593ba137917 301 }
Alex Young 11:8593ba137917 302
Alex Young 44:b3980e8ac074 303 /*!
Alex Young 44:b3980e8ac074 304 * \brief XbusParser callback function to handle received messages.
Alex Young 44:b3980e8ac074 305 * \param message Pointer to the last received message.
Alex Young 44:b3980e8ac074 306 *
Alex Young 44:b3980e8ac074 307 * In this example received messages are copied into one of two message
Alex Young 44:b3980e8ac074 308 * queues for later handling by the main thread. Data messages are put
Alex Young 49:38ecfbff5391 309 * in one queue, while all other responses are placed in the second queue.
Alex Young 44:b3980e8ac074 310 * This is done so that data and other messages can be handled separately
Alex Young 44:b3980e8ac074 311 * by the application code.
Alex Young 44:b3980e8ac074 312 */
Alex Young 24:2cc49dc854e3 313 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 314 {
Alex Young 43:470c019246e4 315 XbusMessage* m = g_messagePool.alloc();
Alex Young 43:470c019246e4 316 if (m)
Alex Young 7:c913a7cd5231 317 {
Alex Young 43:470c019246e4 318 memcpy(m, message, sizeof(XbusMessage));
Alex Young 43:470c019246e4 319 if (message->mid == XMID_MtData2)
Alex Young 43:470c019246e4 320 {
Alex Young 43:470c019246e4 321 g_dataQueue.put(m);
Alex Young 43:470c019246e4 322 }
Alex Young 43:470c019246e4 323 else
Alex Young 43:470c019246e4 324 {
Alex Young 43:470c019246e4 325 g_responseQueue.put(m);
Alex Young 43:470c019246e4 326 }
Alex Young 7:c913a7cd5231 327 }
Alex Young 43:470c019246e4 328 else if (message->data)
Alex Young 7:c913a7cd5231 329 {
Alex Young 43:470c019246e4 330 deallocateMessageData(message->data);
Alex Young 25:01356fb59467 331 }
Alex Young 4:98f063b2e6da 332 }
Alex Young 4:98f063b2e6da 333
Alex Young 44:b3980e8ac074 334 /*!
Alex Young 44:b3980e8ac074 335 * \brief Configure the serial ports used to communicate with the motion
Alex Young 44:b3980e8ac074 336 * tracker and host PC.
Alex Young 44:b3980e8ac074 337 */
Alex Young 4:98f063b2e6da 338 static void configureSerialPorts(void)
Alex Young 4:98f063b2e6da 339 {
Alex Young 53:3891f4259901 340 pc.baud(PC_UART_BAUDRATE);
Alex Young 55:9a2d6f947f0d 341 pc.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 342
Alex Young 37:3e87bf647c68 343 mt.baud(115200);
Alex Young 55:9a2d6f947f0d 344 mt.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 345 mt.attach(mtLowLevelHandler, Serial::RxIrq);
Alex Young 4:98f063b2e6da 346 }
Alex Young 4:98f063b2e6da 347
Alex Young 44:b3980e8ac074 348 /*!
Alex Young 44:b3980e8ac074 349 * \brief Read the device ID of the motion tracker.
Alex Young 44:b3980e8ac074 350 */
Alex Young 29:d9310e7b58b5 351 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 352 {
Alex Young 29:d9310e7b58b5 353 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 354 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 355 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 356 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 357 if (didRsp)
Alex Young 29:d9310e7b58b5 358 {
Alex Young 29:d9310e7b58b5 359 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 360 {
Alex Young 29:d9310e7b58b5 361 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 362 }
Alex Young 29:d9310e7b58b5 363 }
Alex Young 29:d9310e7b58b5 364 return deviceId;
Alex Young 29:d9310e7b58b5 365 }
Alex Young 29:d9310e7b58b5 366
Alex Young 44:b3980e8ac074 367 /*!
Alex Young 44:b3980e8ac074 368 * \brief Sets MT output configuration.
Alex Young 44:b3980e8ac074 369 * \param conf Pointer to an array of OutputConfiguration elements.
Alex Young 44:b3980e8ac074 370 * \param elements The number of elements in the configuration array.
Alex Young 44:b3980e8ac074 371 *
Alex Young 44:b3980e8ac074 372 * The response from the device indicates the actual values that will
Alex Young 44:b3980e8ac074 373 * be used by the motion tracker. These may differ from the requested
Alex Young 44:b3980e8ac074 374 * parameters as the motion tracker validates the requested parameters
Alex Young 44:b3980e8ac074 375 * before applying them.
Alex Young 44:b3980e8ac074 376 */
Alex Young 32:fafe0f42d82b 377 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 378 {
Alex Young 32:fafe0f42d82b 379 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 380 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 381 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 382 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 383 {
Alex Young 32:fafe0f42d82b 384 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 385 {
Alex Young 52:e2197b38c029 386 pc.printf("Output configuration set to:\r\n");
Alex Young 32:fafe0f42d82b 387 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 388 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 389 {
Alex Young 52:e2197b38c029 390 pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 391 ++conf;
Alex Young 32:fafe0f42d82b 392 }
Alex Young 32:fafe0f42d82b 393 return true;
Alex Young 29:d9310e7b58b5 394 }
Alex Young 29:d9310e7b58b5 395 else
Alex Young 29:d9310e7b58b5 396 {
Alex Young 32:fafe0f42d82b 397 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 398 }
Alex Young 32:fafe0f42d82b 399 }
Alex Young 32:fafe0f42d82b 400 else
Alex Young 32:fafe0f42d82b 401 {
Alex Young 52:e2197b38c029 402 pc.printf("Failed to set output configuration.\r\n");
Alex Young 32:fafe0f42d82b 403 }
Alex Young 32:fafe0f42d82b 404 return false;
Alex Young 32:fafe0f42d82b 405 }
Alex Young 29:d9310e7b58b5 406
Alex Young 44:b3980e8ac074 407 /*!
Alex Young 44:b3980e8ac074 408 * \brief Sets the motion tracker output configuration based on the function
Alex Young 44:b3980e8ac074 409 * of the attached device.
Alex Young 44:b3980e8ac074 410 *
Alex Young 44:b3980e8ac074 411 * The output configuration depends on the type of MTi-1 device connected.
Alex Young 49:38ecfbff5391 412 * An MTI-1 (IMU) device does not have an onboard orientation filter so
Alex Young 44:b3980e8ac074 413 * cannot output quaternion data, only inertial and magnetic measurement
Alex Young 44:b3980e8ac074 414 * data.
Alex Young 44:b3980e8ac074 415 * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions.
Alex Young 44:b3980e8ac074 416 */
Alex Young 32:fafe0f42d82b 417 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 418 {
Alex Young 32:fafe0f42d82b 419 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 420
Alex Young 32:fafe0f42d82b 421 if (deviceId)
Alex Young 32:fafe0f42d82b 422 {
Alex Young 52:e2197b38c029 423 pc.printf("Found device with ID: %08X.\r\n", deviceId);
Alex Young 40:b77a8c10c76d 424 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 425 {
Alex Young 52:e2197b38c029 426 pc.printf("Device is not an MTi-1 series.\r\n");
Alex Young 40:b77a8c10c76d 427 return false;
Alex Young 40:b77a8c10c76d 428 }
Alex Young 32:fafe0f42d82b 429
Alex Young 40:b77a8c10c76d 430 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 52:e2197b38c029 431 pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 432
Alex Young 40:b77a8c10c76d 433 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 434 {
Alex Young 32:fafe0f42d82b 435 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 436 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 437 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 438 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 439 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 440 {XDI_MagneticField, 100}
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 else
Alex Young 29:d9310e7b58b5 446 {
Alex Young 32:fafe0f42d82b 447 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 448 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 449 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 450 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 451 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 452 };
Alex Young 32:fafe0f42d82b 453 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 454 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 455 }
Alex Young 29:d9310e7b58b5 456 }
Alex Young 32:fafe0f42d82b 457
Alex Young 32:fafe0f42d82b 458 return false;
Alex Young 29:d9310e7b58b5 459 }
Alex Young 29:d9310e7b58b5 460
Alex Young 35:7e519b88c610 461 /*!
Alex Young 35:7e519b88c610 462 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 463 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 464 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 465 *
Alex Young 49:38ecfbff5391 466 * The MTi sends an XMID_Wakeup message once it has completed its bootup
Alex Young 49:38ecfbff5391 467 * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 468 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 469 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 470 */
Alex Young 37:3e87bf647c68 471 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 472 {
Alex Young 37:3e87bf647c68 473 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 474 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 475 {
Alex Young 35:7e519b88c610 476 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 477 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 478 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 479 }
Alex Young 35:7e519b88c610 480 return false;
Alex Young 35:7e519b88c610 481 }
Alex Young 35:7e519b88c610 482
Alex Young 35:7e519b88c610 483 /*!
Alex Young 37:3e87bf647c68 484 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 485 *
Alex Young 37:3e87bf647c68 486 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 487 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 488 * stored output configuration.
Alex Young 37:3e87bf647c68 489 */
Alex Young 37:3e87bf647c68 490 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 491 {
Alex Young 37:3e87bf647c68 492 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 493 sendMessage(&ack);
Alex Young 52:e2197b38c029 494 pc.printf("Device ready for operation.\r\n");
Alex Young 37:3e87bf647c68 495 }
Alex Young 37:3e87bf647c68 496
Alex Young 37:3e87bf647c68 497 /*!
Alex Young 37:3e87bf647c68 498 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 499 *
Alex Young 37:3e87bf647c68 500 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 501 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 502 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 503 */
Alex Young 37:3e87bf647c68 504 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 505 {
Alex Young 37:3e87bf647c68 506 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 507 mtReset = 0;
Alex Young 37:3e87bf647c68 508 Thread::wait(1);
Alex Young 37:3e87bf647c68 509 mtReset = 1;
Alex Young 37:3e87bf647c68 510
Alex Young 37:3e87bf647c68 511 do
Alex Young 37:3e87bf647c68 512 {
Alex Young 37:3e87bf647c68 513 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 514 }
Alex Young 37:3e87bf647c68 515 while (!waitForWakeup(1));
Alex Young 52:e2197b38c029 516 pc.printf("done\r\n");
Alex Young 37:3e87bf647c68 517
Alex Young 37:3e87bf647c68 518 sendWakeupAck();
Alex Young 37:3e87bf647c68 519 }
Alex Young 37:3e87bf647c68 520
Alex Young 37:3e87bf647c68 521 /*!
Alex Young 35:7e519b88c610 522 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 523 *
Alex Young 37:3e87bf647c68 524 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 525 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 526 */
Alex Young 35:7e519b88c610 527 static void wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 528 {
Alex Young 35:7e519b88c610 529 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 530 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 531 {
Alex Young 37:3e87bf647c68 532 sendWakeupAck();
Alex Young 37:3e87bf647c68 533 }
Alex Young 37:3e87bf647c68 534 else
Alex Young 37:3e87bf647c68 535 {
Alex Young 37:3e87bf647c68 536 restoreCommunication();
Alex Young 35:7e519b88c610 537 }
Alex Young 35:7e519b88c610 538 }
Alex Young 35:7e519b88c610 539
Alex Young 38:d8d410d1662c 540 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 541 {
Alex Young 52:e2197b38c029 542 pc.printf("\r\n\r\n\r\n\r\n\r\n");
Alex Young 52:e2197b38c029 543 pc.printf("MTi-1 series embedded example firmware.\r\n");
Alex Young 38:d8d410d1662c 544 }
Alex Young 38:d8d410d1662c 545
Alex Young 38:d8d410d1662c 546 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 547 {
Alex Young 52:e2197b38c029 548 pc.printf("\r\n");
Alex Young 52:e2197b38c029 549 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n");
Alex Young 38:d8d410d1662c 550 }
Alex Young 38:d8d410d1662c 551
Alex Young 44:b3980e8ac074 552 /*!
Alex Young 44:b3980e8ac074 553 * \brief Output the contents of a data message to the PC serial port.
Alex Young 44:b3980e8ac074 554 */
Alex Young 43:470c019246e4 555 static void printMessageData(struct XbusMessage const* message)
Alex Young 43:470c019246e4 556 {
Alex Young 43:470c019246e4 557 if (!message)
Alex Young 43:470c019246e4 558 return;
Alex Young 43:470c019246e4 559
Alex Young 43:470c019246e4 560 pc.printf("MTData2:");
Alex Young 43:470c019246e4 561 uint16_t counter;
Alex Young 43:470c019246e4 562 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 43:470c019246e4 563 {
Alex Young 43:470c019246e4 564 pc.printf(" Packet counter: %5d", counter);
Alex Young 43:470c019246e4 565 }
Alex Young 43:470c019246e4 566 float ori[4];
Alex Young 43:470c019246e4 567 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 43:470c019246e4 568 {
Alex Young 43:470c019246e4 569 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 43:470c019246e4 570 ori[2], ori[3]);
Alex Young 43:470c019246e4 571 }
Alex Young 43:470c019246e4 572 float acc[3];
Alex Young 43:470c019246e4 573 if (XbusMessage_getDataItem(acc, XDI_Acceleration, message))
Alex Young 43:470c019246e4 574 {
Alex Young 43:470c019246e4 575 pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]);
Alex Young 43:470c019246e4 576 }
Alex Young 43:470c019246e4 577 float gyr[3];
Alex Young 43:470c019246e4 578 if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message))
Alex Young 43:470c019246e4 579 {
Alex Young 43:470c019246e4 580 pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]);
Alex Young 43:470c019246e4 581 }
Alex Young 43:470c019246e4 582 float mag[3];
Alex Young 43:470c019246e4 583 if (XbusMessage_getDataItem(mag, XDI_MagneticField, message))
Alex Young 43:470c019246e4 584 {
Alex Young 43:470c019246e4 585 pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]);
Alex Young 43:470c019246e4 586 }
Alex Young 43:470c019246e4 587 uint32_t status;
Alex Young 43:470c019246e4 588 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 43:470c019246e4 589 {
Alex Young 43:470c019246e4 590 pc.printf(" Status:%X", status);
Alex Young 43:470c019246e4 591 }
Alex Young 52:e2197b38c029 592 pc.printf("\r\n");
Alex Young 43:470c019246e4 593 }
Alex Young 43:470c019246e4 594
Alex Young 43:470c019246e4 595
Alex Young 2:b3e402dc11ca 596 int main(void)
Alex Young 2:b3e402dc11ca 597 {
Alex Young 4:98f063b2e6da 598 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 599 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 600 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 601 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 602
Alex Young 4:98f063b2e6da 603 xbusParser = XbusParser_create(&xbusCallback);
Alex Young 4:98f063b2e6da 604 configureSerialPorts();
Alex Young 38:d8d410d1662c 605
Alex Young 38:d8d410d1662c 606 printIntroMessage();
Alex Young 35:7e519b88c610 607 wakeupMotionTracker();
Alex Young 29:d9310e7b58b5 608 if (configureMotionTracker())
Alex Young 5:abc52dd88be2 609 {
Alex Young 38:d8d410d1662c 610 printUsageInstructions();
Alex Young 29:d9310e7b58b5 611 for (;;)
Alex Young 26:665d3624f9ab 612 {
Alex Young 29:d9310e7b58b5 613 while (pc.readable())
Alex Young 29:d9310e7b58b5 614 {
Alex Young 29:d9310e7b58b5 615 handlePcCommand(pc.getc());
Alex Young 29:d9310e7b58b5 616 }
Alex Young 43:470c019246e4 617
Alex Young 43:470c019246e4 618 osEvent ev = g_dataQueue.get(10);
Alex Young 43:470c019246e4 619 if (ev.status == osEventMessage)
Alex Young 43:470c019246e4 620 {
Alex Young 43:470c019246e4 621 XbusMessage const* data = (XbusMessage const*)ev.value.p;
Alex Young 43:470c019246e4 622 XbusMessageMemoryManager janitor(data);
Alex Young 43:470c019246e4 623 printMessageData(data);
Alex Young 43:470c019246e4 624 }
Alex Young 26:665d3624f9ab 625 }
Alex Young 5:abc52dd88be2 626 }
Alex Young 29:d9310e7b58b5 627 else
Alex Young 29:d9310e7b58b5 628 {
Alex Young 52:e2197b38c029 629 pc.printf("Failed to configure motion tracker.\r\n");
Alex Young 29:d9310e7b58b5 630 return -1;
Alex Young 29:d9310e7b58b5 631 }
Alex Young 4:98f063b2e6da 632 }