rikbeuncode
Dependencies: mbed-rtos mbed Xbus
Fork of MTi-1_example by
main.cpp@29:d9310e7b58b5, 2015-05-20 (annotated)
- Committer:
- Alex Young
- Date:
- Wed May 20 16:57:39 2015 +0200
- Revision:
- 29:d9310e7b58b5
- Parent:
- 26:665d3624f9ab
- Child:
- 31:ce1ea9ae861e
Set output config based on device type.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Alex Young |
4:98f063b2e6da | 1 | #include "mbed.h" |
Alex Young |
25:01356fb59467 | 2 | #include "rtos.h" |
Alex Young |
4:98f063b2e6da | 3 | #include "xbusparser.h" |
Alex Young |
11:8593ba137917 | 4 | #include "xbusmessage.h" |
Alex Young |
4:98f063b2e6da | 5 | |
Alex Young |
25:01356fb59467 | 6 | #define MEMORY_POOL_SIZE (4) |
Alex Young |
26:665d3624f9ab | 7 | #define RESPONSE_QUEUE_SIZE (1) |
Alex Young |
25:01356fb59467 | 8 | #define MAX_XBUS_DATA_SIZE (128) |
Alex Young |
25:01356fb59467 | 9 | |
Alex Young |
4:98f063b2e6da | 10 | static Serial pc(PA_2, PA_3); |
Alex Young |
4:98f063b2e6da | 11 | static Serial mt(PB_9, PB_8); |
Alex Young |
4:98f063b2e6da | 12 | static XbusParser* xbusParser; |
Alex Young |
25:01356fb59467 | 13 | |
Alex Young |
25:01356fb59467 | 14 | MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool; |
Alex Young |
25:01356fb59467 | 15 | MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool; |
Alex Young |
26:665d3624f9ab | 16 | Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue; |
Alex Young |
4:98f063b2e6da | 17 | |
Alex Young |
25:01356fb59467 | 18 | static void* allocateMessageData(size_t bufSize) |
Alex Young |
4:98f063b2e6da | 19 | { |
Alex Young |
25:01356fb59467 | 20 | return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL; |
Alex Young |
25:01356fb59467 | 21 | } |
Alex Young |
25:01356fb59467 | 22 | |
Alex Young |
25:01356fb59467 | 23 | static void deallocateMessageData(void const* buffer) |
Alex Young |
25:01356fb59467 | 24 | { |
Alex Young |
25:01356fb59467 | 25 | g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer); |
Alex Young |
4:98f063b2e6da | 26 | } |
Alex Young |
4:98f063b2e6da | 27 | |
Alex Young |
4:98f063b2e6da | 28 | static void mtLowLevelHandler(void) |
Alex Young |
4:98f063b2e6da | 29 | { |
Alex Young |
4:98f063b2e6da | 30 | while (mt.readable()) |
Alex Young |
4:98f063b2e6da | 31 | { |
Alex Young |
4:98f063b2e6da | 32 | XbusParser_parseByte(xbusParser, mt.getc()); |
Alex Young |
4:98f063b2e6da | 33 | } |
Alex Young |
4:98f063b2e6da | 34 | } |
Alex Young |
4:98f063b2e6da | 35 | |
Alex Young |
26:665d3624f9ab | 36 | XbusMessage const* doTransaction(XbusMessage* m) |
Alex Young |
11:8593ba137917 | 37 | { |
Alex Young |
26:665d3624f9ab | 38 | uint8_t buf[64]; |
Alex Young |
26:665d3624f9ab | 39 | size_t rawLength = XbusMessage_format(buf, m); |
Alex Young |
11:8593ba137917 | 40 | for (size_t i = 0; i < rawLength; ++i) |
Alex Young |
11:8593ba137917 | 41 | { |
Alex Young |
11:8593ba137917 | 42 | mt.putc(buf[i]); |
Alex Young |
11:8593ba137917 | 43 | } |
Alex Young |
26:665d3624f9ab | 44 | |
Alex Young |
26:665d3624f9ab | 45 | osEvent ev = g_responseQueue.get(500); |
Alex Young |
26:665d3624f9ab | 46 | return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL; |
Alex Young |
26:665d3624f9ab | 47 | } |
Alex Young |
26:665d3624f9ab | 48 | |
Alex Young |
26:665d3624f9ab | 49 | static void freeMessage(XbusMessage const* m) |
Alex Young |
26:665d3624f9ab | 50 | { |
Alex Young |
26:665d3624f9ab | 51 | if (m->data) |
Alex Young |
26:665d3624f9ab | 52 | deallocateMessageData(m->data); |
Alex Young |
26:665d3624f9ab | 53 | g_messagePool.free((XbusMessage*)m); |
Alex Young |
26:665d3624f9ab | 54 | } |
Alex Young |
26:665d3624f9ab | 55 | |
Alex Young |
29:d9310e7b58b5 | 56 | static void dumpResponse(XbusMessage const* response) |
Alex Young |
29:d9310e7b58b5 | 57 | { |
Alex Young |
29:d9310e7b58b5 | 58 | switch (response->mid) |
Alex Young |
29:d9310e7b58b5 | 59 | { |
Alex Young |
29:d9310e7b58b5 | 60 | case XMID_GotoConfigAck: |
Alex Young |
29:d9310e7b58b5 | 61 | pc.printf("Device went to config mode\n"); |
Alex Young |
29:d9310e7b58b5 | 62 | break; |
Alex Young |
29:d9310e7b58b5 | 63 | |
Alex Young |
29:d9310e7b58b5 | 64 | case XMID_DeviceId: |
Alex Young |
29:d9310e7b58b5 | 65 | pc.printf("Device ID: %08X\n", *(uint32_t*)response->data); |
Alex Young |
29:d9310e7b58b5 | 66 | break; |
Alex Young |
29:d9310e7b58b5 | 67 | |
Alex Young |
29:d9310e7b58b5 | 68 | case XMID_OutputConfig: |
Alex Young |
29:d9310e7b58b5 | 69 | { |
Alex Young |
29:d9310e7b58b5 | 70 | pc.printf("Output configuration\n"); |
Alex Young |
29:d9310e7b58b5 | 71 | OutputConfiguration* conf = (OutputConfiguration*)response->data; |
Alex Young |
29:d9310e7b58b5 | 72 | for (int i = 0; i < response->length; ++i) |
Alex Young |
29:d9310e7b58b5 | 73 | { |
Alex Young |
29:d9310e7b58b5 | 74 | pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
29:d9310e7b58b5 | 75 | ++conf; |
Alex Young |
29:d9310e7b58b5 | 76 | } |
Alex Young |
29:d9310e7b58b5 | 77 | } |
Alex Young |
29:d9310e7b58b5 | 78 | break; |
Alex Young |
29:d9310e7b58b5 | 79 | |
Alex Young |
29:d9310e7b58b5 | 80 | case XMID_Error: |
Alex Young |
29:d9310e7b58b5 | 81 | pc.printf("Device error!"); |
Alex Young |
29:d9310e7b58b5 | 82 | break; |
Alex Young |
29:d9310e7b58b5 | 83 | |
Alex Young |
29:d9310e7b58b5 | 84 | default: |
Alex Young |
29:d9310e7b58b5 | 85 | pc.printf("Received response MID=%X, length=%d\n", response->mid, response->length); |
Alex Young |
29:d9310e7b58b5 | 86 | break; |
Alex Young |
29:d9310e7b58b5 | 87 | } |
Alex Young |
29:d9310e7b58b5 | 88 | } |
Alex Young |
29:d9310e7b58b5 | 89 | |
Alex Young |
26:665d3624f9ab | 90 | static void sendCommand(XsMessageId cmdId) |
Alex Young |
26:665d3624f9ab | 91 | { |
Alex Young |
26:665d3624f9ab | 92 | XbusMessage m = {cmdId}; |
Alex Young |
26:665d3624f9ab | 93 | XbusMessage const* response = doTransaction(&m); |
Alex Young |
26:665d3624f9ab | 94 | |
Alex Young |
26:665d3624f9ab | 95 | if (response) |
Alex Young |
26:665d3624f9ab | 96 | { |
Alex Young |
29:d9310e7b58b5 | 97 | dumpResponse(response); |
Alex Young |
26:665d3624f9ab | 98 | freeMessage(response); |
Alex Young |
26:665d3624f9ab | 99 | } |
Alex Young |
26:665d3624f9ab | 100 | else |
Alex Young |
26:665d3624f9ab | 101 | { |
Alex Young |
26:665d3624f9ab | 102 | pc.printf("Timeout waiting for response.\n"); |
Alex Young |
26:665d3624f9ab | 103 | } |
Alex Young |
11:8593ba137917 | 104 | } |
Alex Young |
11:8593ba137917 | 105 | |
Alex Young |
11:8593ba137917 | 106 | static void handlePcCommand(char cmd) |
Alex Young |
11:8593ba137917 | 107 | { |
Alex Young |
11:8593ba137917 | 108 | switch (cmd) |
Alex Young |
11:8593ba137917 | 109 | { |
Alex Young |
11:8593ba137917 | 110 | case 'c': |
Alex Young |
11:8593ba137917 | 111 | sendCommand(XMID_GotoConfig); |
Alex Young |
11:8593ba137917 | 112 | break; |
Alex Young |
11:8593ba137917 | 113 | |
Alex Young |
11:8593ba137917 | 114 | case 'm': |
Alex Young |
11:8593ba137917 | 115 | sendCommand(XMID_GotoMeasurement); |
Alex Young |
11:8593ba137917 | 116 | break; |
Alex Young |
20:38560fa3d2eb | 117 | |
Alex Young |
20:38560fa3d2eb | 118 | case 'd': |
Alex Young |
20:38560fa3d2eb | 119 | sendCommand(XMID_ReqDid); |
Alex Young |
20:38560fa3d2eb | 120 | break; |
Alex Young |
22:3eab999c5076 | 121 | |
Alex Young |
22:3eab999c5076 | 122 | case 'o': |
Alex Young |
22:3eab999c5076 | 123 | sendCommand(XMID_ReqOutputConfig); |
Alex Young |
22:3eab999c5076 | 124 | break; |
Alex Young |
11:8593ba137917 | 125 | } |
Alex Young |
11:8593ba137917 | 126 | } |
Alex Young |
11:8593ba137917 | 127 | |
Alex Young |
24:2cc49dc854e3 | 128 | static void handleDataMessage(struct XbusMessage const* message) |
Alex Young |
24:2cc49dc854e3 | 129 | { |
Alex Young |
24:2cc49dc854e3 | 130 | pc.printf("MTData2:"); |
Alex Young |
24:2cc49dc854e3 | 131 | uint16_t counter; |
Alex Young |
24:2cc49dc854e3 | 132 | if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message)) |
Alex Young |
24:2cc49dc854e3 | 133 | { |
Alex Young |
24:2cc49dc854e3 | 134 | pc.printf(" Packet counter: %5d", counter); |
Alex Young |
24:2cc49dc854e3 | 135 | } |
Alex Young |
24:2cc49dc854e3 | 136 | float ori[4]; |
Alex Young |
24:2cc49dc854e3 | 137 | if (XbusMessage_getDataItem(ori, XDI_Quaternion, message)) |
Alex Young |
24:2cc49dc854e3 | 138 | { |
Alex Young |
24:2cc49dc854e3 | 139 | pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], |
Alex Young |
24:2cc49dc854e3 | 140 | ori[2], ori[3]); |
Alex Young |
24:2cc49dc854e3 | 141 | } |
Alex Young |
24:2cc49dc854e3 | 142 | uint32_t status; |
Alex Young |
24:2cc49dc854e3 | 143 | if (XbusMessage_getDataItem(&status, XDI_StatusWord, message)) |
Alex Young |
24:2cc49dc854e3 | 144 | { |
Alex Young |
24:2cc49dc854e3 | 145 | pc.printf(" Status:%X", status); |
Alex Young |
24:2cc49dc854e3 | 146 | } |
Alex Young |
24:2cc49dc854e3 | 147 | pc.printf("\n"); |
Alex Young |
26:665d3624f9ab | 148 | deallocateMessageData(message->data); |
Alex Young |
24:2cc49dc854e3 | 149 | } |
Alex Young |
24:2cc49dc854e3 | 150 | |
Alex Young |
24:2cc49dc854e3 | 151 | static void mtMessageHandler(struct XbusMessage const* message) |
Alex Young |
4:98f063b2e6da | 152 | { |
Alex Young |
15:558d279addd9 | 153 | if (message->mid == XMID_MtData2) |
Alex Young |
7:c913a7cd5231 | 154 | { |
Alex Young |
24:2cc49dc854e3 | 155 | handleDataMessage(message); |
Alex Young |
7:c913a7cd5231 | 156 | } |
Alex Young |
7:c913a7cd5231 | 157 | else |
Alex Young |
7:c913a7cd5231 | 158 | { |
Alex Young |
26:665d3624f9ab | 159 | XbusMessage* m = g_messagePool.alloc(); |
Alex Young |
26:665d3624f9ab | 160 | memcpy(m, message, sizeof(XbusMessage)); |
Alex Young |
26:665d3624f9ab | 161 | g_responseQueue.put(m); |
Alex Young |
25:01356fb59467 | 162 | } |
Alex Young |
4:98f063b2e6da | 163 | } |
Alex Young |
4:98f063b2e6da | 164 | |
Alex Young |
4:98f063b2e6da | 165 | static void configureSerialPorts(void) |
Alex Young |
4:98f063b2e6da | 166 | { |
Alex Young |
4:98f063b2e6da | 167 | pc.baud(921600); |
Alex Young |
4:98f063b2e6da | 168 | pc.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 169 | |
Alex Young |
4:98f063b2e6da | 170 | mt.baud(921600); |
Alex Young |
4:98f063b2e6da | 171 | mt.format(8, Serial::None, 2); |
Alex Young |
4:98f063b2e6da | 172 | mt.attach(mtLowLevelHandler, Serial::RxIrq); |
Alex Young |
4:98f063b2e6da | 173 | } |
Alex Young |
4:98f063b2e6da | 174 | |
Alex Young |
29:d9310e7b58b5 | 175 | static uint32_t readDeviceId(void) |
Alex Young |
29:d9310e7b58b5 | 176 | { |
Alex Young |
29:d9310e7b58b5 | 177 | XbusMessage reqDid = {XMID_ReqDid}; |
Alex Young |
29:d9310e7b58b5 | 178 | XbusMessage const* didRsp = doTransaction(&reqDid); |
Alex Young |
29:d9310e7b58b5 | 179 | uint32_t deviceId = 0; |
Alex Young |
29:d9310e7b58b5 | 180 | if (didRsp) |
Alex Young |
29:d9310e7b58b5 | 181 | { |
Alex Young |
29:d9310e7b58b5 | 182 | if (didRsp->mid == XMID_DeviceId) |
Alex Young |
29:d9310e7b58b5 | 183 | { |
Alex Young |
29:d9310e7b58b5 | 184 | deviceId = *(uint32_t*)didRsp->data; |
Alex Young |
29:d9310e7b58b5 | 185 | } |
Alex Young |
29:d9310e7b58b5 | 186 | freeMessage(didRsp); |
Alex Young |
29:d9310e7b58b5 | 187 | } |
Alex Young |
29:d9310e7b58b5 | 188 | return deviceId; |
Alex Young |
29:d9310e7b58b5 | 189 | } |
Alex Young |
29:d9310e7b58b5 | 190 | |
Alex Young |
29:d9310e7b58b5 | 191 | static bool configureMotionTracker(void) |
Alex Young |
29:d9310e7b58b5 | 192 | { |
Alex Young |
29:d9310e7b58b5 | 193 | uint32_t deviceId = readDeviceId(); |
Alex Young |
29:d9310e7b58b5 | 194 | uint8_t deviceType = (deviceId >> 24) & 0x0F; |
Alex Young |
29:d9310e7b58b5 | 195 | |
Alex Young |
29:d9310e7b58b5 | 196 | if (deviceId) |
Alex Young |
29:d9310e7b58b5 | 197 | { |
Alex Young |
29:d9310e7b58b5 | 198 | pc.printf("Found MTi-%d\n", deviceType); |
Alex Young |
29:d9310e7b58b5 | 199 | |
Alex Young |
29:d9310e7b58b5 | 200 | OutputConfiguration conf[5] = { |
Alex Young |
29:d9310e7b58b5 | 201 | {XDI_PacketCounter, 65535}, |
Alex Young |
29:d9310e7b58b5 | 202 | {XDI_SampleTimeFine, 65535} |
Alex Young |
29:d9310e7b58b5 | 203 | }; |
Alex Young |
29:d9310e7b58b5 | 204 | if (deviceType == 1) |
Alex Young |
29:d9310e7b58b5 | 205 | { |
Alex Young |
29:d9310e7b58b5 | 206 | conf[2].dtype = XDI_Acceleration; |
Alex Young |
29:d9310e7b58b5 | 207 | conf[2].freq = 100; |
Alex Young |
29:d9310e7b58b5 | 208 | conf[3].dtype = XDI_RateOfTurn; |
Alex Young |
29:d9310e7b58b5 | 209 | conf[3].freq = 100; |
Alex Young |
29:d9310e7b58b5 | 210 | conf[4].dtype = XDI_MagneticField; |
Alex Young |
29:d9310e7b58b5 | 211 | conf[4].freq = 100; |
Alex Young |
29:d9310e7b58b5 | 212 | } |
Alex Young |
29:d9310e7b58b5 | 213 | else |
Alex Young |
29:d9310e7b58b5 | 214 | { |
Alex Young |
29:d9310e7b58b5 | 215 | conf[2].dtype = XDI_Quaternion; |
Alex Young |
29:d9310e7b58b5 | 216 | conf[2].freq = 100; |
Alex Young |
29:d9310e7b58b5 | 217 | conf[3].dtype = XDI_StatusWord; |
Alex Young |
29:d9310e7b58b5 | 218 | conf[3].freq = 65535; |
Alex Young |
29:d9310e7b58b5 | 219 | } |
Alex Young |
29:d9310e7b58b5 | 220 | |
Alex Young |
29:d9310e7b58b5 | 221 | XbusMessage outputConfMsg = {XMID_SetOutputConfig, 5, &conf}; |
Alex Young |
29:d9310e7b58b5 | 222 | XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg); |
Alex Young |
29:d9310e7b58b5 | 223 | if (outputConfRsp) |
Alex Young |
29:d9310e7b58b5 | 224 | { |
Alex Young |
29:d9310e7b58b5 | 225 | if (outputConfRsp->mid == XMID_OutputConfig) |
Alex Young |
29:d9310e7b58b5 | 226 | { |
Alex Young |
29:d9310e7b58b5 | 227 | pc.printf("Output configuration set to:\n"); |
Alex Young |
29:d9310e7b58b5 | 228 | OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data; |
Alex Young |
29:d9310e7b58b5 | 229 | for (int i = 0; i < outputConfRsp->length; ++i) |
Alex Young |
29:d9310e7b58b5 | 230 | { |
Alex Young |
29:d9310e7b58b5 | 231 | pc.printf("\t%s: %d Hz\n", XbusMessage_dataDescription(conf->dtype), conf->freq); |
Alex Young |
29:d9310e7b58b5 | 232 | ++conf; |
Alex Young |
29:d9310e7b58b5 | 233 | } |
Alex Young |
29:d9310e7b58b5 | 234 | } |
Alex Young |
29:d9310e7b58b5 | 235 | else |
Alex Young |
29:d9310e7b58b5 | 236 | { |
Alex Young |
29:d9310e7b58b5 | 237 | dumpResponse(outputConfRsp); |
Alex Young |
29:d9310e7b58b5 | 238 | } |
Alex Young |
29:d9310e7b58b5 | 239 | freeMessage(outputConfRsp); |
Alex Young |
29:d9310e7b58b5 | 240 | } |
Alex Young |
29:d9310e7b58b5 | 241 | else |
Alex Young |
29:d9310e7b58b5 | 242 | { |
Alex Young |
29:d9310e7b58b5 | 243 | pc.printf("Failed to set output configuration.\n"); |
Alex Young |
29:d9310e7b58b5 | 244 | } |
Alex Young |
29:d9310e7b58b5 | 245 | |
Alex Young |
29:d9310e7b58b5 | 246 | return true; |
Alex Young |
29:d9310e7b58b5 | 247 | } |
Alex Young |
29:d9310e7b58b5 | 248 | else |
Alex Young |
29:d9310e7b58b5 | 249 | { |
Alex Young |
29:d9310e7b58b5 | 250 | return false; |
Alex Young |
29:d9310e7b58b5 | 251 | } |
Alex Young |
29:d9310e7b58b5 | 252 | } |
Alex Young |
29:d9310e7b58b5 | 253 | |
Alex Young |
2:b3e402dc11ca | 254 | int main(void) |
Alex Young |
2:b3e402dc11ca | 255 | { |
Alex Young |
4:98f063b2e6da | 256 | XbusParserCallback xbusCallback = {}; |
Alex Young |
25:01356fb59467 | 257 | xbusCallback.allocateBuffer = allocateMessageData; |
Alex Young |
25:01356fb59467 | 258 | xbusCallback.deallocateBuffer = deallocateMessageData; |
Alex Young |
24:2cc49dc854e3 | 259 | xbusCallback.handleMessage = mtMessageHandler; |
Alex Young |
4:98f063b2e6da | 260 | |
Alex Young |
4:98f063b2e6da | 261 | xbusParser = XbusParser_create(&xbusCallback); |
Alex Young |
4:98f063b2e6da | 262 | configureSerialPorts(); |
Alex Young |
29:d9310e7b58b5 | 263 | if (configureMotionTracker()) |
Alex Young |
5:abc52dd88be2 | 264 | { |
Alex Young |
29:d9310e7b58b5 | 265 | for (;;) |
Alex Young |
26:665d3624f9ab | 266 | { |
Alex Young |
29:d9310e7b58b5 | 267 | while (pc.readable()) |
Alex Young |
29:d9310e7b58b5 | 268 | { |
Alex Young |
29:d9310e7b58b5 | 269 | handlePcCommand(pc.getc()); |
Alex Young |
29:d9310e7b58b5 | 270 | } |
Alex Young |
26:665d3624f9ab | 271 | } |
Alex Young |
5:abc52dd88be2 | 272 | } |
Alex Young |
29:d9310e7b58b5 | 273 | else |
Alex Young |
29:d9310e7b58b5 | 274 | { |
Alex Young |
29:d9310e7b58b5 | 275 | pc.printf("Failed to configure motion tracker.\n"); |
Alex Young |
29:d9310e7b58b5 | 276 | return -1; |
Alex Young |
29:d9310e7b58b5 | 277 | } |
Alex Young |
4:98f063b2e6da | 278 | } |