rik freije / Mbed 2 deprecated MTi-1_rikbeun

rikbeuncode

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Xsens

main.cpp@68:1780ce046d11, 2017-04-21 (annotated)

Committer:
rik
Date:
Fri Apr 21 14:28:26 2017 +0000
Revision:
68:1780ce046d11
Parent:
66:f12dec1c0c3d 
rikbeunnietgetest

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Alex Young 36:21198d933917 1 /*!
Alex Young 36:21198d933917 2 * \file
Alex Young 61:b9d3e7e5ba0c 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
Alex Young 61:b9d3e7e5ba0c 4 *
Alex Young 61:b9d3e7e5ba0c 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
Alex Young 61:b9d3e7e5ba0c 6 * use this file except in compliance with the License. You may obtain a copy
Alex Young 61:b9d3e7e5ba0c 7 * of the License at
Alex Young 36:21198d933917 8 *
Alex Young 61:b9d3e7e5ba0c 9 * http://www.apache.org/licenses/LICENSE-2.0
Alex Young 36:21198d933917 10 *
Alex Young 61:b9d3e7e5ba0c 11 * Unless required by applicable law or agreed to in writing, software
Alex Young 61:b9d3e7e5ba0c 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
Alex Young 61:b9d3e7e5ba0c 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
Alex Young 61:b9d3e7e5ba0c 14 * License for the specific language governing permissions and limitations
Alex Young 61:b9d3e7e5ba0c 15 * under the License.
Alex Young 61:b9d3e7e5ba0c 16 *
Alex Young 54:2e9bb1390c9c 17 * \page Overview Firmware overview
Alex Young 54:2e9bb1390c9c 18 *
Alex Young 54:2e9bb1390c9c 19 * Example firmware for communicating with an Xsens MTi-1 series motion
Alex Young 54:2e9bb1390c9c 20 * tracker (MT).
Alex Young 54:2e9bb1390c9c 21 *
Alex Young 54:2e9bb1390c9c 22 * The firmware uses the mbed-rtos library to provide RTOS features such as
Alex Young 54:2e9bb1390c9c 23 * memory pools and queues. A single thread (main) is used with reception of
tjerkhofmeijer 64:8a0f00a064bb 24 * data from the motion tracker.
Alex Young 54:2e9bb1390c9c 25 *
Alex Young 54:2e9bb1390c9c 26 * \section Hardware setup
Alex Young 54:2e9bb1390c9c 27 * The firmware has been tested with a ST Nucleo F302R8 development board.
Alex Young 54:2e9bb1390c9c 28 * The Nucleo board should be connected to the MTi1 development board using the
Alex Young 54:2e9bb1390c9c 29 * Arduino compatible headers on the Nucleo board as follows:
Alex Young 54:2e9bb1390c9c 30 *
rik 68:1780ce046d11 31 * | Nucleo pin | MTi1 func. | MTi1 dev. pin | Used for PSEL | frdm pin |
rik 68:1780ce046d11 32 * |------------|-------------|---------------|---------------|---------------|
rik 68:1780ce046d11 33 * | 5V | VDD | P300-1 | Any | 5V |
rik 68:1780ce046d11 34 * | IORef | VDDIO | P300-2 | Any | 3V3??? |
rik 68:1780ce046d11 35 * | GND | GND | P300-3 | Any | GND |
rik 68:1780ce046d11 36 * | D2 | nRST | P300-5 | Any | D2 |
rik 68:1780ce046d11 37 * | SCL/D15 | UART_TX/SCL | P300-9 | UART / I2C | D15 |
rik 68:1780ce046d11 38 * | SDA/D14 | UART_RX/SDA | P300-11 | UART / I2C | D14 |
rik 68:1780ce046d11 39 * | D3 | DRDY | P300-15 | SPI / I2C | D9 |
rik 68:1780ce046d11 40 * | SCK/D13 | SCK/ADD0 | P300-17 | SPI / I2C | D13 |
rik 68:1780ce046d11 41 * | MISO/D12 | MISO/ADD1 | P300-19 | SPI / I2C | D12 |
rik 68:1780ce046d11 42 * | MOSI/D11 | MOSI/ADD2 | P300-21 | SPI / I2C | D11 |
rik 68:1780ce046d11 43 * | CS/D10 | nCS | P300-23 | SPI | D10 |
Alex Young 54:2e9bb1390c9c 44 *
Alex Young 54:2e9bb1390c9c 45 * Communication with the host PC is achieved using the built-in USB serial
tjerkhofmeijer 64:8a0f00a064bb 46 * bridge of the Nucleo board. Communication with the MT is achieved through
tjerkhofmeijer 64:8a0f00a064bb 47 * either the UART, I2C or SPI interface. The active interface is chosen
tjerkhofmeijer 64:8a0f00a064bb 48 * on the MT's side by use of the PSEL0 and PSEL1 switch on the MTi1
tjerkhofmeijer 64:8a0f00a064bb 49 * development board. This example needs to be built with the matching
tjerkhofmeijer 64:8a0f00a064bb 50 * MTI_USES_xxxx_INTERFACE define set (see below)
Alex Young 54:2e9bb1390c9c 51 *
Alex Young 54:2e9bb1390c9c 52 * \subsection Porting
tjerkhofmeijer 64:8a0f00a064bb 53 * To port to a different mbed platform the following pin definitions need
tjerkhofmeijer 64:8a0f00a064bb 54 * to be updated.
tjerkhofmeijer 64:8a0f00a064bb 55 * In all cases: the reset line pin
tjerkhofmeijer 64:8a0f00a064bb 56 * For UART: the serial Rx/Tx lines UART_TX and UART_RX
tjerkhofmeijer 64:8a0f00a064bb 57 * For I2C: the SCL,SDA,DRDY and address lines
tjerkhofmeijer 64:8a0f00a064bb 58 * For SPI: The SCK,MISO,MOSI,nCS and DRDY lines
Alex Young 54:2e9bb1390c9c 59 *
Alex Young 54:2e9bb1390c9c 60 * \section Firmware Operation
Alex Young 54:2e9bb1390c9c 61 * The firmware starts by initializing the serial ports used to communicate
Alex Young 54:2e9bb1390c9c 62 * with the host PC and with the MT. During the initialization the MT is held
Alex Young 54:2e9bb1390c9c 63 * in reset using the nRST input.
Alex Young 54:2e9bb1390c9c 64 *
Alex Young 54:2e9bb1390c9c 65 * Once the firmware is ready to communicate with the MT the reset line is
Alex Young 54:2e9bb1390c9c 66 * released and the firmware waits for a wakeup message from the MT. If this is
Alex Young 54:2e9bb1390c9c 67 * not received within 1 second the firmware will try to restore communication
Alex Young 54:2e9bb1390c9c 68 * with the MT using a special restore communication procedure.
Alex Young 54:2e9bb1390c9c 69 *
Alex Young 54:2e9bb1390c9c 70 * When the MT is ready for communication the firmware requests the device ID
Alex Young 54:2e9bb1390c9c 71 * of the MT, and based on this determines which type of MTi is connected.
Alex Young 54:2e9bb1390c9c 72 * If the MT is an MTi-1 then it will be configured to send inertial and
tjerkhofmeijer 56:041d3d9c300a 73 * magnetic measurement data. MTi-2 and MTi-3 devices have onboard orientation
Alex Young 54:2e9bb1390c9c 74 * estimation and will therefore be configured to provide quaternion output.
Alex Young 36:21198d933917 75 */
Alex Young 36:21198d933917 76
Alex Young 4:98f063b2e6da 77 #include "mbed.h"
Alex Young 25:01356fb59467 78 #include "rtos.h"
Alex Young 4:98f063b2e6da 79 #include "xbusparser.h"
Alex Young 11:8593ba137917 80 #include "xbusmessage.h"
Alex Young 40:b77a8c10c76d 81 #include "xsdeviceid.h"
tjerkhofmeijer 64:8a0f00a064bb 82 #include "xbusdef.h"
tjerkhofmeijer 64:8a0f00a064bb 83
tjerkhofmeijer 64:8a0f00a064bb 84 // Select communication interface to use for MTi
rik 68:1780ce046d11 85 #define MTI_USES_SPI_INTERFACE
tjerkhofmeijer 64:8a0f00a064bb 86
tjerkhofmeijer 64:8a0f00a064bb 87 #if !(defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE) || defined(MTI_USES_UART_INTERFACE))
tjerkhofmeijer 64:8a0f00a064bb 88 #error "Must select communication interface by defining one of: MTI_USES_I2C_INTERFACE, MTI_USES_SPI_INTERFACE or MTI_USES_UART_INTERFACE"
tjerkhofmeijer 64:8a0f00a064bb 89 #endif
rik 68:1780ce046d11 90 //rikbeunline
rik 68:1780ce046d11 91 //#define TARGET_K64F
Alex Young 4:98f063b2e6da 92
Alex Young 59:f9166c19451f 93 #if defined(TARGET_NUCLEO_F302R8)
tjerkhofmeijer 64:8a0f00a064bb 94
tjerkhofmeijer 66:f12dec1c0c3d 95 #define PC_TX PA_2
tjerkhofmeijer 66:f12dec1c0c3d 96 #define PC_RX PA_3
tjerkhofmeijer 66:f12dec1c0c3d 97 #define MT_TX PB_9
tjerkhofmeijer 66:f12dec1c0c3d 98 #define MT_RX PB_8
tjerkhofmeijer 66:f12dec1c0c3d 99 #define MT_SDA PB_9
tjerkhofmeijer 66:f12dec1c0c3d 100 #define MT_SCL PB_8
tjerkhofmeijer 66:f12dec1c0c3d 101 #define MT_ADD0 PB_13
tjerkhofmeijer 66:f12dec1c0c3d 102 #define MT_ADD1 PB_14
tjerkhofmeijer 66:f12dec1c0c3d 103 #define MT_ADD2 PB_15
tjerkhofmeijer 66:f12dec1c0c3d 104 #define MT_MOSI PB_15
tjerkhofmeijer 66:f12dec1c0c3d 105 #define MT_MISO PB_14
tjerkhofmeijer 66:f12dec1c0c3d 106 #define MT_SCLK PB_13
tjerkhofmeijer 66:f12dec1c0c3d 107 #define MT_nCS PB_6
tjerkhofmeijer 66:f12dec1c0c3d 108 #define MT_NRESET PA_10
tjerkhofmeijer 66:f12dec1c0c3d 109 #define MT_DRDY PB_3
tjerkhofmeijer 64:8a0f00a064bb 110
Alex Young 59:f9166c19451f 111 #elif defined(TARGET_KL46Z)
tjerkhofmeijer 64:8a0f00a064bb 112
tjerkhofmeijer 66:f12dec1c0c3d 113 #define PC_TX USBTX
tjerkhofmeijer 66:f12dec1c0c3d 114 #define PC_RX USBRX
tjerkhofmeijer 66:f12dec1c0c3d 115 #define MT_TX PTE0
tjerkhofmeijer 66:f12dec1c0c3d 116 #define MT_RX PTE1
tjerkhofmeijer 66:f12dec1c0c3d 117 #define MT_SDA PTE0
tjerkhofmeijer 66:f12dec1c0c3d 118 #define MT_SCL PTE1
tjerkhofmeijer 66:f12dec1c0c3d 119 #define MT_ADD0 PTD5
tjerkhofmeijer 66:f12dec1c0c3d 120 #define MT_ADD1 PTD7
tjerkhofmeijer 66:f12dec1c0c3d 121 #define MT_ADD2 PTD6
tjerkhofmeijer 66:f12dec1c0c3d 122 #define MT_MOSI PTD6
tjerkhofmeijer 66:f12dec1c0c3d 123 #define MT_MISO PTD7
tjerkhofmeijer 66:f12dec1c0c3d 124 #define MT_SCLK PTD5
tjerkhofmeijer 66:f12dec1c0c3d 125 #define MT_nCS PTD4
tjerkhofmeijer 66:f12dec1c0c3d 126 #define MT_NRESET PTD3
tjerkhofmeijer 66:f12dec1c0c3d 127 #define MT_DRDY PTD2
tjerkhofmeijer 64:8a0f00a064bb 128
rik 68:1780ce046d11 129 //rikbeuncode
rik 68:1780ce046d11 130 #elif defined(TARGET_K64F)
rik 68:1780ce046d11 131
rik 68:1780ce046d11 132 #define PC_TX USBTX //usb?
rik 68:1780ce046d11 133 #define PC_RX USBRX //usb?
rik 68:1780ce046d11 134 #define MT_TX PTC17 //d1
rik 68:1780ce046d11 135 #define MT_RX PTC16 //d0
rik 68:1780ce046d11 136 #define MT_SDA PTE25 //d14
rik 68:1780ce046d11 137 #define MT_SCL PTE24 //d15
rik 68:1780ce046d11 138 #define MT_ADD0 PTD1 //d13
rik 68:1780ce046d11 139 #define MT_ADD1 PTD3 //d12
rik 68:1780ce046d11 140 #define MT_ADD2 PTD2 //d11
rik 68:1780ce046d11 141 #define MT_MOSI PTD2 //d11
rik 68:1780ce046d11 142 #define MT_MISO PTD3 //d12
rik 68:1780ce046d11 143 #define MT_SCLK PTD1 //d13
rik 68:1780ce046d11 144 #define MT_nCS PTD0 //d10
rik 68:1780ce046d11 145 #define MT_NRESET PTB9 //d2
rik 68:1780ce046d11 146 #define MT_DRDY PTC4 //d9
rik 68:1780ce046d11 147 //endrikbeuncode
rik 68:1780ce046d11 148
Alex Young 60:ab9dad3560d3 149 #elif defined(TARGET_LPC4088)
tjerkhofmeijer 64:8a0f00a064bb 150
tjerkhofmeijer 66:f12dec1c0c3d 151 #define PC_TX USBTX
tjerkhofmeijer 66:f12dec1c0c3d 152 #define PC_RX USBRX
tjerkhofmeijer 66:f12dec1c0c3d 153 #define MT_TX p9
tjerkhofmeijer 66:f12dec1c0c3d 154 #define MT_RX p10
tjerkhofmeijer 66:f12dec1c0c3d 155 #define MT_SDA p9
tjerkhofmeijer 66:f12dec1c0c3d 156 #define MT_SCL p10
tjerkhofmeijer 66:f12dec1c0c3d 157 #define MT_ADD0 p13
tjerkhofmeijer 66:f12dec1c0c3d 158 #define MT_ADD1 p12
tjerkhofmeijer 66:f12dec1c0c3d 159 #define MT_ADD2 p11
tjerkhofmeijer 66:f12dec1c0c3d 160 #define MT_MOSI p11
tjerkhofmeijer 66:f12dec1c0c3d 161 #define MT_MISO p12
tjerkhofmeijer 66:f12dec1c0c3d 162 #define MT_SCLK p13
tjerkhofmeijer 66:f12dec1c0c3d 163 #define MT_nCS p14
tjerkhofmeijer 66:f12dec1c0c3d 164 #define MT_NRESET p8
tjerkhofmeijer 66:f12dec1c0c3d 165 #define MT_DRDY p15
tjerkhofmeijer 64:8a0f00a064bb 166
Alex Young 57:c3c85ebb7375 167 #else
tjerkhofmeijer 66:f12dec1c0c3d 168
Alex Young 57:c3c85ebb7375 169 #error "Support for selected mbed platform has not been added."
tjerkhofmeijer 66:f12dec1c0c3d 170
Alex Young 57:c3c85ebb7375 171 #endif
Alex Young 57:c3c85ebb7375 172
Alex Young 57:c3c85ebb7375 173
Alex Young 44:b3980e8ac074 174 /*!
Alex Young 53:3891f4259901 175 * \brief Baudrate used to communicate with host PC.
Alex Young 53:3891f4259901 176 */
Alex Young 53:3891f4259901 177 #define PC_UART_BAUDRATE (921600)
Alex Young 53:3891f4259901 178
Alex Young 53:3891f4259901 179 /*!
Alex Young 44:b3980e8ac074 180 * \brief The number of items to hold in the memory pools.
Alex Young 44:b3980e8ac074 181 */
Alex Young 25:01356fb59467 182 #define MEMORY_POOL_SIZE (4)
Alex Young 44:b3980e8ac074 183 /*!
Alex Young 44:b3980e8ac074 184 * \brief The size of the queue used for device responses.
Alex Young 44:b3980e8ac074 185 * This is set to one as in typical Xbus operation each command receives a
Alex Young 44:b3980e8ac074 186 * response before the next command is sent.
Alex Young 44:b3980e8ac074 187 */
Alex Young 26:665d3624f9ab 188 #define RESPONSE_QUEUE_SIZE (1)
Alex Young 44:b3980e8ac074 189 /*!
Alex Young 44:b3980e8ac074 190 * \brief The size of the queue used for data messages.
Alex Young 44:b3980e8ac074 191 * This is set to two to allow some overlap between printing received data to
Alex Young 44:b3980e8ac074 192 * the PC serial port and the reception of the subsequent data packet. In
Alex Young 44:b3980e8ac074 193 * more complex applications it might be necessary to increase this if
Alex Young 44:b3980e8ac074 194 * message processing might occasionally require more time than normal.
Alex Young 44:b3980e8ac074 195 */
Alex Young 43:470c019246e4 196 #define DATA_QUEUE_SIZE (2)
Alex Young 44:b3980e8ac074 197 /*!
Alex Young 49:38ecfbff5391 198 * \brief The maximum size of an xbus message supported by the application.
Alex Young 44:b3980e8ac074 199 * This is the size of the message buffers in the message data memory pool.
Alex Young 44:b3980e8ac074 200 */
Alex Young 25:01356fb59467 201 #define MAX_XBUS_DATA_SIZE (128)
Alex Young 25:01356fb59467 202
Alex Young 44:b3980e8ac074 203 /*! \brief Serial port for communication with the host PC. */
Alex Young 57:c3c85ebb7375 204 static Serial pc(PC_TX, PC_RX);
tjerkhofmeijer 64:8a0f00a064bb 205
tjerkhofmeijer 64:8a0f00a064bb 206 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 207 /*!
tjerkhofmeijer 64:8a0f00a064bb 208 * \brief I2C master used for communication with the MT.
tjerkhofmeijer 64:8a0f00a064bb 209 */
tjerkhofmeijer 64:8a0f00a064bb 210 static I2C mt(MT_SDA, MT_SCL);
tjerkhofmeijer 64:8a0f00a064bb 211 static DigitalOut add0(MT_ADD0);
tjerkhofmeijer 64:8a0f00a064bb 212 static DigitalOut add1(MT_ADD1);
tjerkhofmeijer 64:8a0f00a064bb 213 static DigitalOut add2(MT_ADD2);
tjerkhofmeijer 64:8a0f00a064bb 214
tjerkhofmeijer 64:8a0f00a064bb 215 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 216 /*! \brief SPI master used for communication with the MT. */
tjerkhofmeijer 64:8a0f00a064bb 217 static SPI mt(MT_MOSI, MT_MISO, MT_SCLK);
tjerkhofmeijer 64:8a0f00a064bb 218
tjerkhofmeijer 64:8a0f00a064bb 219 /*! \brief Chip select line for the MT. */
tjerkhofmeijer 64:8a0f00a064bb 220 static DigitalOut cs(MT_nCS, 1);
tjerkhofmeijer 64:8a0f00a064bb 221
tjerkhofmeijer 64:8a0f00a064bb 222 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 58:db60ef0a0d16 223 /*!
Alex Young 58:db60ef0a0d16 224 * \brief Serial port for communication with the MT.
Alex Young 58:db60ef0a0d16 225 *
Alex Young 58:db60ef0a0d16 226 * We use a RawSerial port as the Stream inteface used by the regular
Alex Young 58:db60ef0a0d16 227 * Serial class can have problems with the RTOS when using interrupts.
Alex Young 58:db60ef0a0d16 228 */
Alex Young 58:db60ef0a0d16 229 static RawSerial mt(MT_TX, MT_RX);
tjerkhofmeijer 64:8a0f00a064bb 230 #endif
tjerkhofmeijer 64:8a0f00a064bb 231
tjerkhofmeijer 64:8a0f00a064bb 232 #if defined(MTI_USES_I2C_INTERFACE) || defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 233 /*!
tjerkhofmeijer 64:8a0f00a064bb 234 * \brief Interrput line used by MT to signal that data is available.
tjerkhofmeijer 64:8a0f00a064bb 235 */
tjerkhofmeijer 64:8a0f00a064bb 236 static InterruptIn drdy(MT_DRDY);
tjerkhofmeijer 64:8a0f00a064bb 237 #endif
tjerkhofmeijer 64:8a0f00a064bb 238
Alex Young 35:7e519b88c610 239 /*!
Alex Young 35:7e519b88c610 240 * \brief MT reset line.
Alex Young 35:7e519b88c610 241 *
Alex Young 35:7e519b88c610 242 * MT is held in reset on startup.
Alex Young 35:7e519b88c610 243 */
Alex Young 57:c3c85ebb7375 244 static DigitalOut mtReset(MT_NRESET, 0);
Alex Young 44:b3980e8ac074 245 /*! \brief XbusParser used to parse incoming Xbus messages from the MT. */
Alex Young 4:98f063b2e6da 246 static XbusParser* xbusParser;
Alex Young 25:01356fb59467 247
Alex Young 44:b3980e8ac074 248 /*!
Alex Young 44:b3980e8ac074 249 * \brief Memory pool used for storing Xbus messages when passing them
Alex Young 44:b3980e8ac074 250 * to the main thread.
Alex Young 44:b3980e8ac074 251 */
Alex Young 25:01356fb59467 252 MemoryPool<XbusMessage, MEMORY_POOL_SIZE> g_messagePool;
Alex Young 44:b3980e8ac074 253 /*!
Alex Young 44:b3980e8ac074 254 * \brief Memory pool used for storing the payload of Xbus messages.
Alex Young 44:b3980e8ac074 255 */
Alex Young 25:01356fb59467 256 MemoryPool<uint8_t[MAX_XBUS_DATA_SIZE], MEMORY_POOL_SIZE> g_messageDataPool;
Alex Young 44:b3980e8ac074 257 /*!
Alex Young 44:b3980e8ac074 258 * \brief Queue used to pass data messages to the main thread for processing.
Alex Young 44:b3980e8ac074 259 */
Alex Young 44:b3980e8ac074 260 Queue<XbusMessage, DATA_QUEUE_SIZE> g_dataQueue;
Alex Young 44:b3980e8ac074 261 /*!
Alex Young 44:b3980e8ac074 262 * \brief Queue used for passing all other messages to the main thread for processing.
Alex Young 44:b3980e8ac074 263 */
Alex Young 26:665d3624f9ab 264 Queue<XbusMessage, RESPONSE_QUEUE_SIZE> g_responseQueue;
Alex Young 4:98f063b2e6da 265
Alex Young 44:b3980e8ac074 266 /*!
Alex Young 44:b3980e8ac074 267 * \brief Allocate message data buffer from the message data pool.
Alex Young 44:b3980e8ac074 268 */
Alex Young 25:01356fb59467 269 static void* allocateMessageData(size_t bufSize)
Alex Young 4:98f063b2e6da 270 {
Alex Young 25:01356fb59467 271 return bufSize < MAX_XBUS_DATA_SIZE ? g_messageDataPool.alloc() : NULL;
Alex Young 25:01356fb59467 272 }
Alex Young 25:01356fb59467 273
Alex Young 44:b3980e8ac074 274 /*!
Alex Young 44:b3980e8ac074 275 * \brief Deallocate message data previously allocated from the message
Alex Young 44:b3980e8ac074 276 * data pool.
Alex Young 44:b3980e8ac074 277 */
Alex Young 25:01356fb59467 278 static void deallocateMessageData(void const* buffer)
Alex Young 25:01356fb59467 279 {
Alex Young 25:01356fb59467 280 g_messageDataPool.free((uint8_t(*)[MAX_XBUS_DATA_SIZE])buffer);
Alex Young 4:98f063b2e6da 281 }
Alex Young 4:98f063b2e6da 282
tjerkhofmeijer 64:8a0f00a064bb 283 #if defined(MTI_USES_I2C_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 284 #define MTI_I2C_ADDRESS (0x1D << 1)
tjerkhofmeijer 64:8a0f00a064bb 285 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 286 {
tjerkhofmeijer 64:8a0f00a064bb 287 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 288 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 289 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 290 {
tjerkhofmeijer 64:8a0f00a064bb 291 buf[0] = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 292 buf[1] = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 293 mt.write(MTI_I2C_ADDRESS, (char*)&pipe, sizeof(pipe), true);
tjerkhofmeijer 64:8a0f00a064bb 294 mt.read(MTI_I2C_ADDRESS, (char*)buf+preambleLength, dataLength);
tjerkhofmeijer 64:8a0f00a064bb 295 XbusParser_parseBuffer(xbusParser, buf, dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 296 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 297 }
tjerkhofmeijer 64:8a0f00a064bb 298 }
tjerkhofmeijer 64:8a0f00a064bb 299 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 300 {
tjerkhofmeijer 64:8a0f00a064bb 301 while (true)
tjerkhofmeijer 64:8a0f00a064bb 302 {
tjerkhofmeijer 64:8a0f00a064bb 303 uint8_t opcode = XBUS_PIPE_STATUS;
tjerkhofmeijer 64:8a0f00a064bb 304 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 305 mt.write(MTI_I2C_ADDRESS, (char*)&opcode, sizeof(opcode), true);
tjerkhofmeijer 64:8a0f00a064bb 306 mt.read(MTI_I2C_ADDRESS, (char*)status, sizeof(status));
tjerkhofmeijer 64:8a0f00a064bb 307
tjerkhofmeijer 64:8a0f00a064bb 308 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 309 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 310
tjerkhofmeijer 64:8a0f00a064bb 311 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 312 {
tjerkhofmeijer 64:8a0f00a064bb 313 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 314 }
tjerkhofmeijer 64:8a0f00a064bb 315 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 316 {
tjerkhofmeijer 64:8a0f00a064bb 317 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 318 }
tjerkhofmeijer 64:8a0f00a064bb 319 else
tjerkhofmeijer 64:8a0f00a064bb 320 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 321 }
tjerkhofmeijer 64:8a0f00a064bb 322 }
tjerkhofmeijer 64:8a0f00a064bb 323
tjerkhofmeijer 64:8a0f00a064bb 324 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 325 {
tjerkhofmeijer 64:8a0f00a064bb 326 mt.frequency(400000);
tjerkhofmeijer 64:8a0f00a064bb 327 //Use the addX pins to configure I2C address 0x1D
tjerkhofmeijer 64:8a0f00a064bb 328 add0.write(0);
tjerkhofmeijer 64:8a0f00a064bb 329 add1.write(0);
tjerkhofmeijer 64:8a0f00a064bb 330 add2.write(0);
tjerkhofmeijer 64:8a0f00a064bb 331 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 332 }
tjerkhofmeijer 64:8a0f00a064bb 333
tjerkhofmeijer 64:8a0f00a064bb 334 /*!
tjerkhofmeijer 64:8a0f00a064bb 335 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 336 *
tjerkhofmeijer 64:8a0f00a064bb 337 * This function formats the message data and writes this to the MT I2C
tjerkhofmeijer 64:8a0f00a064bb 338 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 339 */
tjerkhofmeijer 64:8a0f00a064bb 340 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 341 {
tjerkhofmeijer 64:8a0f00a064bb 342 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 343 size_t rawLength = XbusMessage_format(buf, m, XLLF_I2c);
tjerkhofmeijer 64:8a0f00a064bb 344 mt.write(MTI_I2C_ADDRESS, (char*)buf, rawLength);
tjerkhofmeijer 64:8a0f00a064bb 345 }
tjerkhofmeijer 64:8a0f00a064bb 346 #elif defined(MTI_USES_SPI_INTERFACE)
tjerkhofmeijer 64:8a0f00a064bb 347 static void sendOpcode(uint8_t opcode)
tjerkhofmeijer 64:8a0f00a064bb 348 {
tjerkhofmeijer 64:8a0f00a064bb 349 mt.write(opcode);
tjerkhofmeijer 64:8a0f00a064bb 350 for (int filler = 0; filler < 3; ++filler)
tjerkhofmeijer 64:8a0f00a064bb 351 {
tjerkhofmeijer 64:8a0f00a064bb 352 mt.write(filler);
tjerkhofmeijer 64:8a0f00a064bb 353 }
tjerkhofmeijer 64:8a0f00a064bb 354 }
tjerkhofmeijer 64:8a0f00a064bb 355
tjerkhofmeijer 64:8a0f00a064bb 356 static void readData(uint8_t pipe, uint16_t dataLength)
tjerkhofmeijer 64:8a0f00a064bb 357 {
tjerkhofmeijer 64:8a0f00a064bb 358 const int preambleLength = 2;
tjerkhofmeijer 64:8a0f00a064bb 359 uint8_t* buf = (uint8_t*)allocateMessageData(dataLength+preambleLength);
tjerkhofmeijer 64:8a0f00a064bb 360 if (buf)
tjerkhofmeijer 64:8a0f00a064bb 361 {
tjerkhofmeijer 64:8a0f00a064bb 362 uint8_t* dptr = buf;
tjerkhofmeijer 64:8a0f00a064bb 363 *dptr++ = XBUS_PREAMBLE;
tjerkhofmeijer 64:8a0f00a064bb 364 *dptr++ = XBUS_MASTERDEVICE;
tjerkhofmeijer 64:8a0f00a064bb 365 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 366 sendOpcode(pipe);
tjerkhofmeijer 64:8a0f00a064bb 367 for (int i = 0; i < dataLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 368 {
tjerkhofmeijer 64:8a0f00a064bb 369 *dptr++ = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 370 }
tjerkhofmeijer 64:8a0f00a064bb 371 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 372 XbusParser_parseBuffer(xbusParser, buf, dptr - buf);
tjerkhofmeijer 64:8a0f00a064bb 373 deallocateMessageData(buf);
tjerkhofmeijer 64:8a0f00a064bb 374 }
tjerkhofmeijer 64:8a0f00a064bb 375 }
tjerkhofmeijer 64:8a0f00a064bb 376 static void mtInterruptHandler(void)
tjerkhofmeijer 64:8a0f00a064bb 377 {
tjerkhofmeijer 64:8a0f00a064bb 378 while (true)
tjerkhofmeijer 64:8a0f00a064bb 379 {
tjerkhofmeijer 64:8a0f00a064bb 380 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 381 sendOpcode(XBUS_PIPE_STATUS);
tjerkhofmeijer 64:8a0f00a064bb 382 uint8_t status[4];
tjerkhofmeijer 64:8a0f00a064bb 383 for (int i = 0; i < sizeof(status); ++i)
tjerkhofmeijer 64:8a0f00a064bb 384 {
tjerkhofmeijer 64:8a0f00a064bb 385 status[i] = mt.write(0);
tjerkhofmeijer 64:8a0f00a064bb 386 }
tjerkhofmeijer 64:8a0f00a064bb 387 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 388
tjerkhofmeijer 64:8a0f00a064bb 389 uint16_t notificationSize = status[0] | (status[1] << 8);
tjerkhofmeijer 64:8a0f00a064bb 390 uint16_t measurementSize = status[2] | (status[3] <<8);
tjerkhofmeijer 64:8a0f00a064bb 391
tjerkhofmeijer 64:8a0f00a064bb 392 if (notificationSize)
tjerkhofmeijer 64:8a0f00a064bb 393 {
tjerkhofmeijer 64:8a0f00a064bb 394 readData(XBUS_NOTIFICATION_PIPE, notificationSize);
tjerkhofmeijer 64:8a0f00a064bb 395 }
tjerkhofmeijer 64:8a0f00a064bb 396 else if (measurementSize)
tjerkhofmeijer 64:8a0f00a064bb 397 {
tjerkhofmeijer 64:8a0f00a064bb 398 readData(XBUS_MEASUREMENT_PIPE, measurementSize);
tjerkhofmeijer 64:8a0f00a064bb 399 }
tjerkhofmeijer 64:8a0f00a064bb 400 else
tjerkhofmeijer 64:8a0f00a064bb 401 break; // No more data available to read.
tjerkhofmeijer 64:8a0f00a064bb 402 }
tjerkhofmeijer 64:8a0f00a064bb 403 }
tjerkhofmeijer 64:8a0f00a064bb 404
tjerkhofmeijer 64:8a0f00a064bb 405 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 406 {
tjerkhofmeijer 64:8a0f00a064bb 407 mt.frequency(1000000);
tjerkhofmeijer 64:8a0f00a064bb 408 mt.format(8, 3);
tjerkhofmeijer 64:8a0f00a064bb 409 drdy.rise(&mtInterruptHandler);
tjerkhofmeijer 64:8a0f00a064bb 410 }
tjerkhofmeijer 64:8a0f00a064bb 411
tjerkhofmeijer 64:8a0f00a064bb 412 /*!
tjerkhofmeijer 64:8a0f00a064bb 413 * \brief Send a message to the MT
tjerkhofmeijer 64:8a0f00a064bb 414 *
tjerkhofmeijer 64:8a0f00a064bb 415 * This function formats the message data and writes this to the MT SPI
tjerkhofmeijer 64:8a0f00a064bb 416 * interface. It does not wait for any response.
tjerkhofmeijer 64:8a0f00a064bb 417 */
tjerkhofmeijer 64:8a0f00a064bb 418 static void sendMessage(XbusMessage const* m)
tjerkhofmeijer 64:8a0f00a064bb 419 {
tjerkhofmeijer 64:8a0f00a064bb 420 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 421 size_t rawLength = XbusMessage_format(buf, m, XLLF_Spi);
tjerkhofmeijer 64:8a0f00a064bb 422 cs = 0;
tjerkhofmeijer 64:8a0f00a064bb 423 for (int i = 0; i < rawLength; ++i)
tjerkhofmeijer 64:8a0f00a064bb 424 {
tjerkhofmeijer 64:8a0f00a064bb 425 mt.write(buf[i]);
tjerkhofmeijer 64:8a0f00a064bb 426 }
tjerkhofmeijer 64:8a0f00a064bb 427 cs = 1;
tjerkhofmeijer 64:8a0f00a064bb 428 }
tjerkhofmeijer 64:8a0f00a064bb 429 #elif defined(MTI_USES_UART_INTERFACE)
Alex Young 44:b3980e8ac074 430 /*!
Alex Young 44:b3980e8ac074 431 * \brief RX Interrupt handler for the MT serial port.
Alex Young 44:b3980e8ac074 432 *
Alex Young 44:b3980e8ac074 433 * Passes received data to an XbusParser to extract messages.
Alex Young 44:b3980e8ac074 434 */
Alex Young 4:98f063b2e6da 435 static void mtLowLevelHandler(void)
Alex Young 4:98f063b2e6da 436 {
Alex Young 4:98f063b2e6da 437 while (mt.readable())
Alex Young 4:98f063b2e6da 438 {
Alex Young 4:98f063b2e6da 439 XbusParser_parseByte(xbusParser, mt.getc());
Alex Young 4:98f063b2e6da 440 }
Alex Young 4:98f063b2e6da 441 }
Alex Young 4:98f063b2e6da 442
Alex Young 44:b3980e8ac074 443 /*!
tjerkhofmeijer 64:8a0f00a064bb 444 * \brief Configure the serial port used for communication with the
tjerkhofmeijer 64:8a0f00a064bb 445 * motion tracker.
tjerkhofmeijer 64:8a0f00a064bb 446 */
tjerkhofmeijer 64:8a0f00a064bb 447 static void configureMtCommunicationInterface(void)
tjerkhofmeijer 64:8a0f00a064bb 448 {
tjerkhofmeijer 64:8a0f00a064bb 449 mt.baud(115200);
tjerkhofmeijer 64:8a0f00a064bb 450 mt.format(8, Serial::None, 1);
tjerkhofmeijer 64:8a0f00a064bb 451 mt.attach(mtLowLevelHandler, Serial::RxIrq);
tjerkhofmeijer 64:8a0f00a064bb 452 }
tjerkhofmeijer 64:8a0f00a064bb 453
tjerkhofmeijer 64:8a0f00a064bb 454 /*!
Alex Young 44:b3980e8ac074 455 * \brief Send a message to the MT
Alex Young 44:b3980e8ac074 456 *
Alex Young 44:b3980e8ac074 457 * This function formats the message data and writes this to the MT serial
Alex Young 44:b3980e8ac074 458 * port. It does not wait for any response.
Alex Young 44:b3980e8ac074 459 */
Alex Young 34:3d7a6519a256 460 static void sendMessage(XbusMessage const* m)
Alex Young 11:8593ba137917 461 {
Alex Young 26:665d3624f9ab 462 uint8_t buf[64];
tjerkhofmeijer 64:8a0f00a064bb 463 size_t rawLength = XbusMessage_format(buf, m, XLLF_Uart);
Alex Young 11:8593ba137917 464 for (size_t i = 0; i < rawLength; ++i)
Alex Young 11:8593ba137917 465 {
Alex Young 11:8593ba137917 466 mt.putc(buf[i]);
Alex Young 11:8593ba137917 467 }
Alex Young 34:3d7a6519a256 468 }
tjerkhofmeijer 64:8a0f00a064bb 469 #endif
tjerkhofmeijer 64:8a0f00a064bb 470
Alex Young 34:3d7a6519a256 471
Alex Young 44:b3980e8ac074 472 /*!
Alex Young 44:b3980e8ac074 473 * \brief Send a message to the MT and wait for a response.
Alex Young 44:b3980e8ac074 474 * \returns Response message from the MT, or NULL is no response received
Alex Young 44:b3980e8ac074 475 * within 500ms.
Alex Young 44:b3980e8ac074 476 *
Alex Young 44:b3980e8ac074 477 * Blocking behaviour is implemented by waiting for a response to be written
Alex Young 44:b3980e8ac074 478 * to the response queue by the XbusParser.
Alex Young 44:b3980e8ac074 479 */
Alex Young 34:3d7a6519a256 480 static XbusMessage const* doTransaction(XbusMessage const* m)
Alex Young 34:3d7a6519a256 481 {
Alex Young 34:3d7a6519a256 482 sendMessage(m);
Alex Young 26:665d3624f9ab 483
Alex Young 26:665d3624f9ab 484 osEvent ev = g_responseQueue.get(500);
Alex Young 26:665d3624f9ab 485 return ev.status == osEventMessage ? (XbusMessage*)ev.value.p : NULL;
Alex Young 26:665d3624f9ab 486 }
Alex Young 26:665d3624f9ab 487
Alex Young 31:ce1ea9ae861e 488 /*!
Alex Young 31:ce1ea9ae861e 489 * \brief RAII object to manage message memory deallocation.
Alex Young 31:ce1ea9ae861e 490 *
Alex Young 49:38ecfbff5391 491 * Will automatically free the memory used by an XbusMessage when going out
Alex Young 31:ce1ea9ae861e 492 * of scope.
Alex Young 31:ce1ea9ae861e 493 */
Alex Young 31:ce1ea9ae861e 494 class XbusMessageMemoryManager
Alex Young 26:665d3624f9ab 495 {
Alex Young 31:ce1ea9ae861e 496 public:
Alex Young 31:ce1ea9ae861e 497 XbusMessageMemoryManager(XbusMessage const* message)
Alex Young 31:ce1ea9ae861e 498 : m_message(message)
Alex Young 31:ce1ea9ae861e 499 {
Alex Young 31:ce1ea9ae861e 500 }
Alex Young 31:ce1ea9ae861e 501
Alex Young 31:ce1ea9ae861e 502 ~XbusMessageMemoryManager()
Alex Young 31:ce1ea9ae861e 503 {
Alex Young 31:ce1ea9ae861e 504 if (m_message)
Alex Young 31:ce1ea9ae861e 505 {
Alex Young 31:ce1ea9ae861e 506 if (m_message->data)
Alex Young 31:ce1ea9ae861e 507 deallocateMessageData(m_message->data);
Alex Young 31:ce1ea9ae861e 508 g_messagePool.free(const_cast<XbusMessage*>(m_message));
Alex Young 31:ce1ea9ae861e 509 }
Alex Young 31:ce1ea9ae861e 510 }
Alex Young 31:ce1ea9ae861e 511
Alex Young 31:ce1ea9ae861e 512 private:
Alex Young 31:ce1ea9ae861e 513 XbusMessage const* m_message;
Alex Young 31:ce1ea9ae861e 514 };
Alex Young 26:665d3624f9ab 515
Alex Young 44:b3980e8ac074 516 /*!
Alex Young 44:b3980e8ac074 517 * \brief Dump information from a message to the PC serial port.
Alex Young 44:b3980e8ac074 518 */
Alex Young 29:d9310e7b58b5 519 static void dumpResponse(XbusMessage const* response)
Alex Young 29:d9310e7b58b5 520 {
Alex Young 29:d9310e7b58b5 521 switch (response->mid)
Alex Young 29:d9310e7b58b5 522 {
Alex Young 29:d9310e7b58b5 523 case XMID_GotoConfigAck:
Alex Young 52:e2197b38c029 524 pc.printf("Device went to config mode.\r\n");
Alex Young 29:d9310e7b58b5 525 break;
Alex Young 29:d9310e7b58b5 526
Alex Young 29:d9310e7b58b5 527 case XMID_Error:
Alex Young 29:d9310e7b58b5 528 pc.printf("Device error!");
Alex Young 29:d9310e7b58b5 529 break;
Alex Young 29:d9310e7b58b5 530
Alex Young 29:d9310e7b58b5 531 default:
Alex Young 52:e2197b38c029 532 pc.printf("Received response MID=%X, length=%d\r\n", response->mid, response->length);
Alex Young 29:d9310e7b58b5 533 break;
Alex Young 29:d9310e7b58b5 534 }
Alex Young 29:d9310e7b58b5 535 }
Alex Young 29:d9310e7b58b5 536
Alex Young 44:b3980e8ac074 537 /*!
Alex Young 44:b3980e8ac074 538 * \brief Send a command to the MT and wait for a response.
Alex Young 44:b3980e8ac074 539 * \param cmdId The XsMessageId of the command to send.
Alex Young 44:b3980e8ac074 540 *
Alex Young 44:b3980e8ac074 541 * Commands are simple messages without and payload data.
Alex Young 44:b3980e8ac074 542 */
Alex Young 26:665d3624f9ab 543 static void sendCommand(XsMessageId cmdId)
Alex Young 26:665d3624f9ab 544 {
Alex Young 26:665d3624f9ab 545 XbusMessage m = {cmdId};
Alex Young 26:665d3624f9ab 546 XbusMessage const* response = doTransaction(&m);
Alex Young 31:ce1ea9ae861e 547 XbusMessageMemoryManager janitor(response);
Alex Young 26:665d3624f9ab 548
Alex Young 26:665d3624f9ab 549 if (response)
Alex Young 26:665d3624f9ab 550 {
Alex Young 29:d9310e7b58b5 551 dumpResponse(response);
Alex Young 26:665d3624f9ab 552 }
Alex Young 26:665d3624f9ab 553 else
Alex Young 26:665d3624f9ab 554 {
Alex Young 52:e2197b38c029 555 pc.printf("Timeout waiting for response.\r\n");
Alex Young 26:665d3624f9ab 556 }
Alex Young 11:8593ba137917 557 }
Alex Young 11:8593ba137917 558
Alex Young 44:b3980e8ac074 559 /*!
Alex Young 44:b3980e8ac074 560 * \brief Handle a command from the PC
Alex Young 44:b3980e8ac074 561 *
Alex Young 44:b3980e8ac074 562 * The example application supports single character commands from the host
Alex Young 44:b3980e8ac074 563 * PC to switch between configuration and measurement modes.
Alex Young 44:b3980e8ac074 564 */
Alex Young 11:8593ba137917 565 static void handlePcCommand(char cmd)
Alex Young 11:8593ba137917 566 {
Alex Young 11:8593ba137917 567 switch (cmd)
Alex Young 11:8593ba137917 568 {
Alex Young 11:8593ba137917 569 case 'c':
Alex Young 11:8593ba137917 570 sendCommand(XMID_GotoConfig);
Alex Young 11:8593ba137917 571 break;
Alex Young 11:8593ba137917 572
Alex Young 11:8593ba137917 573 case 'm':
Alex Young 11:8593ba137917 574 sendCommand(XMID_GotoMeasurement);
Alex Young 11:8593ba137917 575 break;
Alex Young 11:8593ba137917 576 }
Alex Young 11:8593ba137917 577 }
Alex Young 11:8593ba137917 578
Alex Young 44:b3980e8ac074 579 /*!
Alex Young 44:b3980e8ac074 580 * \brief XbusParser callback function to handle received messages.
Alex Young 44:b3980e8ac074 581 * \param message Pointer to the last received message.
Alex Young 44:b3980e8ac074 582 *
Alex Young 44:b3980e8ac074 583 * In this example received messages are copied into one of two message
Alex Young 44:b3980e8ac074 584 * queues for later handling by the main thread. Data messages are put
Alex Young 49:38ecfbff5391 585 * in one queue, while all other responses are placed in the second queue.
Alex Young 44:b3980e8ac074 586 * This is done so that data and other messages can be handled separately
Alex Young 44:b3980e8ac074 587 * by the application code.
Alex Young 44:b3980e8ac074 588 */
Alex Young 24:2cc49dc854e3 589 static void mtMessageHandler(struct XbusMessage const* message)
Alex Young 4:98f063b2e6da 590 {
Alex Young 43:470c019246e4 591 XbusMessage* m = g_messagePool.alloc();
Alex Young 43:470c019246e4 592 if (m)
Alex Young 7:c913a7cd5231 593 {
Alex Young 43:470c019246e4 594 memcpy(m, message, sizeof(XbusMessage));
Alex Young 43:470c019246e4 595 if (message->mid == XMID_MtData2)
Alex Young 43:470c019246e4 596 {
Alex Young 43:470c019246e4 597 g_dataQueue.put(m);
Alex Young 43:470c019246e4 598 }
Alex Young 43:470c019246e4 599 else
Alex Young 43:470c019246e4 600 {
Alex Young 43:470c019246e4 601 g_responseQueue.put(m);
Alex Young 43:470c019246e4 602 }
Alex Young 7:c913a7cd5231 603 }
Alex Young 43:470c019246e4 604 else if (message->data)
Alex Young 7:c913a7cd5231 605 {
Alex Young 43:470c019246e4 606 deallocateMessageData(message->data);
Alex Young 25:01356fb59467 607 }
Alex Young 4:98f063b2e6da 608 }
Alex Young 4:98f063b2e6da 609
Alex Young 44:b3980e8ac074 610 /*!
tjerkhofmeijer 64:8a0f00a064bb 611 * \brief Configure the serial port used to communicate with the host PC.
Alex Young 44:b3980e8ac074 612 */
tjerkhofmeijer 64:8a0f00a064bb 613 static void configurePcInterface(void)
Alex Young 4:98f063b2e6da 614 {
Alex Young 53:3891f4259901 615 pc.baud(PC_UART_BAUDRATE);
Alex Young 55:9a2d6f947f0d 616 pc.format(8, Serial::None, 1);
Alex Young 4:98f063b2e6da 617 }
Alex Young 4:98f063b2e6da 618
Alex Young 44:b3980e8ac074 619 /*!
Alex Young 44:b3980e8ac074 620 * \brief Read the device ID of the motion tracker.
Alex Young 44:b3980e8ac074 621 */
Alex Young 29:d9310e7b58b5 622 static uint32_t readDeviceId(void)
Alex Young 29:d9310e7b58b5 623 {
Alex Young 29:d9310e7b58b5 624 XbusMessage reqDid = {XMID_ReqDid};
Alex Young 29:d9310e7b58b5 625 XbusMessage const* didRsp = doTransaction(&reqDid);
Alex Young 31:ce1ea9ae861e 626 XbusMessageMemoryManager janitor(didRsp);
Alex Young 29:d9310e7b58b5 627 uint32_t deviceId = 0;
Alex Young 29:d9310e7b58b5 628 if (didRsp)
Alex Young 29:d9310e7b58b5 629 {
Alex Young 29:d9310e7b58b5 630 if (didRsp->mid == XMID_DeviceId)
Alex Young 29:d9310e7b58b5 631 {
Alex Young 29:d9310e7b58b5 632 deviceId = *(uint32_t*)didRsp->data;
Alex Young 29:d9310e7b58b5 633 }
Alex Young 29:d9310e7b58b5 634 }
Alex Young 29:d9310e7b58b5 635 return deviceId;
Alex Young 29:d9310e7b58b5 636 }
Alex Young 29:d9310e7b58b5 637
Alex Young 44:b3980e8ac074 638 /*!
Alex Young 44:b3980e8ac074 639 * \brief Sets MT output configuration.
Alex Young 44:b3980e8ac074 640 * \param conf Pointer to an array of OutputConfiguration elements.
Alex Young 44:b3980e8ac074 641 * \param elements The number of elements in the configuration array.
Alex Young 44:b3980e8ac074 642 *
Alex Young 44:b3980e8ac074 643 * The response from the device indicates the actual values that will
Alex Young 44:b3980e8ac074 644 * be used by the motion tracker. These may differ from the requested
Alex Young 44:b3980e8ac074 645 * parameters as the motion tracker validates the requested parameters
Alex Young 44:b3980e8ac074 646 * before applying them.
Alex Young 44:b3980e8ac074 647 */
Alex Young 32:fafe0f42d82b 648 static bool setOutputConfiguration(OutputConfiguration const* conf, uint8_t elements)
Alex Young 29:d9310e7b58b5 649 {
Alex Young 32:fafe0f42d82b 650 XbusMessage outputConfMsg = {XMID_SetOutputConfig, elements, (void*)conf};
Alex Young 32:fafe0f42d82b 651 XbusMessage const* outputConfRsp = doTransaction(&outputConfMsg);
Alex Young 32:fafe0f42d82b 652 XbusMessageMemoryManager janitor(outputConfRsp);
Alex Young 32:fafe0f42d82b 653 if (outputConfRsp)
Alex Young 29:d9310e7b58b5 654 {
Alex Young 32:fafe0f42d82b 655 if (outputConfRsp->mid == XMID_OutputConfig)
Alex Young 29:d9310e7b58b5 656 {
Alex Young 52:e2197b38c029 657 pc.printf("Output configuration set to:\r\n");
Alex Young 32:fafe0f42d82b 658 OutputConfiguration* conf = (OutputConfiguration*)outputConfRsp->data;
Alex Young 32:fafe0f42d82b 659 for (int i = 0; i < outputConfRsp->length; ++i)
Alex Young 32:fafe0f42d82b 660 {
Alex Young 52:e2197b38c029 661 pc.printf("\t%s: %d Hz\r\n", XbusMessage_dataDescription(conf->dtype), conf->freq);
Alex Young 32:fafe0f42d82b 662 ++conf;
Alex Young 32:fafe0f42d82b 663 }
Alex Young 32:fafe0f42d82b 664 return true;
Alex Young 29:d9310e7b58b5 665 }
Alex Young 29:d9310e7b58b5 666 else
Alex Young 29:d9310e7b58b5 667 {
Alex Young 32:fafe0f42d82b 668 dumpResponse(outputConfRsp);
Alex Young 29:d9310e7b58b5 669 }
Alex Young 32:fafe0f42d82b 670 }
Alex Young 32:fafe0f42d82b 671 else
Alex Young 32:fafe0f42d82b 672 {
Alex Young 52:e2197b38c029 673 pc.printf("Failed to set output configuration.\r\n");
Alex Young 32:fafe0f42d82b 674 }
Alex Young 32:fafe0f42d82b 675 return false;
Alex Young 32:fafe0f42d82b 676 }
Alex Young 29:d9310e7b58b5 677
Alex Young 44:b3980e8ac074 678 /*!
Alex Young 44:b3980e8ac074 679 * \brief Sets the motion tracker output configuration based on the function
Alex Young 44:b3980e8ac074 680 * of the attached device.
Alex Young 44:b3980e8ac074 681 *
Alex Young 44:b3980e8ac074 682 * The output configuration depends on the type of MTi-1 device connected.
Alex Young 49:38ecfbff5391 683 * An MTI-1 (IMU) device does not have an onboard orientation filter so
Alex Young 44:b3980e8ac074 684 * cannot output quaternion data, only inertial and magnetic measurement
Alex Young 44:b3980e8ac074 685 * data.
Alex Young 44:b3980e8ac074 686 * MTi-2 and MTi-3 devices have an onboard filter so can send quaternions.
Alex Young 44:b3980e8ac074 687 */
Alex Young 32:fafe0f42d82b 688 static bool configureMotionTracker(void)
Alex Young 32:fafe0f42d82b 689 {
Alex Young 32:fafe0f42d82b 690 uint32_t deviceId = readDeviceId();
Alex Young 32:fafe0f42d82b 691
Alex Young 32:fafe0f42d82b 692 if (deviceId)
Alex Young 32:fafe0f42d82b 693 {
Alex Young 52:e2197b38c029 694 pc.printf("Found device with ID: %08X.\r\n", deviceId);
Alex Young 40:b77a8c10c76d 695 if (!XsDeviceId_isMtMk4_X(deviceId))
Alex Young 40:b77a8c10c76d 696 {
Alex Young 52:e2197b38c029 697 pc.printf("Device is not an MTi-1 series.\r\n");
Alex Young 40:b77a8c10c76d 698 return false;
Alex Young 40:b77a8c10c76d 699 }
Alex Young 32:fafe0f42d82b 700
Alex Young 40:b77a8c10c76d 701 DeviceFunction function = XsDeviceId_getFunction(deviceId);
Alex Young 52:e2197b38c029 702 pc.printf("Device is an MTi-%d: %s.\r\n", function, XsDeviceId_functionDescription(function));
Alex Young 40:b77a8c10c76d 703
Alex Young 40:b77a8c10c76d 704 if (function == DF_IMU)
Alex Young 29:d9310e7b58b5 705 {
Alex Young 32:fafe0f42d82b 706 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 707 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 708 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 709 {XDI_Acceleration, 100},
Alex Young 32:fafe0f42d82b 710 {XDI_RateOfTurn, 100},
Alex Young 32:fafe0f42d82b 711 {XDI_MagneticField, 100}
Alex Young 32:fafe0f42d82b 712 };
Alex Young 32:fafe0f42d82b 713 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 714 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 715 }
Alex Young 29:d9310e7b58b5 716 else
Alex Young 29:d9310e7b58b5 717 {
Alex Young 32:fafe0f42d82b 718 OutputConfiguration conf[] = {
Alex Young 32:fafe0f42d82b 719 {XDI_PacketCounter, 65535},
Alex Young 32:fafe0f42d82b 720 {XDI_SampleTimeFine, 65535},
Alex Young 32:fafe0f42d82b 721 {XDI_Quaternion, 100},
Alex Young 32:fafe0f42d82b 722 {XDI_StatusWord, 65535}
Alex Young 32:fafe0f42d82b 723 };
Alex Young 32:fafe0f42d82b 724 return setOutputConfiguration(conf,
Alex Young 32:fafe0f42d82b 725 sizeof(conf) / sizeof(OutputConfiguration));
Alex Young 29:d9310e7b58b5 726 }
Alex Young 29:d9310e7b58b5 727 }
Alex Young 32:fafe0f42d82b 728
Alex Young 32:fafe0f42d82b 729 return false;
Alex Young 29:d9310e7b58b5 730 }
Alex Young 29:d9310e7b58b5 731
Alex Young 35:7e519b88c610 732 /*!
Alex Young 35:7e519b88c610 733 * \brief Wait for a wakeup message from the MTi.
Alex Young 37:3e87bf647c68 734 * \param timeout Time to wait to receive the wakeup message.
Alex Young 37:3e87bf647c68 735 * \return true if wakeup received within timeout, else false.
Alex Young 35:7e519b88c610 736 *
Alex Young 49:38ecfbff5391 737 * The MTi sends an XMID_Wakeup message once it has completed its bootup
Alex Young 49:38ecfbff5391 738 * procedure. If this is acknowledged by an XMID_WakeupAck message then the MTi
Alex Young 35:7e519b88c610 739 * will stay in configuration mode. Otherwise it will automatically enter
Alex Young 35:7e519b88c610 740 * measurement mode with the stored output configuration.
Alex Young 35:7e519b88c610 741 */
Alex Young 37:3e87bf647c68 742 bool waitForWakeup(uint32_t timeout)
Alex Young 35:7e519b88c610 743 {
Alex Young 37:3e87bf647c68 744 osEvent ev = g_responseQueue.get(timeout);
Alex Young 35:7e519b88c610 745 if (ev.status == osEventMessage)
Alex Young 35:7e519b88c610 746 {
Alex Young 35:7e519b88c610 747 XbusMessage const* m = (XbusMessage const*)ev.value.p;
Alex Young 35:7e519b88c610 748 XbusMessageMemoryManager janitor(m);
Alex Young 35:7e519b88c610 749 return m->mid == XMID_Wakeup;
Alex Young 35:7e519b88c610 750 }
Alex Young 35:7e519b88c610 751 return false;
Alex Young 35:7e519b88c610 752 }
Alex Young 35:7e519b88c610 753
Alex Young 35:7e519b88c610 754 /*!
Alex Young 37:3e87bf647c68 755 * \brief Send wakeup acknowledge message to MTi.
Alex Young 37:3e87bf647c68 756 *
Alex Young 37:3e87bf647c68 757 * Sending a wakeup acknowledge will cause the device to stay in configuration
Alex Young 37:3e87bf647c68 758 * mode instead of automatically transitioning to measurement mode with the
Alex Young 37:3e87bf647c68 759 * stored output configuration.
Alex Young 37:3e87bf647c68 760 */
Alex Young 37:3e87bf647c68 761 void sendWakeupAck(void)
Alex Young 37:3e87bf647c68 762 {
Alex Young 37:3e87bf647c68 763 XbusMessage ack = {XMID_WakeupAck};
Alex Young 37:3e87bf647c68 764 sendMessage(&ack);
Alex Young 52:e2197b38c029 765 pc.printf("Device ready for operation.\r\n");
Alex Young 37:3e87bf647c68 766 }
Alex Young 37:3e87bf647c68 767
tjerkhofmeijer 64:8a0f00a064bb 768 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 769 /*!
Alex Young 37:3e87bf647c68 770 * \brief Restore communication with the MTi.
Alex Young 37:3e87bf647c68 771 *
Alex Young 37:3e87bf647c68 772 * On bootup the MTi will listen for a magic byte to signal that it should
Alex Young 37:3e87bf647c68 773 * return to default baudrate and output configuration. This can be used to
Alex Young 37:3e87bf647c68 774 * recover from a bad or unknown configuration.
Alex Young 37:3e87bf647c68 775 */
Alex Young 37:3e87bf647c68 776 void restoreCommunication(void)
Alex Young 37:3e87bf647c68 777 {
Alex Young 37:3e87bf647c68 778 pc.printf("Restoring communication with device... ");
Alex Young 37:3e87bf647c68 779 mtReset = 0;
Alex Young 37:3e87bf647c68 780 Thread::wait(1);
Alex Young 37:3e87bf647c68 781 mtReset = 1;
Alex Young 37:3e87bf647c68 782
Alex Young 37:3e87bf647c68 783 do
Alex Young 37:3e87bf647c68 784 {
Alex Young 37:3e87bf647c68 785 mt.putc(0xDE);
Alex Young 37:3e87bf647c68 786 }
Alex Young 37:3e87bf647c68 787 while (!waitForWakeup(1));
Alex Young 52:e2197b38c029 788 pc.printf("done\r\n");
Alex Young 37:3e87bf647c68 789
Alex Young 37:3e87bf647c68 790 sendWakeupAck();
Alex Young 37:3e87bf647c68 791 }
tjerkhofmeijer 64:8a0f00a064bb 792 #endif
Alex Young 37:3e87bf647c68 793
Alex Young 37:3e87bf647c68 794 /*!
Alex Young 35:7e519b88c610 795 * \brief Releases the MTi reset line and waits for a wakeup message.
Alex Young 37:3e87bf647c68 796 *
Alex Young 37:3e87bf647c68 797 * If no wakeup message is received within 1 second the restore communications
Alex Young 37:3e87bf647c68 798 * procedure is done to reset the MTi to default baudrate and output configuration.
Alex Young 35:7e519b88c610 799 */
tjerkhofmeijer 64:8a0f00a064bb 800 static bool wakeupMotionTracker(void)
Alex Young 35:7e519b88c610 801 {
Alex Young 35:7e519b88c610 802 mtReset.write(1); // Release MT from reset.
Alex Young 37:3e87bf647c68 803 if (waitForWakeup(1000))
Alex Young 35:7e519b88c610 804 {
Alex Young 37:3e87bf647c68 805 sendWakeupAck();
Alex Young 37:3e87bf647c68 806 }
Alex Young 37:3e87bf647c68 807 else
Alex Young 37:3e87bf647c68 808 {
tjerkhofmeijer 64:8a0f00a064bb 809 #ifdef MTI_USES_UART_INTERFACE
Alex Young 37:3e87bf647c68 810 restoreCommunication();
tjerkhofmeijer 64:8a0f00a064bb 811 #else
tjerkhofmeijer 64:8a0f00a064bb 812 pc.printf("Failed to communicate with MTi device\r\n");
tjerkhofmeijer 64:8a0f00a064bb 813 return true;
tjerkhofmeijer 64:8a0f00a064bb 814 #endif
Alex Young 35:7e519b88c610 815 }
tjerkhofmeijer 64:8a0f00a064bb 816 return true;
Alex Young 35:7e519b88c610 817 }
Alex Young 35:7e519b88c610 818
Alex Young 38:d8d410d1662c 819 static void printIntroMessage(void)
Alex Young 38:d8d410d1662c 820 {
Alex Young 52:e2197b38c029 821 pc.printf("\r\n\r\n\r\n\r\n\r\n");
Alex Young 52:e2197b38c029 822 pc.printf("MTi-1 series embedded example firmware.\r\n");
Alex Young 38:d8d410d1662c 823 }
Alex Young 38:d8d410d1662c 824
Alex Young 38:d8d410d1662c 825 static void printUsageInstructions(void)
Alex Young 38:d8d410d1662c 826 {
Alex Young 52:e2197b38c029 827 pc.printf("\r\n");
Alex Young 52:e2197b38c029 828 pc.printf("Press 'm' to start measuring and 'c' to return to config mode.\r\n");
Alex Young 38:d8d410d1662c 829 }
Alex Young 38:d8d410d1662c 830
Alex Young 44:b3980e8ac074 831 /*!
Alex Young 44:b3980e8ac074 832 * \brief Output the contents of a data message to the PC serial port.
Alex Young 44:b3980e8ac074 833 */
Alex Young 43:470c019246e4 834 static void printMessageData(struct XbusMessage const* message)
Alex Young 43:470c019246e4 835 {
Alex Young 43:470c019246e4 836 if (!message)
Alex Young 43:470c019246e4 837 return;
Alex Young 43:470c019246e4 838
Alex Young 43:470c019246e4 839 pc.printf("MTData2:");
Alex Young 43:470c019246e4 840 uint16_t counter;
Alex Young 43:470c019246e4 841 if (XbusMessage_getDataItem(&counter, XDI_PacketCounter, message))
Alex Young 43:470c019246e4 842 {
Alex Young 43:470c019246e4 843 pc.printf(" Packet counter: %5d", counter);
Alex Young 43:470c019246e4 844 }
Alex Young 43:470c019246e4 845 float ori[4];
Alex Young 43:470c019246e4 846 if (XbusMessage_getDataItem(ori, XDI_Quaternion, message))
Alex Young 43:470c019246e4 847 {
Alex Young 43:470c019246e4 848 pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1],
Alex Young 43:470c019246e4 849 ori[2], ori[3]);
Alex Young 43:470c019246e4 850 }
Alex Young 43:470c019246e4 851 float acc[3];
Alex Young 43:470c019246e4 852 if (XbusMessage_getDataItem(acc, XDI_Acceleration, message))
Alex Young 43:470c019246e4 853 {
Alex Young 43:470c019246e4 854 pc.printf(" Acceleration: (% .3f, % .3f, % .3f)", acc[0], acc[1], acc[2]);
Alex Young 43:470c019246e4 855 }
Alex Young 43:470c019246e4 856 float gyr[3];
Alex Young 43:470c019246e4 857 if (XbusMessage_getDataItem(gyr, XDI_RateOfTurn, message))
Alex Young 43:470c019246e4 858 {
Alex Young 43:470c019246e4 859 pc.printf(" Rate Of Turn: (% .3f, % .3f, % .3f)", gyr[0], gyr[1], gyr[2]);
Alex Young 43:470c019246e4 860 }
Alex Young 43:470c019246e4 861 float mag[3];
Alex Young 43:470c019246e4 862 if (XbusMessage_getDataItem(mag, XDI_MagneticField, message))
Alex Young 43:470c019246e4 863 {
Alex Young 43:470c019246e4 864 pc.printf(" Magnetic Field: (% .3f, % .3f, % .3f)", mag[0], mag[1], mag[2]);
Alex Young 43:470c019246e4 865 }
Alex Young 43:470c019246e4 866 uint32_t status;
Alex Young 43:470c019246e4 867 if (XbusMessage_getDataItem(&status, XDI_StatusWord, message))
Alex Young 43:470c019246e4 868 {
Alex Young 43:470c019246e4 869 pc.printf(" Status:%X", status);
Alex Young 43:470c019246e4 870 }
Alex Young 52:e2197b38c029 871 pc.printf("\r\n");
Alex Young 43:470c019246e4 872 }
Alex Young 43:470c019246e4 873
Alex Young 43:470c019246e4 874
Alex Young 2:b3e402dc11ca 875 int main(void)
Alex Young 2:b3e402dc11ca 876 {
Alex Young 4:98f063b2e6da 877 XbusParserCallback xbusCallback = {};
Alex Young 25:01356fb59467 878 xbusCallback.allocateBuffer = allocateMessageData;
Alex Young 25:01356fb59467 879 xbusCallback.deallocateBuffer = deallocateMessageData;
Alex Young 24:2cc49dc854e3 880 xbusCallback.handleMessage = mtMessageHandler;
Alex Young 4:98f063b2e6da 881
Alex Young 4:98f063b2e6da 882 xbusParser = XbusParser_create(&xbusCallback);
tjerkhofmeijer 64:8a0f00a064bb 883 configurePcInterface();
tjerkhofmeijer 64:8a0f00a064bb 884 configureMtCommunicationInterface();
Alex Young 38:d8d410d1662c 885
Alex Young 38:d8d410d1662c 886 printIntroMessage();
tjerkhofmeijer 64:8a0f00a064bb 887 if (wakeupMotionTracker())
Alex Young 5:abc52dd88be2 888 {
tjerkhofmeijer 64:8a0f00a064bb 889 if (configureMotionTracker())
Alex Young 26:665d3624f9ab 890 {
tjerkhofmeijer 64:8a0f00a064bb 891 printUsageInstructions();
tjerkhofmeijer 64:8a0f00a064bb 892 for (;;)
Alex Young 29:d9310e7b58b5 893 {
tjerkhofmeijer 64:8a0f00a064bb 894 while (pc.readable())
tjerkhofmeijer 64:8a0f00a064bb 895 {
tjerkhofmeijer 64:8a0f00a064bb 896 handlePcCommand(pc.getc());
tjerkhofmeijer 64:8a0f00a064bb 897 }
Alex Young 43:470c019246e4 898
tjerkhofmeijer 64:8a0f00a064bb 899 osEvent ev = g_dataQueue.get(10);
tjerkhofmeijer 64:8a0f00a064bb 900 if (ev.status == osEventMessage)
tjerkhofmeijer 64:8a0f00a064bb 901 {
tjerkhofmeijer 64:8a0f00a064bb 902 XbusMessage const* data = (XbusMessage const*)ev.value.p;
tjerkhofmeijer 64:8a0f00a064bb 903 XbusMessageMemoryManager janitor(data);
tjerkhofmeijer 64:8a0f00a064bb 904 printMessageData(data);
tjerkhofmeijer 64:8a0f00a064bb 905 }
Alex Young 43:470c019246e4 906 }
Alex Young 26:665d3624f9ab 907 }
tjerkhofmeijer 64:8a0f00a064bb 908 else
tjerkhofmeijer 64:8a0f00a064bb 909 {
tjerkhofmeijer 64:8a0f00a064bb 910 pc.printf("Failed to configure motion tracker.\r\n");
tjerkhofmeijer 64:8a0f00a064bb 911 return -1;
tjerkhofmeijer 64:8a0f00a064bb 912 }
Alex Young 29:d9310e7b58b5 913 }
Alex Young 4:98f063b2e6da 914 }