Revision 1:555c2c2bf9d3, committed 2011-02-13

Comitter:

Blaze513

Date:

Sun Feb 13 10:49:06 2011 +0000

Parent:

0:fd1fce2347d9

Commit message:

interrupt still under construction

Changed in this revision

--- a/3DM-GX2.cpp	Tue Aug 31 04:38:14 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,169 +0,0 @@
-#include "3DM-GX2.h"
-
-MS3DMGX2::MS3DMGX2(PinName tx, PinName rx) : DataLines(tx, rx),
-    ModeCommand(0xCF), ModeLength(6), ModeSync(0), InterruptBuffer((float*)Workspace)
-{
-    DataLines.baud(115200);
-    DataLines.format(8, Serial::None, 1);
-    DataLines.attach(NULL, Serial::RxIrq);
-}
-
-unsigned char MS3DMGX2::Mode(unsigned char Selection)
-{
-    switch (Selection & 0x03)
-    {
-        case 0x00:
-            ModeCommand = 0xCF;
-            ModeLength = 6;
-            break;
-        case 0x01:
-            ModeCommand = 0xD2;
-            ModeLength = 9;
-            break;
-        case 0x02:
-            ModeCommand = 0xC8;
-            ModeLength = 15;
-            break;
-        case 0x03:
-            ModeCommand = 0xCC;
-            ModeLength = 18;
-            break;
-    }
-    if (Selection & 0x04)
-    {
-        DiscardSerialBuffer();
-        DataLines.putc(0xC4);
-        DataLines.putc(0xC1);
-        DataLines.putc(0x29);
-        DataLines.putc(ModeCommand);
-        ModeSync = 1;
-        wait_ms(10);
-        Workspace[0] = DataLines.getc();
-        Workspace[1] = DataLines.getc();
-        while (DataLines.readable() && ((Workspace[0] != 0xC4) || (Workspace[1] != ModeCommand)))
-        {
-            Workspace[0] = Workspace[1];
-            Workspace[1] = DataLines.getc();
-        }
-        unsigned char i = 7;
-        while (DataLines.readable() && (i > 1))
-        {
-            Workspace[i] = DataLines.getc();
-            i--;
-        }
-        CheckSum(0xC4, 1, &ModeCommand, &Workspace[4], Workspace);
-        Workspace[0] = (Workspace[0] != Workspace[2]) || (Workspace[1] != Workspace[3]);
-    }
-    else
-    {
-        DataLines.putc(0xFA);
-        ModeSync = 0;
-    }
-    if (Selection & 0x08)
-    {
-        DataLines.attach(this, &MS3DMGX2::Interrupt, Serial::RxIrq);
-    }
-    else
-    {
-        DataLines.attach(NULL, Serial::RxIrq);
-    }
-    if (Workspace[0])
-    {
-        return 0x01;
-    }
-    else
-    {
-        return 0x00;
-    }
-}
-
-void MS3DMGX2::AttachInterruptBuffer(float* Buffer)
-{
-    InterruptBuffer = Buffer;
-}
-    //store user's data pointer for use in interrupt modes
-
-void MS3DMGX2::RequestSyncRead()
-{
-    if (ModeSync)
-    {
-        DataLines.putc(0xFA);
-        ModeSync = 0x00;
-    }
-        //if operating in an asynchronous mode, switch to the synchronous equivalent
-    DataLines.putc(ModeCommand);
-        //send polled mode command byte
-}
-    //lazy switches to synchronous mode and sends polled mode command byte
-
-void MS3DMGX2::DiscardSerialBuffer()
-{
-    while (DataLines.readable())
-    {
-        DataLines.getc();
-    }
-}
-    //empty buffer of all data
-
-unsigned char MS3DMGX2::Read(float* Data)
-{
-    unsigned char j = 0;
-    do
-    {
-        j++;
-    } while (DataLines.readable() && (DataLines.getc() != ModeCommand) && (j < (ModeLength << 2)));
-        //find the header byte for synchronization
-    for (unsigned char i = 0; i < ModeLength; i++)
-    {
-        j = 3;
-        while (DataLines.readable() && (j < 4))
-        {
-            ((unsigned char*)&Data[i])[j] = DataLines.getc();
-            j--;
-        }
-    }
-        //change endianness and fill user buffer
-    j = 7;
-    while (DataLines.readable() && (j > 1))
-    {
-        Workspace[j] = DataLines.getc();
-        j--;
-    }
-        //change endianness and gather timer and checksum (bytes 2 and 3)
-    CheckSum(ModeCommand, ModeLength << 2, (unsigned char*)Data, &Workspace[4], Workspace);
-        //compute checksum and store in bytes 0 and 1
-    if ((Workspace[0] != Workspace[2]) || (Workspace[1] != Workspace[3]))
-    {
-        return 0x01;
-    }
-    else
-    {
-        return 0x00;
-    }
-        //verify checksum and return result
-}
-    //this method reads a measurement from the serial port, assuming one is waiting there
-
-void MS3DMGX2::Interrupt()
-{
-    Read(InterruptBuffer);
-    DiscardSerialBuffer();
-}
-    //this will be called when in an interrupt mode and a serial interrupt is generated
-
-void MS3DMGX2::CheckSum(unsigned char Header, unsigned char Length,
-    unsigned char* Data, unsigned char* Timer, unsigned char* Result)
-{
-    unsigned short Sum = Header;
-    for (unsigned char i = 0; i < Length; i++)
-    {
-        Sum += Data[i];
-    }
-    for (unsigned char i = 0; i < 4; i++)
-    {
-        Sum += Timer[i];
-    }
-    Result[0] = ((char*)&Sum)[0];
-    Result[1] = ((char*)&Sum)[1];
-}
-    //compute the checksum of a data packet and store the result in the first two bytes of "Result"
\ No newline at end of file

--- a/3DM-GX2.h	Tue Aug 31 04:38:14 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-#ifndef MS3DMGX2Library
-#define MS3DMGX2Library
-
-#include "stdint.h"
-#include "mbed.h"
-
-class MS3DMGX2
-{
-    private:
-        Serial DataLines;
-
-        unsigned char ModeCommand;
-        unsigned char ModeLength;
-        unsigned char ModeSync;
-        unsigned char Workspace[72];
-        float* InterruptBuffer;
-
-        void Interrupt();
-        void CheckSum(unsigned char Header, unsigned char Length,
-            unsigned char* Data, unsigned char* Timer, unsigned char* Result);
-
-    public:
-        MS3DMGX2(PinName tx, PinName rx);
-        unsigned char Mode(unsigned char Selection);
-        void AttachInterruptBuffer(float* Buffer);
-        void RequestSyncRead();
-        void DiscardSerialBuffer();
-        unsigned char Read(float* Data);
-};
-
-#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MS3DMGX2.cpp	Sun Feb 13 10:49:06 2011 +0000
@@ -0,0 +1,224 @@
+#include "MS3DMGX2.h"
+
+MS3DMGX2::MS3DMGX2(PinName tx, PinName rx) : DataLines(tx, rx),
+    CommandByte(0xCF), ResponseLength(6), PacketSize(31), Continuous(0)//,
+    
+    ///////////////////
+    //PC(USBTX,USBRX)
+    //////////////////
+    
+{
+    DataLines.baud(115200);
+    DataLines.format(8, Serial::None, 1);
+    DataLines.attach(this, &MS3DMGX2::FillSerialBuffer, Serial::RxIrq);
+        
+        ////////////////////
+    //PC.baud(9600);
+    ////////////////////////
+}
+
+MS3DMGX2::~MS3DMGX2()
+{
+    delete this;
+}
+
+bool MS3DMGX2::Mode(unsigned char Selection)
+{
+    bool Result;
+    switch (Selection & 0x03)
+    {
+        case 0x00:
+            CommandByte = 0xCF;
+            ResponseLength = 6;
+            PacketSize = 31;
+            break;
+                //euler angles and angular rates
+        case 0x01:
+            CommandByte = 0xD2;
+            ResponseLength = 9;
+            PacketSize = 43;
+            break;
+                //gyro-stabilized acceleration, angular rate and magnetometer vector
+        case 0x02:
+            CommandByte = 0xC8;
+            ResponseLength = 15;
+            PacketSize = 67;
+            break;
+                //acceleration, angular rate and orientation matrix
+        case 0x03:
+            CommandByte = 0xCC;
+            ResponseLength = 18;
+            PacketSize = 79;
+            break;
+                //acceleration, angular rate, magnetometer vector, and orientation matrix
+    }
+        //record desired packet command and packet length as number of 16 bit fields
+    if (Selection & 0x04)
+    {
+        unsigned char lbuff = PacketSize;
+        PacketSize = 87;
+        
+        DataLines.putc(0xC4);
+        DataLines.putc(0xC1);
+        DataLines.putc(0x29);
+        DataLines.putc(CommandByte);
+            //send the desired continuous mode command
+        Continuous = 1;
+            //set synchronous mode to true
+        while ((Buffer[BufferStart] != 0xC4) || (Buffer[BufferStart + 1] != CommandByte))
+        {
+            if (((BufferStart + 2) % PacketSize) != BufferEnd)
+            {
+                BufferStart++;
+                BufferStart%=PacketSize;
+            }
+        }
+            //find the response header
+        while (((BufferStart + 8) % PacketSize) != BufferEnd);
+        BufferEnd = 0;
+        Result = Checksum(BufferStart, 8);
+        BufferStart = 0;
+        PacketSize = lbuff;////////////////NOTE: if there wasn't a packet waiting while the async cmd was made, there will be no "extra data" here
+    }
+    else
+    {
+        if (Continuous)
+        {
+            DataLines.putc(0xFA);
+                //send stop continuous mode command
+            Continuous = 0;
+                //set synchronous mode to true
+        }
+        Result = 1;
+    }
+        //put the IMU into continuous mode if the correct flag is set
+        //Computer.printf("stop command success %d \n", Workspace[0]);
+        //Computer.printf("sync mode %d \n", SyncMode);
+    /*if (Selection & 0x08)
+    {
+        DataLines.attach(this, &MS3DMGX2::Interrupt, Serial::RxIrq);
+            //attach automatic buffer-writing function to serial interrupt
+    }
+    else
+    {
+        DataLines.attach(NULL, Serial::RxIrq);
+            //attach a null to detach any previous interrupt
+    }*/
+        //attaches or detaches interrupt function depending on interrupt flag
+    return Result;
+        //return success or failure
+}
+
+bool MS3DMGX2::Readable()
+{
+    return BufferStart == BufferEnd;
+}
+
+/*void MS3DMGX2::AttachInterruptBuffer(float* Buffer)
+{
+    InterruptBuffer = Buffer;
+}
+    //store user's data pointer for use in interrupt modes
+
+void MS3DMGX2::AttachInterruptFunction()
+{
+    DataLines.attach(this, &MS3DMGX2::Interrupt, Serial::RxIrq);
+}
+void MS3DMGX2::AttachInterruptFunction(void (*Function)())
+{
+    DataLines.attach(Function);
+}
+template<class Class> void AttachInterruptFunction(Class* Object, void (Class::*Function)())
+{
+    DataLines.attach(Object, Function, Serial::RxIrq);
+}*/
+    //overloads start interrupt modes, allowing user all possible options
+
+void MS3DMGX2::RequestSyncRead()
+{
+    if (Continuous)
+    {
+        DataLines.putc(0xFA);
+        Continuous = 0;
+    }
+    DataLines.putc(CommandByte);
+}
+    //lazy switches to synchronous mode and sends polled mode command byte
+
+bool MS3DMGX2::Read(float* Data)
+{
+    bool Result;
+    unsigned char t = 0;
+    
+    while ((Buffer[BufferStart] != CommandByte) && (t < PacketSize))
+    {
+        BufferStart++;
+        BufferStart %= PacketSize;
+        t++;
+    }
+        //find the header byte
+    Result = Checksum(BufferStart, PacketSize);
+        //compute checksum
+    BufferStart++;
+    BufferStart %= PacketSize;
+        //move past header byte
+    if (t < PacketSize)
+    {
+        for (unsigned int i = 0; i < ResponseLength; i++)
+        {
+            for(unsigned int j = 3; j < 4; j--)
+            {
+                ((unsigned char*)&Data[i])[j] = Buffer[BufferStart];
+                BufferStart++;
+                BufferStart %= PacketSize;
+            }
+        }
+            //convert big endian bytes to little endian floats
+        BufferStart += 6;
+            //move index past timer and checksum bytes
+        BufferStart %= PacketSize;
+    }
+        //if the header search did not timeout
+    
+    return Result;
+}
+
+/*MS3DMGX2::operator float*()
+{
+    Read((float*)&Workspace[8]);
+    return (float*)&Workspace[8];
+}
+    //conversion function acts as shorthand for Read()
+
+void MS3DMGX2::Interrupt()
+{
+    Read(InterruptBuffer);
+}*/
+    //this will be called when in an interrupt mode and a serial interrupt is generated
+
+bool MS3DMGX2::Checksum(unsigned char Index, unsigned char Length)
+{
+    unsigned short Sum = 0;
+    for (unsigned char i = 0; i < Length - 2; i++)
+    {
+        Sum += Buffer[Index];
+        Index++;
+        Index %= PacketSize;
+    }
+    return (((unsigned char*)&Sum)[0] == Buffer[Index+1])
+        && (((unsigned char*)&Sum)[1] == Buffer[Index]);
+}
+
+void MS3DMGX2::FillSerialBuffer()//if the interrupt recurs faster than the time to complete its code, the rest of the system will be suspended indefinitely
+{
+    while (DataLines.readable())
+    {
+        Buffer[BufferEnd] = DataLines.getc();
+        BufferEnd++;
+       
+        BufferEnd %= PacketSize;
+    }
+}
+    //this automatically reads in new serial data as it is received to
+    //make a software buffer that is big enough to handle an entire
+    //packet; the processor is about 1000 times faster than the data lines
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MS3DMGX2.h	Sun Feb 13 10:49:06 2011 +0000
@@ -0,0 +1,81 @@
+#ifndef MS3DMGX2Library
+#define MS3DMGX2Library
+
+#include "stdint.h"
+#include "mbed.h"
+
+class MS3DMGX2
+{
+    private:
+    /////////////////////
+//Serial PC;
+//////////////////////////
+
+        Serial DataLines;
+        volatile unsigned char Buffer[87];//volatile is for interrupted access
+        volatile unsigned char BufferEnd;
+        volatile unsigned char PacketSize;
+        bool Checksum(unsigned char Index, unsigned char Length);
+        void FillSerialBuffer();
+
+    public:
+        MS3DMGX2(PinName tx, PinName rx);
+            //serial output, serial input
+        ~MS3DMGX2();
+            //release resources
+        unsigned char BufferStart;
+        
+        unsigned char CommandByte;
+        unsigned char ResponseLength;
+        unsigned char Continuous;  
+        
+        
+        bool Readable();
+        
+        bool Mode(unsigned char Selection);
+            //argument sets operating mode;
+            //set flag 0x08 to 0 for polled modes, or 1 for interrupt modes;
+            //set flag 0x04 to 0 for synchronous modes, or 1 for asynchronous modes;
+            //set flags 0x03 to 0 for pwm, 1 for analog, or 2 for serial;
+            //asynchronous modes read user input command, measures and calculates
+            //output, and writes the data packet to the serial buffer every 10 ms;
+            //interrupt modes automatically read the packet into the buffer provided
+            //by AttachInterruptBuffer with the selected input method every 10 ms
+            //if in an asynchronous mode, or 10 ms after RequestSyncRead is called;
+            //interrupt mode interrupts are generated if there are bytes on the
+            //serial buffer and are only cleared if the serial buffer is emptied;
+            //default is 0
+        //void AttachInterruptBuffer(float* Buffer);
+            //if interrupts are used, user must provide address to write result to
+        //void AttachInterruptFunction();
+            //this overload reattaches the native interrupt function
+        //void AttachInterruptFunction(void (*Function)());
+            //this overload attaches a function to the serial interrupt
+        //template<class Class> void AttachInterruptFunction
+        //    (Class* Object, void (Class::*Function)());
+            //this overload attaches a member function to the serial interrupt;
+            //to change the interrupt function, call one of the
+            //"AttachInterruptFunction" overloads with pointers to the desired function;
+            //changes polled mode to interrupt equivalent;
+            //the interrupt will not be cleared until the serial buffer is emptied
+        void RequestSyncRead();
+            //this tells the device to prepare a synchronous reading;
+            //must be called at least 10 ms before the reading is needed;
+            //changes asynchronous mode to synchronous equivalent
+        void DiscardSerialBuffer();
+            //the serial port has a buffer and only the oldest data is read from it;
+            //the buffer has limited space and, when full, the newest data is discarded;
+            //this method allows the user to empty the buffer of old data so new data is used
+        bool Read(float* Data);
+            //get a reading from the device in the set mode;
+            //RequestSyncRead() must be called at least 10 ms
+            //before this method can be called in a synchronous mode;
+            //may be called at any time during asynchronous mode;
+            //it is assumed that the input buffer has enough
+            //room to accomodate the desired data packet
+        //operator float*();
+            //shorthand for taking a reading;
+            //ex: "float reading[packetlength]; reading = MB1210Object;"
+};
+
+#endif
\ No newline at end of file

--- a/main.cpp	Tue Aug 31 04:38:14 2010 +0000
+++ b/main.cpp	Sun Feb 13 10:49:06 2011 +0000
@@ -1,12 +1,41 @@
-#include "mbed.h"
-
-DigitalOut myled(LED1);
-
-int main() {
-    while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
-    }
-}
+#include "mbed.h"
+#include "MS3DMGX2.h"
+
+MS3DMGX2 IMU(p9, p10);
+DigitalOut led(LED1);
+DigitalOut led4(LED4);
+Serial PC(USBTX,USBRX);
+int main()
+{
+led=0;
+led4=0;
+PC.baud(9600);
+    float data[9];
+    bool isvalid;
+    wait(1);
+    isvalid = IMU.Mode(0x05);
+    PC.printf("Data Valid: %d\r\n\r\n", isvalid);
+    //IMU.RequestSyncRead();
+    wait(1);
+    
+    while (1)
+    {
+        while(!IMU.Readable());
+        isvalid = IMU.Read(data);
+        
+        PC.printf("IMU Accel x Reads %f\r\n",data[0]);//NOTE: the compiler will not even calculate unused variables
+        PC.printf("IMU accel y Reads %f\r\n",data[1]);//If the data retrieved above was not used, it wouldn't even be retrieved and the validity check would not pass
+        PC.printf("IMU accel z Reads %f\r\n",data[2]);//this is called "compiler optimization"
+        
+        PC.printf("IMU ang rate x Reads %f\r\n",data[3]);
+        PC.printf("IMU ang rate y Reads %f\r\n",data[4]);
+        PC.printf("IMU ang rate z Reads %f\r\n",data[5]); 
+        
+        PC.printf("IMU mag x Reads %f\r\n",data[6]);
+        PC.printf("IMU mag y Reads %f\r\n",data[7]);
+        PC.printf("IMU mag z Reads %f\r\n",data[8]); 
+        PC.printf("Validity: %d\r\n\r\n", isvalid);
+        
+        wait_ms(1000);
+    }
+}
\ No newline at end of file