lhiggs CSUM / Mbed 2 deprecated UM6_IMU_AHRS_2012

Communication program for the chrobotics UM6 9-DOF IMU AHRS.

Dependencies:   MODSERIAL mbed

MODSERIAL/example2.cpp@0:03c649c76388, 2012-09-28 (annotated)

Committer:
lhiggs
Date:
Fri Sep 28 00:40:29 2012 +0000
Revision:
0:03c649c76388
A UM6 IMU AHRS INTERFACE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lhiggs 0:03c649c76388 1 /*
lhiggs 0:03c649c76388 2 Copyright (c) 2011 Andy Kirkham
lhiggs 0:03c649c76388 3
lhiggs 0:03c649c76388 4 Permission is hereby granted, free of charge, to any person obtaining a copy
lhiggs 0:03c649c76388 5 of this software and associated documentation files (the "Software"), to deal
lhiggs 0:03c649c76388 6 in the Software without restriction, including without limitation the rights
lhiggs 0:03c649c76388 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
lhiggs 0:03c649c76388 8 copies of the Software, and to permit persons to whom the Software is
lhiggs 0:03c649c76388 9 furnished to do so, subject to the following conditions:
lhiggs 0:03c649c76388 10
lhiggs 0:03c649c76388 11 The above copyright notice and this permission notice shall be included in
lhiggs 0:03c649c76388 12 all copies or substantial portions of the Software.
lhiggs 0:03c649c76388 13
lhiggs 0:03c649c76388 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
lhiggs 0:03c649c76388 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
lhiggs 0:03c649c76388 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
lhiggs 0:03c649c76388 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
lhiggs 0:03c649c76388 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
lhiggs 0:03c649c76388 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
lhiggs 0:03c649c76388 20 THE SOFTWARE.
lhiggs 0:03c649c76388 21
lhiggs 0:03c649c76388 22 @file example2.cpp
lhiggs 0:03c649c76388 23 @purpose Demos a simple messaging system.
lhiggs 0:03c649c76388 24 @version see ChangeLog.c
lhiggs 0:03c649c76388 25 @date Jan 2011
lhiggs 0:03c649c76388 26 @author Andy Kirkham
lhiggs 0:03c649c76388 27 */
lhiggs 0:03c649c76388 28
lhiggs 0:03c649c76388 29 /*
lhiggs 0:03c649c76388 30 This example demostrates a simple "messaging" system. You can use it with
lhiggs 0:03c649c76388 31 a terminal program to test it out or write a cusom C#/C++/VB/etc program
lhiggs 0:03c649c76388 32 to read and write messages to or from the Mbed. The default baud rate in
lhiggs 0:03c649c76388 33 this example is 115200.
lhiggs 0:03c649c76388 34
lhiggs 0:03c649c76388 35 In this example, the LEDs are controlled and pins p21 to p24 are set as
lhiggs 0:03c649c76388 36 InterruptIn and send messages out when their value changes.
lhiggs 0:03c649c76388 37
lhiggs 0:03c649c76388 38 To use, hook up the MBed USB and open your fav terminal. All messages
lhiggs 0:03c649c76388 39 end with the \n character, don't forget to hit carriage return!.
lhiggs 0:03c649c76388 40 As an example:-
lhiggs 0:03c649c76388 41
lhiggs 0:03c649c76388 42 to switch on LED1 send LED1:1\n, off is LED1:0\n and toggle is LED1:2\n
lhiggs 0:03c649c76388 43 to switch on LED2 send LED2:1\n, off is LED2:0\n and toggle is LED2:2\n
lhiggs 0:03c649c76388 44 to switch on LED3 send LED3:1\n, off is LED3:0\n and toggle is LED3:2\n
lhiggs 0:03c649c76388 45 to switch on LED4 send LED4:1\n, off is LED4:0\n and toggle is LED4:2\n
lhiggs 0:03c649c76388 46
lhiggs 0:03c649c76388 47 When a pin change on p21 to p24 happens, a message is sent. As an example
lhiggs 0:03c649c76388 48 when p21 goes low PIN21:0\n is sent, when goes high PIN21:1\n is sent.
lhiggs 0:03c649c76388 49
lhiggs 0:03c649c76388 50 Note, the InterruptIn pins p21 to p24 are setup to have pullups. This means
lhiggs 0:03c649c76388 51 they are high. To activate them use a wire to short the pin to 0volts.
lhiggs 0:03c649c76388 52
lhiggs 0:03c649c76388 53 If you find that p21 to p24 sent a lot of on/off/on/off then it's probably
lhiggs 0:03c649c76388 54 due to "bounce". If you are connecting a mechanical switch to a pin you
lhiggs 0:03c649c76388 55 may prefer to use the PinDetect library rather than using InterruptIn.
lhiggs 0:03c649c76388 56 @see http://mbed.org/users/AjK/libraries/PinDetect/latest
lhiggs 0:03c649c76388 57
lhiggs 0:03c649c76388 58 One point you may notice. Incoming messages are processed via main()'s
lhiggs 0:03c649c76388 59 while(1) loop whereas pin changes have their messages directly sent.
lhiggs 0:03c649c76388 60 The reason for this is when MODSERIAL makes callbacks to your application
lhiggs 0:03c649c76388 61 it is in "interrupt context". And one thing you want to avoid is spending
lhiggs 0:03c649c76388 62 lots of CPU time in that context. So, the callback moves the message from
lhiggs 0:03c649c76388 63 the input buffer to a local holding buffer and it then sets a bool flag
lhiggs 0:03c649c76388 64 which tells main()'s while(1) loop to process that buffer. This means the
lhiggs 0:03c649c76388 65 time spent doing the real incoming message handing is within your program
lhiggs 0:03c649c76388 66 and not within MODSERIAL's interrupt context. So you may ask, why not do
lhiggs 0:03c649c76388 67 the same for out going messages? Well, because MODSERIAL output buffers
lhiggs 0:03c649c76388 68 all your sent content then sending chars is very fast. MODSERIAL handles
lhiggs 0:03c649c76388 69 all the nitty gritty bits for you. You can just send. This example uses
lhiggs 0:03c649c76388 70 puts() to send the message. If you can, always try and use sprintf()+puts()
lhiggs 0:03c649c76388 71 rathe than printf(), printf() is known to often screw things up when used
lhiggs 0:03c649c76388 72 within an interrupt context. Better still, just use puts() and do away
lhiggs 0:03c649c76388 73 with any of the crappy ?printf() calls if possible. But I found the code
lhiggs 0:03c649c76388 74 below to work fine even at 115200baud.
lhiggs 0:03c649c76388 75
lhiggs 0:03c649c76388 76 */
lhiggs 0:03c649c76388 77
lhiggs 0:03c649c76388 78
lhiggs 0:03c649c76388 79 #ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
lhiggs 0:03c649c76388 80
lhiggs 0:03c649c76388 81 #include "mbed.h"
lhiggs 0:03c649c76388 82 #include "MODSERIAL.h"
lhiggs 0:03c649c76388 83
lhiggs 0:03c649c76388 84 #define MESSAGE_BUFFER_SIZE 32
lhiggs 0:03c649c76388 85
lhiggs 0:03c649c76388 86 DigitalOut led1(LED1);
lhiggs 0:03c649c76388 87 DigitalOut led2(LED2);
lhiggs 0:03c649c76388 88 DigitalOut led3(LED3);
lhiggs 0:03c649c76388 89 DigitalOut led4(LED4);
lhiggs 0:03c649c76388 90
lhiggs 0:03c649c76388 91 InterruptIn P21(p21);
lhiggs 0:03c649c76388 92 InterruptIn P22(p22);
lhiggs 0:03c649c76388 93 InterruptIn P23(p23);
lhiggs 0:03c649c76388 94 InterruptIn P24(p24);
lhiggs 0:03c649c76388 95
lhiggs 0:03c649c76388 96 MODSERIAL messageSystem(USBTX, USBRX);
lhiggs 0:03c649c76388 97
lhiggs 0:03c649c76388 98 char messageBufferIncoming[MESSAGE_BUFFER_SIZE];
lhiggs 0:03c649c76388 99 char messageBufferOutgoing[MESSAGE_BUFFER_SIZE];
lhiggs 0:03c649c76388 100 bool messageReceived;
lhiggs 0:03c649c76388 101
lhiggs 0:03c649c76388 102 void messageReceive(MODSERIAL_IRQ_INFO *q) {
lhiggs 0:03c649c76388 103 MODSERIAL *sys = q->serial;
lhiggs 0:03c649c76388 104 sys->move(messageBufferIncoming, MESSAGE_BUFFER_SIZE);
lhiggs 0:03c649c76388 105 messageReceived = true;
lhiggs 0:03c649c76388 106 return 0;
lhiggs 0:03c649c76388 107 }
lhiggs 0:03c649c76388 108
lhiggs 0:03c649c76388 109 void messageProcess(void) {
lhiggs 0:03c649c76388 110 if (!strncmp(messageBufferIncoming, "LED1:1", sizeof("LED1:1")-1)) led1 = 1;
lhiggs 0:03c649c76388 111 else if (!strncmp(messageBufferIncoming, "LED1:0", sizeof("LED1:0")-1)) led1 = 0;
lhiggs 0:03c649c76388 112 else if (!strncmp(messageBufferIncoming, "LED1:2", sizeof("LED1:2")-1)) led1 = !led1;
lhiggs 0:03c649c76388 113
lhiggs 0:03c649c76388 114 else if (!strncmp(messageBufferIncoming, "LED2:1", sizeof("LED2:1")-1)) led2 = 1;
lhiggs 0:03c649c76388 115 else if (!strncmp(messageBufferIncoming, "LED2:0", sizeof("LED2:0")-1)) led2 = 0;
lhiggs 0:03c649c76388 116 else if (!strncmp(messageBufferIncoming, "LED2:2", sizeof("LED2:2")-1)) led2 = !led2;
lhiggs 0:03c649c76388 117
lhiggs 0:03c649c76388 118 else if (!strncmp(messageBufferIncoming, "LED3:1", sizeof("LED3:1")-1)) led3 = 1;
lhiggs 0:03c649c76388 119 else if (!strncmp(messageBufferIncoming, "LED3:0", sizeof("LED3:0")-1)) led3 = 0;
lhiggs 0:03c649c76388 120 else if (!strncmp(messageBufferIncoming, "LED3:2", sizeof("LED3:2")-1)) led3 = !led3;
lhiggs 0:03c649c76388 121
lhiggs 0:03c649c76388 122 else if (!strncmp(messageBufferIncoming, "LED4:1", sizeof("LED4:1")-1)) led4 = 1;
lhiggs 0:03c649c76388 123 else if (!strncmp(messageBufferIncoming, "LED4:0", sizeof("LED4:0")-1)) led4 = 0;
lhiggs 0:03c649c76388 124 else if (!strncmp(messageBufferIncoming, "LED4:2", sizeof("LED4:2")-1)) led4 = !led4;
lhiggs 0:03c649c76388 125
lhiggs 0:03c649c76388 126 messageReceived = false;
lhiggs 0:03c649c76388 127 }
lhiggs 0:03c649c76388 128
lhiggs 0:03c649c76388 129 #define PIN_MESSAGE_SEND(x,y) \
lhiggs 0:03c649c76388 130 sprintf(messageBufferOutgoing,"PIN%02d:%d\n",x,y);\
lhiggs 0:03c649c76388 131 messageSystem.puts(messageBufferOutgoing);
lhiggs 0:03c649c76388 132
lhiggs 0:03c649c76388 133 void pin21Rise(void) { PIN_MESSAGE_SEND(21, 1); }
lhiggs 0:03c649c76388 134 void pin21Fall(void) { PIN_MESSAGE_SEND(21, 0); }
lhiggs 0:03c649c76388 135 void pin22Rise(void) { PIN_MESSAGE_SEND(22, 1); }
lhiggs 0:03c649c76388 136 void pin22Fall(void) { PIN_MESSAGE_SEND(22, 0); }
lhiggs 0:03c649c76388 137 void pin23Rise(void) { PIN_MESSAGE_SEND(23, 1); }
lhiggs 0:03c649c76388 138 void pin23Fall(void) { PIN_MESSAGE_SEND(23, 0); }
lhiggs 0:03c649c76388 139 void pin24Rise(void) { PIN_MESSAGE_SEND(24, 1); }
lhiggs 0:03c649c76388 140 void pin24Fall(void) { PIN_MESSAGE_SEND(24, 0); }
lhiggs 0:03c649c76388 141
lhiggs 0:03c649c76388 142 int main() {
lhiggs 0:03c649c76388 143
lhiggs 0:03c649c76388 144 messageReceived = false;
lhiggs 0:03c649c76388 145 messageSystem.baud(115200);
lhiggs 0:03c649c76388 146 messageSystem.attach(&messageReceive, MODSERIAL::RxAutoDetect);
lhiggs 0:03c649c76388 147 messageSystem.autoDetectChar('\n');
lhiggs 0:03c649c76388 148
lhiggs 0:03c649c76388 149 // Enable pullup resistors on pins.
lhiggs 0:03c649c76388 150 P21.mode(PullUp); P22.mode(PullUp); P23.mode(PullUp); P24.mode(PullUp);
lhiggs 0:03c649c76388 151
lhiggs 0:03c649c76388 152 // Fix Mbed library bug, see http://mbed.org/forum/bugs-suggestions/topic/1498
lhiggs 0:03c649c76388 153 LPC_GPIOINT->IO2IntClr = (1UL << 5) | (1UL << 4) | (1UL << 3) | (1UL << 2);
lhiggs 0:03c649c76388 154
lhiggs 0:03c649c76388 155 // Attach InterruptIn pin callbacks.
lhiggs 0:03c649c76388 156 P21.rise(&pin21Rise); P21.fall(&pin21Fall);
lhiggs 0:03c649c76388 157 P22.rise(&pin22Rise); P22.fall(&pin22Fall);
lhiggs 0:03c649c76388 158 P23.rise(&pin23Rise); P23.fall(&pin23Fall);
lhiggs 0:03c649c76388 159 P24.rise(&pin24Rise); P24.fall(&pin24Fall);
lhiggs 0:03c649c76388 160
lhiggs 0:03c649c76388 161 while(1) {
lhiggs 0:03c649c76388 162 // Process incoming messages.
lhiggs 0:03c649c76388 163 if (messageReceived) messageProcess();
lhiggs 0:03c649c76388 164 }
lhiggs 0:03c649c76388 165 }
lhiggs 0:03c649c76388 166
lhiggs 0:03c649c76388 167 #endif