xsens700.h File Reference

Parser for the Xsens protocol. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"
#include "xsens_parser.h"

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Data Structures
struct	XsensTime
struct	Xsens

Functions
void	xsens700_init (void)
void	xsens700_periodic (void)
void	parse_xsens700_msg (void)

Variables
struct Xsens	xsens700

Detailed Description

Parser for the Xsens protocol.

Definition in file xsens700.h.

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Data Structure Documentation

XsensTime

struct XsensTime

Definition at line 42 of file xsens.h.

Data Fields
int8_t	day
int8_t	hour
int8_t	min
int8_t	month
int32_t	nanosec
int8_t	sec
int16_t	year

Xsens

struct Xsens

Definition at line 52 of file xsens.h.

Collaboration diagram for Xsens:

Data Fields
struct FloatVect3	accel
bool	accel_available
struct FloatEulers	euler
struct FloatRates	gyro
bool	gyro_available
struct LlaCoor_f	lla_f
struct FloatVect3	mag
bool	mag_available
volatile bool	new_attitude
struct XsensParser	parser
struct FloatQuat	quat
struct XsensTime	time
uint16_t	time_stamp
struct FloatVect3	vel	NED velocity in m/s.

Function Documentation

parse_xsens700_msg()

void parse_xsens700_msg

(

void

)

Definition at line 141 of file xsens700.c.

References Xsens::accel, Xsens::euler, GPS_FIX_2D, GPS_FIX_3D, GPS_FIX_NONE, GPS_NB_CHANNELS, GPS_VALID_HMSL_BIT, GPS_VALID_VEL_NED_BIT, Xsens::gyro, XsensParser::id, if(), LlaCoor_f::lat, LED_TOGGLE, XsensParser::len, Xsens::lla_f, LlaCoor_f::lon, Min, XsensParser::msg_buf, sys_time::nb_sec, sys_time::nb_sec_rem, Xsens::new_attitude, offset, FloatRates::p, Xsens::parser, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, FloatEulers::theta, TRUE, Xsens::vel, wgs84_ellipsoid_to_geoid_f(), FloatVect3::x, xsens700, xsens_errorcode, xsens_gps_arm_x, xsens_gps_arm_y, xsens_gps_arm_z, xsens_msg_statusword, FloatVect3::y, and FloatVect3::z.

Referenced by ins_xsens700_event().

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xsens700_init()

void xsens700_init

(

void

)

Definition at line 53 of file xsens700.c.

References Xsens::parser, XsensParser::status, UNINIT, xsens700, xsens_configured, xsens_msg_statusword, and xsens_time_stamp.

Referenced by ins_xsens700_init().

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xsens700_periodic()

void xsens700_periodic

(

void

)

Definition at line 71 of file xsens700.c.

References xsens_ask_message_rate(), xsens_configured, XsensHeader, and XsensTrailer.

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Variable Documentation

xsens700

struct Xsens xsens700

extern

Definition at line 47 of file xsens700.c.

Referenced by handle_ins_msg(), ins_xsens700_event(), parse_xsens700_msg(), update_state_interface(), and xsens700_init().