xsens_parser.h File Reference

Parser for the XSens protocol. More...

#include "std.h"
#include "xsens_protocol.h"

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Data Structures
struct	XsensParser

Macros
#define	XSENS_MAX_PAYLOAD   254
	Includes macros generated from xsens_MTi-G.xml. More...
#define	UNINIT   0
#define	GOT_START   1
#define	GOT_BID   2
#define	GOT_MID   3
#define	GOT_LEN   4
#define	GOT_DATA   5
#define	GOT_CHECKSUM   6
#define	XsensLinkDevice   (&((XSENS_LINK).device))
#define	XsensInitCheksum()   { send_ck = 0; }
#define	XsensUpdateChecksum(c)   { send_ck += c; }
#define	XsensUartSend1(c)   XsensLinkDevice->put_byte(XsensLinkDevice->periph, 0, c)
#define	XsensSend1(c)   { uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); }
#define	XsensSend1ByAddr(x)   { XsensSend1(*x); }
#define	XsensSend2ByAddr(x)   { XsensSend1(*(x+1)); XsensSend1(*x); }
#define	XsensSend4ByAddr(x)   { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }
#define	XsensHeader(msg_id, len)
#define	XsensTrailer()   { uint8_t i8=0x100-send_ck; XsensUartSend1(i8); }

Functions
void	xsens_parser_event (struct XsensParser *xsensparser)

Variables
uint8_t	send_ck

Detailed Description

Parser for the XSens protocol.

Transmit XSens protocol.

Definition in file xsens_parser.h.

---

Data Structure Documentation

XsensParser

struct XsensParser

Definition at line 46 of file xsens_parser.h.

Data Fields
uint8_t	ck
uint8_t	id
uint8_t	len
uint8_t	msg_buf[XSENS_MAX_PAYLOAD]
uint8_t	msg_idx
volatile uint8_t	msg_received
uint8_t	status

Macro Definition Documentation

GOT_BID

#define GOT_BID   2

Definition at line 40 of file xsens_parser.h.

GOT_CHECKSUM

#define GOT_CHECKSUM   6

Definition at line 44 of file xsens_parser.h.

GOT_DATA

#define GOT_DATA   5

Definition at line 43 of file xsens_parser.h.

GOT_LEN

#define GOT_LEN   4

Definition at line 42 of file xsens_parser.h.

GOT_MID

#define GOT_MID   3

Definition at line 41 of file xsens_parser.h.

GOT_START

#define GOT_START   1

Definition at line 39 of file xsens_parser.h.

UNINIT

#define UNINIT   0

Definition at line 38 of file xsens_parser.h.

XSENS_MAX_PAYLOAD

#define XSENS_MAX_PAYLOAD   254

Includes macros generated from xsens_MTi-G.xml.

Definition at line 35 of file xsens_parser.h.

XsensHeader

#define XsensHeader	(		msg_id,
			len
	)

Value:

    {              \
    XsensUartSend1(XSENS_START);                  \
    XsensInitCheksum();                         \
    XsensSend1(XSENS_BID);                      \
    XsensSend1(msg_id);                         \
    XsensSend1(len);                            \
  }

Definition at line 71 of file xsens_parser.h.

XsensInitCheksum

#define XsensInitCheksum

(

)

{ send_ck = 0; }

Definition at line 62 of file xsens_parser.h.

XsensLinkDevice

#define XsensLinkDevice   (&((XSENS_LINK).device))

Definition at line 60 of file xsens_parser.h.

XsensSend1

#define XsensSend1

(

c

)

{ uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); }

Definition at line 66 of file xsens_parser.h.

XsensSend1ByAddr

#define XsensSend1ByAddr

(

x

)

{ XsensSend1(*x); }

Definition at line 67 of file xsens_parser.h.

XsensSend2ByAddr

#define XsensSend2ByAddr

(

x

)

{ XsensSend1(*(x+1)); XsensSend1(*x); }

Definition at line 68 of file xsens_parser.h.

XsensSend4ByAddr

#define XsensSend4ByAddr

(

x

)

{ XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }

Definition at line 69 of file xsens_parser.h.

XsensTrailer

#define XsensTrailer

(

)

{ uint8_t i8=0x100-send_ck; XsensUartSend1(i8); }

Definition at line 78 of file xsens_parser.h.

XsensUartSend1

#define XsensUartSend1

(

c

)

XsensLinkDevice->put_byte(XsensLinkDevice->periph, 0, c)

Definition at line 65 of file xsens_parser.h.

XsensUpdateChecksum

#define XsensUpdateChecksum

(

c

)

{ send_ck += c; }

Definition at line 63 of file xsens_parser.h.

Function Documentation

xsens_parser_event()

void xsens_parser_event

(

struct XsensParser *

xsensparser

)

Definition at line 35 of file xsens_parser.c.

References dev, XsensParser::msg_received, and xsens_parser_func().

Referenced by imu_xsens_event(), ins_xsens700_event(), and ins_xsens_event().

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Variable Documentation

send_ck

uint8_t send_ck

extern

Definition at line 31 of file xsens_parser.c.