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ins_xsens.c File Reference

Parser for the Xsens protocol. More...

#include "ins_module.h"
#include "ins_xsens.h"
#include "subsystems/ins.h"
#include <inttypes.h>
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "messages.h"
#include "xsens_protocol.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
+ Include dependency graph for ins_xsens.c:

Go to the source code of this file.

Macros

#define XsensInitCheksum()   { send_ck = 0; }
 
#define XsensUpdateChecksum(c)   { send_ck += c; }
 
#define XsensSend1(c)   { uint8_t i8=c; InsUartSend1(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; InsUartSend1(i8); }
 
#define XSENS_MAX_PAYLOAD   254
 Includes macros generated from xsens_MTi-G.xml. More...
 
#define XSENS_OUTPUT_MODE   0x1836
 
#define XSENS_OUTPUT_SETTINGS   0x80000C05
 
#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
 

Functions

void xsens_init (void)
 
void xsens_periodic (void)
 
void imu_impl_init (void)
 
void imu_periodic (void)
 
void handle_ins_msg (void)
 
void parse_ins_msg (void)
 
void parse_ins_buffer (uint8_t c)
 

Variables

INS_FORMAT ins_x
 
INS_FORMAT ins_y
 
INS_FORMAT ins_z
 
INS_FORMAT ins_vx
 
INS_FORMAT ins_vy
 
INS_FORMAT ins_vz
 
INS_FORMAT ins_phi
 
INS_FORMAT ins_theta
 
INS_FORMAT ins_psi
 
INS_FORMAT ins_p
 
INS_FORMAT ins_q
 
INS_FORMAT ins_r
 
INS_FORMAT ins_ax
 
INS_FORMAT ins_ay
 
INS_FORMAT ins_az
 
INS_FORMAT ins_mx
 
INS_FORMAT ins_my
 
INS_FORMAT ins_mz
 
volatile uint8_t ins_msg_received
 
uint8_t xsens_msg_buf [XSENS_MAX_PAYLOAD]
 
uint8_t xsens_errorcode
 
uint8_t xsens_msg_status
 
uint16_t xsens_time_stamp
 
uint16_t xsens_output_mode
 
uint32_t xsens_output_settings
 
float xsens_declination = 0
 
float xsens_gps_arm_x = 0
 
float xsens_gps_arm_y = 0
 
float xsens_gps_arm_z = 0
 
struct XsensTime xsens_time
 
static uint8_t xsens_id
 
static uint8_t xsens_status
 
static uint8_t xsens_len
 
static uint8_t xsens_msg_idx
 
static uint8_t ck
 
uint8_t send_ck
 
volatile int xsens_configured = 0
 
struct ImuXsens imu_xsens
 

Detailed Description

Parser for the Xsens protocol.

Definition in file ins_xsens.c.

Macro Definition Documentation

#define GOT_BID   2

Definition at line 172 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define GOT_CHECKSUM   6

Definition at line 176 of file ins_xsens.c.

#define GOT_DATA   5

Definition at line 175 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define GOT_LEN   4

Definition at line 174 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define GOT_MID   3

Definition at line 173 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define GOT_START   1

Definition at line 171 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define UNINIT   0

Definition at line 170 of file ins_xsens.c.

Referenced by parse_ins_buffer(), sirf_parse_char(), and xsens_init().

#define XSENS_MAX_PAYLOAD   254

Includes macros generated from xsens_MTi-G.xml.

Definition at line 113 of file ins_xsens.c.

Referenced by parse_ins_buffer().

#define XSENS_OUTPUT_MODE   0x1836

Definition at line 138 of file ins_xsens.c.

Referenced by xsens_init().

#define XSENS_OUTPUT_SETTINGS   0x80000C05

Definition at line 167 of file ins_xsens.c.

Referenced by xsens_init().

#define XsensHeader (   msg_id,
  len 
)
Value:
{ \
InsUartSend1(XSENS_START); \
XsensSend1(XSENS_BID); \
XsensSend1(msg_id); \
XsensSend1(len); \
}
#define XsensInitCheksum()
Definition: ins_xsens.c:92
#define XsensSend1(c)
Definition: ins_xsens.c:95
#define InsUartSend1(c)
Definition: ins_module.h:84

Definition at line 100 of file ins_xsens.c.

#define XsensInitCheksum ( )    { send_ck = 0; }

Definition at line 92 of file ins_xsens.c.

#define XsensSend1 (   c)    { uint8_t i8=c; InsUartSend1(i8); XsensUpdateChecksum(i8); }

Definition at line 95 of file ins_xsens.c.

#define XsensSend1ByAddr (   x)    { XsensSend1(*x); }

Definition at line 96 of file ins_xsens.c.

#define XsensSend2ByAddr (   x)    { XsensSend1(*(x+1)); XsensSend1(*x); }

Definition at line 97 of file ins_xsens.c.

#define XsensSend4ByAddr (   x)    { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }

Definition at line 98 of file ins_xsens.c.

#define XsensTrailer ( )    { uint8_t i8=0x100-send_ck; InsUartSend1(i8); }

Definition at line 107 of file ins_xsens.c.

#define XsensUpdateChecksum (   c)    { send_ck += c; }

Definition at line 93 of file ins_xsens.c.

Function Documentation

void imu_impl_init ( void  )

Definition at line 234 of file ins_xsens.c.

References ImuXsens::accel_available, FALSE, ImuXsens::gyro_available, imu_xsens, ImuXsens::mag_available, and xsens_init().

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void imu_periodic ( void  )

Definition at line 241 of file ins_xsens.c.

References xsens_periodic().

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void parse_ins_buffer ( uint8_t  c)
void xsens_periodic ( void  )

Definition at line 286 of file ins_xsens.c.

References xsens_configured, xsens_declination, xsens_output_mode, and xsens_output_settings.

Referenced by imu_periodic().

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Variable Documentation

uint8_t ck
static

Definition at line 207 of file ins_xsens.c.

Referenced by parse_ins_buffer().

struct ImuXsens imu_xsens

Definition at line 232 of file ins_xsens.c.

Referenced by handle_ins_msg(), imu_impl_init(), and parse_ins_msg().

INS_FORMAT ins_ax

Definition at line 70 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_ay

Definition at line 71 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_az

Definition at line 72 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

volatile uint8_t ins_msg_received

Definition at line 90 of file ins_xsens.c.

Referenced by parse_ins_buffer().

INS_FORMAT ins_mx

Definition at line 75 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_my

Definition at line 76 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_mz

Definition at line 77 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_p

Definition at line 65 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_phi

Definition at line 60 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_psi

Definition at line 62 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_q

Definition at line 66 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_r

Definition at line 67 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_theta

Definition at line 61 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_vx

Definition at line 55 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_vy

Definition at line 56 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_vz

Definition at line 57 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_x

Definition at line 50 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_y

Definition at line 51 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_z

Definition at line 52 of file ins_xsens.c.

Referenced by parse_ins_msg().

uint8_t send_ck

Definition at line 208 of file ins_xsens.c.

volatile int xsens_configured = 0

Definition at line 210 of file ins_xsens.c.

Referenced by xsens_init(), and xsens_periodic().

float xsens_declination = 0

Definition at line 191 of file ins_xsens.c.

Referenced by parse_ins_msg(), and xsens_periodic().

uint8_t xsens_errorcode

Definition at line 184 of file ins_xsens.c.

Referenced by parse_ins_msg().

float xsens_gps_arm_x = 0

Definition at line 192 of file ins_xsens.c.

Referenced by parse_ins_msg().

float xsens_gps_arm_y = 0

Definition at line 193 of file ins_xsens.c.

Referenced by parse_ins_msg().

float xsens_gps_arm_z = 0

Definition at line 194 of file ins_xsens.c.

Referenced by parse_ins_msg().

uint8_t xsens_id
static

Definition at line 203 of file ins_xsens.c.

Referenced by parse_ins_buffer(), and parse_ins_msg().

uint8_t xsens_len
static

Definition at line 205 of file ins_xsens.c.

Referenced by parse_ins_buffer().

uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD]

Definition at line 114 of file ins_xsens.c.

Referenced by parse_ins_buffer(), and parse_ins_msg().

uint8_t xsens_msg_idx
static

Definition at line 206 of file ins_xsens.c.

Referenced by parse_ins_buffer().

uint8_t xsens_msg_status

Definition at line 185 of file ins_xsens.c.

Referenced by parse_ins_msg(), and xsens_init().

uint16_t xsens_output_mode

Definition at line 187 of file ins_xsens.c.

Referenced by parse_ins_msg(), xsens_init(), and xsens_periodic().

uint32_t xsens_output_settings

Definition at line 188 of file ins_xsens.c.

Referenced by parse_ins_msg(), xsens_init(), and xsens_periodic().

uint8_t xsens_status
static

Definition at line 204 of file ins_xsens.c.

Referenced by parse_ins_buffer(), and xsens_init().

struct XsensTime xsens_time

Definition at line 201 of file ins_xsens.c.

Referenced by parse_ins_msg().

uint16_t xsens_time_stamp

Definition at line 186 of file ins_xsens.c.

Referenced by parse_ins_msg(), and xsens_init().