xsens700.c File Reference

Parser for the Xsens700 protocol. More...

#include "xsens700.h"
#include "led.h"
#include "generated/airframe.h"
#include "mcu_periph/uart.h"

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Functions
void	xsens700_init (void)
static void	xsens_ask_message_rate (uint8_t c1, uint8_t c2, uint8_t freq)
void	xsens700_periodic (void)
void	parse_xsens700_msg (void)

Variables
uint8_t	xsens_errorcode
uint32_t	xsens_msg_statusword
uint16_t	xsens_time_stamp
uint16_t	xsens_output_mode
uint32_t	xsens_output_settings
float	xsens_gps_arm_x = 0
float	xsens_gps_arm_y = 0
float	xsens_gps_arm_z = 0
struct Xsens	xsens700
volatile int	xsens_configured = 0

Detailed Description

Parser for the Xsens700 protocol.

Definition in file xsens700.c.

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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xsens_ask_message_rate()

static void xsens_ask_message_rate ( uint8_t  c1, uint8_t  c2, uint8_t  freq  )

static

Definition at line 62 of file xsens700.c.

References c1, c2, foo, and XsensSend1ByAddr.

Referenced by xsens700_periodic().

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Variable Documentation

xsens700

struct Xsens xsens700

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().

xsens_configured

volatile int xsens_configured = 0

Definition at line 51 of file xsens700.c.

Referenced by xsens700_init(), and xsens700_periodic().

xsens_errorcode

uint8_t xsens_errorcode

Definition at line 39 of file xsens700.c.

Referenced by parse_xsens700_msg().

xsens_gps_arm_x

float xsens_gps_arm_x = 0

Definition at line 45 of file xsens700.c.

Referenced by parse_xsens700_msg().

xsens_gps_arm_y

float xsens_gps_arm_y = 0

Definition at line 46 of file xsens700.c.

Referenced by parse_xsens700_msg().

xsens_gps_arm_z

float xsens_gps_arm_z = 0

Definition at line 47 of file xsens700.c.

Referenced by parse_xsens700_msg().

xsens_msg_statusword

uint32_t xsens_msg_statusword

Definition at line 40 of file xsens700.c.

Referenced by parse_xsens700_msg(), and xsens700_init().

xsens_output_mode

uint16_t xsens_output_mode

Definition at line 42 of file xsens700.c.

xsens_output_settings

uint32_t xsens_output_settings

Definition at line 43 of file xsens700.c.

xsens_time_stamp

uint16_t xsens_time_stamp

Definition at line 41 of file xsens700.c.

Referenced by xsens700_init().