xsens.c File Reference

Parser for the Xsens protocol. More...

#include "xsens.h"
#include "xsens_common.h"
#include "generated/airframe.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	XSENS_OUTPUT_MODE   0x1836
#define	XSENS_OUTPUT_SETTINGS   0x80000C05

Functions
void	parse_xsens_buffer (uint8_t c)
void	xsens_init (void)
void	xsens_periodic (void)
void	parse_xsens_msg (void)

Variables
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
volatile int	xsens_configured = 0
struct Xsens	xsens

Detailed Description

Parser for the Xsens protocol.

Definition in file xsens.c.

Macro Definition Documentation

#define XSENS_OUTPUT_MODE   0x1836

Definition at line 64 of file xsens.c.

Referenced by xsens_init().

#define XSENS_OUTPUT_SETTINGS   0x80000C05

Definition at line 93 of file xsens.c.

Referenced by xsens_init().

Function Documentation

void parse_xsens_buffer

(

uint8_t

c

)

Definition at line 54 of file xsens_common.c.

References ck, GOT_BID, GOT_DATA, GOT_LEN, GOT_MID, GOT_START, TRUE, UNINIT, xsens_id, xsens_len, XSENS_MAX_PAYLOAD, xsens_msg_buf, xsens_msg_idx, xsens_msg_received, and xsens_status.

Referenced by xsens_event().

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void parse_xsens_msg

(

void

)

Definition at line 185 of file xsens.c.

References Xsens::accel, Xsens::accel_available, LlaCoor_f::alt, XsensTime::day, DefaultChannel, DefaultDevice, Xsens::euler, gps, GPS_FIX_3D, GPS_FIX_NONE, GPS_NB_CHANNELS, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_NED_BIT, Xsens::gyro, Xsens::gyro_available, XsensTime::hour, LlaCoor_f::lat, LED_ON, LED_TOGGLE, LLA_BFP_OF_REAL, Xsens::lla_f, LlaCoor_f::lon, Xsens::mag, Xsens::mag_available, XsensTime::min, Min, XsensTime::month, XsensTime::nanosec, Xsens::new_attitude, offset, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, Xsens::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, XsensTime::sec, FloatEulers::theta, Xsens::time, Xsens::time_stamp, TRUE, GpsState::valid_fields, Xsens::vel, wgs84_ellipsoid_to_geoid_i(), FloatVect3::x, xsens, xsens_declination, xsens_errorcode, xsens_gps_arm_x, xsens_gps_arm_y, xsens_gps_arm_z, xsens_id, xsens_msg_buf, xsens_msg_status, xsens_output_mode, xsens_output_settings, FloatVect3::y, XsensTime::year, and FloatVect3::z.

Referenced by imu_xsens_event(), and ins_xsens_event().

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void xsens_init

(

void

)

Definition at line 114 of file xsens.c.

References UNINIT, xsens_configured, xsens_msg_status, XSENS_OUTPUT_MODE, xsens_output_mode, XSENS_OUTPUT_SETTINGS, xsens_output_settings, xsens_status, and xsens_time_stamp.

Referenced by imu_xsens_init(), and ins_xsens_init().

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void xsens_periodic

(

void

)

Definition at line 125 of file xsens.c.

References xsens_configured, xsens_declination, xsens_output_mode, and xsens_output_settings.

Variable Documentation

struct Xsens xsens

Definition at line 110 of file xsens.c.

Referenced by handle_ins_msg(), imu_xsens_event(), ins_xsens_event(), parse_xsens_msg(), and update_state_interface().

volatile int xsens_configured = 0

Definition at line 108 of file xsens.c.

Referenced by xsens_init(), and xsens_periodic().

float xsens_declination = 0

Definition at line 103 of file xsens.c.

Referenced by parse_xsens_msg(), and xsens_periodic().

uint8_t xsens_errorcode

Definition at line 96 of file xsens.c.

Referenced by parse_xsens_msg().

float xsens_gps_arm_x = 0

Definition at line 104 of file xsens.c.

Referenced by parse_xsens_msg().

float xsens_gps_arm_y = 0

Definition at line 105 of file xsens.c.

Referenced by parse_xsens_msg().

float xsens_gps_arm_z = 0

Definition at line 106 of file xsens.c.

Referenced by parse_xsens_msg().

uint8_t xsens_msg_status

Definition at line 97 of file xsens.c.

Referenced by parse_xsens_msg(), and xsens_init().

uint16_t xsens_output_mode

Definition at line 99 of file xsens.c.

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

uint32_t xsens_output_settings

Definition at line 100 of file xsens.c.

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

uint16_t xsens_time_stamp

Definition at line 98 of file xsens.c.

Referenced by xsens_init().