Parser for the Xsens protocol. More...

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

Include dependency graph for xsens_common.h:

This graph shows which files directly or indirectly include this file:

Macros
#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); }

#define	XSENS_MAX_PAYLOAD 254

#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_event (void)

Variables
uint8_t	xsens_id
	Includes macros generated from xsens_MTi-G.xml. More...

uint8_t	xsens_status

uint8_t	xsens_len

uint8_t	xsens_msg_idx

uint8_t	ck

uint8_t	send_ck

uint8_t	xsens_msg_buf [XSENS_MAX_PAYLOAD]

Detailed Description

Parser for the Xsens protocol.

Definition in file xsens_common.h.

Macro Definition Documentation

#define GOT_BID 2

Definition at line 67 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define GOT_CHECKSUM 6

Definition at line 71 of file xsens_common.h.

#define GOT_DATA 5

Definition at line 70 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define GOT_LEN 4

Definition at line 69 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define GOT_MID 3

Definition at line 68 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define GOT_START 1

Definition at line 66 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define UNINIT 0

Definition at line 65 of file xsens_common.h.

#define XSENS_MAX_PAYLOAD 254

Definition at line 62 of file xsens_common.h.

Referenced by parse_xsens_buffer().

#define XsensHeader	(	msg_id,
		len
	)

Value:

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