#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

Definition at line 31 of file xsens_parser.c.

Data Structures

Macros

Functions

Variables