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 "subsystems/datalink/downlink.h"
#include "messages.h"
#include "xsens_protocol.h"
#include "mcu_periph/uart.h"

Include dependency graph for ins_xsens700.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	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)

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

void	xsens_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

uint32_t	xsens_msg_statusword

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

int8_t	xsens_hour

int8_t	xsens_min

int8_t	xsens_sec

int32_t	xsens_nanosec

int16_t	xsens_year

int8_t	xsens_month

int8_t	xsens_day

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

struct LlaCoor_f	lla_f

struct UtmCoor_f	utm_f

volatile int	xsens_configured = 0

Detailed Description

Parser for the Xsens protocol.

Definition in file ins_xsens700.c.

Macro Definition Documentation

#define GOT_BID 2

Definition at line 121 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define GOT_CHECKSUM 6

Definition at line 125 of file ins_xsens700.c.

#define GOT_DATA 5

Definition at line 124 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define GOT_LEN 4

Definition at line 123 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define GOT_MID 3

Definition at line 122 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define GOT_START 1

Definition at line 120 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define UNINIT 0

Definition at line 119 of file ins_xsens700.c.

Referenced by parse_ins_buffer(), and xsens_init().

#define XSENS_MAX_PAYLOAD 254

Includes macros generated from xsens_MTi-G.xml.

Definition at line 115 of file ins_xsens700.c.

Referenced by parse_ins_buffer().

#define XsensHeader	(	msg_id,
		len
	)

Value:

{              \
    InsUartSend1(XSENS_START);                  \
    XsensInitCheksum();                         \
    XsensSend1(XSENS_BID);                      \
    XsensSend1(msg_id);                         \
    XsensSend1(len);                            \
  }