Xsens / Xbus

Basic implementation of Xbus message parsing and generation for embedded processors. The code has no dependencies and should also work for other MCU architectures than ARM provided a C99 compiler is available.

Dependents:   MTi-1_example_LPC1768 MTi-1_rikbeun MTi-1_example MTi-1_example ... more

Important Information

This library is deprecated and no longer maintained. There are new embedded examples available in the MT SDK folder of the MT Software Suite. For more information please visit: https://xsenstechnologies.force.com/knowledgebase/s/article/Introduction-to-the-MT-SDK-programming-examples-for-MTi-devices

For an example of using the Xbus library to communicate with an MTi-1 series device using a full-duplex UART see:

Import programMTi-1_example

Example of using Xbus library to communicate with an MTi-1 series device using a full-duplex UART connection.

Last commit 03 May 2018 by Xsens

xbusmessage.h

Committer:
alexandery
Date:
2015-06-16
Revision:
0:eb25b1785ee4
Child:
1:c24f69a2eff4

File content as of revision 0:eb25b1785ee4:

/*!
 * \file
 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy
 * of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */

#ifndef __XBUSMESSAGE_H
#define __XBUSMESSAGE_H

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

#ifdef __cplusplus
extern "C" {
#endif

/*! \brief Xbus message IDs. */
enum XsMessageId
{
	XMID_Wakeup             = 0x3E,
	XMID_WakeupAck          = 0x3F,
	XMID_ReqDid             = 0x00,
	XMID_DeviceId           = 0x01,
	XMID_GotoConfig         = 0x30,
	XMID_GotoConfigAck      = 0x31,
	XMID_GotoMeasurement    = 0x10,
	XMID_GotoMeasurementAck = 0x11,
	XMID_MtData2            = 0x36,
	XMID_ReqOutputConfig    = 0xC0,
	XMID_SetOutputConfig    = 0xC0,
	XMID_OutputConfig       = 0xC1,
	XMID_Reset              = 0x40,
	XMID_ResetAck           = 0x41,
	XMID_Error              = 0x42,
};

/*! \brief Xbus data message type IDs. */
enum XsDataIdentifier
{
	XDI_PacketCounter  = 0x1020,
	XDI_SampleTimeFine = 0x1060,
	XDI_Quaternion     = 0x2010,
	XDI_DeltaV         = 0x4010,
	XDI_Acceleration   = 0x4020,
	XDI_RateOfTurn     = 0x8020,
	XDI_DeltaQ         = 0x8030,
	XDI_MagneticField  = 0xC020,
	XDI_StatusWord     = 0xE020,
};

/*!
 * \brief An Xbus message structure with optional payload.
 */
struct XbusMessage
{
	/*! \brief The message ID of the message. */
	enum XsMessageId mid;
	/*!
	 * \brief The length of the payload.
	 *
	 * \note The meaning of the length is message dependent. For example,
	 * for XMID_OutputConfig messages it is the number of OutputConfiguration
	 * elements in the configuration array.
	 */
	uint16_t length;
	/*! \brief Pointer to the payload data. */
	void* data;
};

/*!
 * \brief Output configuration structure.
 */
struct OutputConfiguration
{
	/*! \brief Data type of the output. */
	enum XsDataIdentifier dtype;
	/*!
	 * \brief The output frequency in Hz, or 65535 if the value should be
	 * included in every data message.
	 */
	uint16_t freq;
};

size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message);
bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message);
char const* XbusMessage_dataDescription(enum XsDataIdentifier id);

#ifdef __cplusplus
}
#endif // extern "C"

#endif // __XBUSMESSAGE_H