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This library is deprecated and no longer maintained.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

xbusutility.c

Committer:
alexandery
Date:
2015-06-16
Revision:
0:eb25b1785ee4

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.
 */

#include "xbusutility.h"

/*!
 * \name Xbus message reading utility functions.
 * Xbus messages use big-endian representations for multibyte data.
 * These functions help in reading data from an Xbus message and converting
 * it to a native type.
 *
 * The functions are intended to scan over a message as follows:
 * \code
 * void readValues(XbusMessage const* message)
 * {
 *     uint16_t v1;
 *     uint8_t v2;
 *     uint32_t v3;
 *     uint8_t* dptr = message->data;
 *     dptr = XbusUtility_readU16(&v1, dptr);
 *     dptr = XbusUtility_readU8(&v2, dptr);
 *     dptr = XbusUtility_readU32(&v3, dptr);
 * }
 * \endcode
 * \{
 */
/*!
 * \brief Read a uint8_t value from an Xbus message.
 */
uint8_t const* XbusUtility_readU8(uint8_t* out, uint8_t const* in)
{
	*out = *in;
	return ++in;
}

/*! \brief Read a uint16_t value from an Xbus message. */
uint8_t const* XbusUtility_readU16(uint16_t* out, uint8_t const* in)
{
	*out = (in[0] << 8) | in[1];
	return in + sizeof(uint16_t);
}

/*! \brief Read a uint32_t value from an Xbus message. */
uint8_t const* XbusUtility_readU32(uint32_t* out, uint8_t const* in)
{
	*out = (in[0] << 24) | (in[1] << 16) | (in[2] << 8) | in[3];
	return in + sizeof(uint32_t);
}
/*! \} */

/*!
 * \name Xbus message writing utility functions.
 * These functions aid in writing native values to big-endian xbus message
 * payloads. See corresponding reading functions for further details.
 * \{
 */
/*! \brief Write a uint8_t value to an Xbus message. */
uint8_t* XbusUtility_writeU8(uint8_t* out, uint8_t in)
{
	*out++ = in;
	return out;
}

/*! \brief Write a uint16_t value to an Xbus message. */
uint8_t* XbusUtility_writeU16(uint8_t* out, uint16_t in)
{
	*out++ = (in >> 8) & 0xFF;
	*out++ = in & 0xFF;
	return out;
}

/*! \brief Write a uint32_t value to an Xbus message. */
uint8_t* XbusUtility_writeU32(uint8_t* out, uint32_t in)
{
	*out++ = (in >> 24) & 0xFF;
	*out++ = (in >> 16) & 0xFF;
	*out++ = (in >> 8) & 0xFF;
	*out++ = in & 0xFF;
	return out;
}
/*! \}  */