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This library is deprecated and no longer maintained.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@1:c24f69a2eff4, 2015-10-02 (annotated)

Committer:
tjerkhofmeijer
Date:
Fri Oct 02 16:22:33 2015 +0200
Revision:
1:c24f69a2eff4
Parent:
0:eb25b1785ee4 
Xbus library is updated to support MTi 1-series' I2C and SPI interfaces

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alexandery 0:eb25b1785ee4 1 /*!
alexandery 0:eb25b1785ee4 2 * \file
alexandery 0:eb25b1785ee4 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
alexandery 0:eb25b1785ee4 4 *
alexandery 0:eb25b1785ee4 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
alexandery 0:eb25b1785ee4 6 * use this file except in compliance with the License. You may obtain a copy
alexandery 0:eb25b1785ee4 7 * of the License at
alexandery 0:eb25b1785ee4 8 *
alexandery 0:eb25b1785ee4 9 * http://www.apache.org/licenses/LICENSE-2.0
alexandery 0:eb25b1785ee4 10 *
alexandery 0:eb25b1785ee4 11 * Unless required by applicable law or agreed to in writing, software
alexandery 0:eb25b1785ee4 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
alexandery 0:eb25b1785ee4 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
alexandery 0:eb25b1785ee4 14 * License for the specific language governing permissions and limitations
alexandery 0:eb25b1785ee4 15 * under the License.
alexandery 0:eb25b1785ee4 16 */
alexandery 0:eb25b1785ee4 17
alexandery 0:eb25b1785ee4 18 #include "xbusutility.h"
alexandery 0:eb25b1785ee4 19
alexandery 0:eb25b1785ee4 20 /*!
alexandery 0:eb25b1785ee4 21 * \name Xbus message reading utility functions.
alexandery 0:eb25b1785ee4 22 * Xbus messages use big-endian representations for multibyte data.
alexandery 0:eb25b1785ee4 23 * These functions help in reading data from an Xbus message and converting
alexandery 0:eb25b1785ee4 24 * it to a native type.
alexandery 0:eb25b1785ee4 25 *
alexandery 0:eb25b1785ee4 26 * The functions are intended to scan over a message as follows:
alexandery 0:eb25b1785ee4 27 * \code
alexandery 0:eb25b1785ee4 28 * void readValues(XbusMessage const* message)
alexandery 0:eb25b1785ee4 29 * {
alexandery 0:eb25b1785ee4 30 * uint16_t v1;
alexandery 0:eb25b1785ee4 31 * uint8_t v2;
alexandery 0:eb25b1785ee4 32 * uint32_t v3;
alexandery 0:eb25b1785ee4 33 * uint8_t* dptr = message->data;
alexandery 0:eb25b1785ee4 34 * dptr = XbusUtility_readU16(&v1, dptr);
alexandery 0:eb25b1785ee4 35 * dptr = XbusUtility_readU8(&v2, dptr);
alexandery 0:eb25b1785ee4 36 * dptr = XbusUtility_readU32(&v3, dptr);
alexandery 0:eb25b1785ee4 37 * }
alexandery 0:eb25b1785ee4 38 * \endcode
alexandery 0:eb25b1785ee4 39 * \{
alexandery 0:eb25b1785ee4 40 */
alexandery 0:eb25b1785ee4 41 /*!
alexandery 0:eb25b1785ee4 42 * \brief Read a uint8_t value from an Xbus message.
alexandery 0:eb25b1785ee4 43 */
alexandery 0:eb25b1785ee4 44 uint8_t const* XbusUtility_readU8(uint8_t* out, uint8_t const* in)
alexandery 0:eb25b1785ee4 45 {
alexandery 0:eb25b1785ee4 46 *out = *in;
alexandery 0:eb25b1785ee4 47 return ++in;
alexandery 0:eb25b1785ee4 48 }
alexandery 0:eb25b1785ee4 49
alexandery 0:eb25b1785ee4 50 /*! \brief Read a uint16_t value from an Xbus message. */
alexandery 0:eb25b1785ee4 51 uint8_t const* XbusUtility_readU16(uint16_t* out, uint8_t const* in)
alexandery 0:eb25b1785ee4 52 {
alexandery 0:eb25b1785ee4 53 *out = (in[0] << 8) | in[1];
alexandery 0:eb25b1785ee4 54 return in + sizeof(uint16_t);
alexandery 0:eb25b1785ee4 55 }
alexandery 0:eb25b1785ee4 56
alexandery 0:eb25b1785ee4 57 /*! \brief Read a uint32_t value from an Xbus message. */
alexandery 0:eb25b1785ee4 58 uint8_t const* XbusUtility_readU32(uint32_t* out, uint8_t const* in)
alexandery 0:eb25b1785ee4 59 {
alexandery 0:eb25b1785ee4 60 *out = (in[0] << 24) | (in[1] << 16) | (in[2] << 8) | in[3];
alexandery 0:eb25b1785ee4 61 return in + sizeof(uint32_t);
alexandery 0:eb25b1785ee4 62 }
alexandery 0:eb25b1785ee4 63 /*! \} */
alexandery 0:eb25b1785ee4 64
alexandery 0:eb25b1785ee4 65 /*!
alexandery 0:eb25b1785ee4 66 * \name Xbus message writing utility functions.
alexandery 0:eb25b1785ee4 67 * These functions aid in writing native values to big-endian xbus message
alexandery 0:eb25b1785ee4 68 * payloads. See corresponding reading functions for further details.
alexandery 0:eb25b1785ee4 69 * \{
alexandery 0:eb25b1785ee4 70 */
alexandery 0:eb25b1785ee4 71 /*! \brief Write a uint8_t value to an Xbus message. */
alexandery 0:eb25b1785ee4 72 uint8_t* XbusUtility_writeU8(uint8_t* out, uint8_t in)
alexandery 0:eb25b1785ee4 73 {
alexandery 0:eb25b1785ee4 74 *out++ = in;
alexandery 0:eb25b1785ee4 75 return out;
alexandery 0:eb25b1785ee4 76 }
alexandery 0:eb25b1785ee4 77
alexandery 0:eb25b1785ee4 78 /*! \brief Write a uint16_t value to an Xbus message. */
alexandery 0:eb25b1785ee4 79 uint8_t* XbusUtility_writeU16(uint8_t* out, uint16_t in)
alexandery 0:eb25b1785ee4 80 {
alexandery 0:eb25b1785ee4 81 *out++ = (in >> 8) & 0xFF;
alexandery 0:eb25b1785ee4 82 *out++ = in & 0xFF;
alexandery 0:eb25b1785ee4 83 return out;
alexandery 0:eb25b1785ee4 84 }
alexandery 0:eb25b1785ee4 85
alexandery 0:eb25b1785ee4 86 /*! \brief Write a uint32_t value to an Xbus message. */
alexandery 0:eb25b1785ee4 87 uint8_t* XbusUtility_writeU32(uint8_t* out, uint32_t in)
alexandery 0:eb25b1785ee4 88 {
alexandery 0:eb25b1785ee4 89 *out++ = (in >> 24) & 0xFF;
alexandery 0:eb25b1785ee4 90 *out++ = (in >> 16) & 0xFF;
alexandery 0:eb25b1785ee4 91 *out++ = (in >> 8) & 0xFF;
alexandery 0:eb25b1785ee4 92 *out++ = in & 0xFF;
alexandery 0:eb25b1785ee4 93 return out;
alexandery 0:eb25b1785ee4 94 }
alexandery 0:eb25b1785ee4 95 /*! \} */