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This library is deprecated and no longer maintained.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@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
tjerkhofmeijer 1:c24f69a2eff4 1 /*!
tjerkhofmeijer 1:c24f69a2eff4 2 * \file
tjerkhofmeijer 1:c24f69a2eff4 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
tjerkhofmeijer 1:c24f69a2eff4 4 *
tjerkhofmeijer 1:c24f69a2eff4 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
tjerkhofmeijer 1:c24f69a2eff4 6 * use this file except in compliance with the License. You may obtain a copy
tjerkhofmeijer 1:c24f69a2eff4 7 * of the License at
tjerkhofmeijer 1:c24f69a2eff4 8 *
tjerkhofmeijer 1:c24f69a2eff4 9 * http://www.apache.org/licenses/LICENSE-2.0
tjerkhofmeijer 1:c24f69a2eff4 10 *
tjerkhofmeijer 1:c24f69a2eff4 11 * Unless required by applicable law or agreed to in writing, software
tjerkhofmeijer 1:c24f69a2eff4 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
tjerkhofmeijer 1:c24f69a2eff4 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
tjerkhofmeijer 1:c24f69a2eff4 14 * License for the specific language governing permissions and limitations
tjerkhofmeijer 1:c24f69a2eff4 15 * under the License.
tjerkhofmeijer 1:c24f69a2eff4 16 */
tjerkhofmeijer 1:c24f69a2eff4 17
tjerkhofmeijer 1:c24f69a2eff4 18 #ifndef __XBUSMESSAGE_H
tjerkhofmeijer 1:c24f69a2eff4 19 #define __XBUSMESSAGE_H
tjerkhofmeijer 1:c24f69a2eff4 20
tjerkhofmeijer 1:c24f69a2eff4 21 #include <stddef.h>
tjerkhofmeijer 1:c24f69a2eff4 22 #include <stdint.h>
tjerkhofmeijer 1:c24f69a2eff4 23 #include <stdbool.h>
tjerkhofmeijer 1:c24f69a2eff4 24
tjerkhofmeijer 1:c24f69a2eff4 25 #ifdef __cplusplus
tjerkhofmeijer 1:c24f69a2eff4 26 extern "C" {
tjerkhofmeijer 1:c24f69a2eff4 27 #endif
tjerkhofmeijer 1:c24f69a2eff4 28
tjerkhofmeijer 1:c24f69a2eff4 29 /*! \brief Xbus message IDs. */
tjerkhofmeijer 1:c24f69a2eff4 30 enum XsMessageId
tjerkhofmeijer 1:c24f69a2eff4 31 {
tjerkhofmeijer 1:c24f69a2eff4 32 XMID_Wakeup = 0x3E,
tjerkhofmeijer 1:c24f69a2eff4 33 XMID_WakeupAck = 0x3F,
tjerkhofmeijer 1:c24f69a2eff4 34 XMID_ReqDid = 0x00,
tjerkhofmeijer 1:c24f69a2eff4 35 XMID_DeviceId = 0x01,
tjerkhofmeijer 1:c24f69a2eff4 36 XMID_GotoConfig = 0x30,
tjerkhofmeijer 1:c24f69a2eff4 37 XMID_GotoConfigAck = 0x31,
tjerkhofmeijer 1:c24f69a2eff4 38 XMID_GotoMeasurement = 0x10,
tjerkhofmeijer 1:c24f69a2eff4 39 XMID_GotoMeasurementAck = 0x11,
tjerkhofmeijer 1:c24f69a2eff4 40 XMID_MtData2 = 0x36,
tjerkhofmeijer 1:c24f69a2eff4 41 XMID_ReqOutputConfig = 0xC0,
tjerkhofmeijer 1:c24f69a2eff4 42 XMID_SetOutputConfig = 0xC0,
tjerkhofmeijer 1:c24f69a2eff4 43 XMID_OutputConfig = 0xC1,
tjerkhofmeijer 1:c24f69a2eff4 44 XMID_Reset = 0x40,
tjerkhofmeijer 1:c24f69a2eff4 45 XMID_ResetAck = 0x41,
tjerkhofmeijer 1:c24f69a2eff4 46 XMID_Error = 0x42,
tjerkhofmeijer 1:c24f69a2eff4 47 };
tjerkhofmeijer 1:c24f69a2eff4 48
tjerkhofmeijer 1:c24f69a2eff4 49 /*! \brief Xbus data message type IDs. */
tjerkhofmeijer 1:c24f69a2eff4 50 enum XsDataIdentifier
tjerkhofmeijer 1:c24f69a2eff4 51 {
tjerkhofmeijer 1:c24f69a2eff4 52 XDI_PacketCounter = 0x1020,
tjerkhofmeijer 1:c24f69a2eff4 53 XDI_SampleTimeFine = 0x1060,
tjerkhofmeijer 1:c24f69a2eff4 54 XDI_Quaternion = 0x2010,
tjerkhofmeijer 1:c24f69a2eff4 55 XDI_DeltaV = 0x4010,
tjerkhofmeijer 1:c24f69a2eff4 56 XDI_Acceleration = 0x4020,
tjerkhofmeijer 1:c24f69a2eff4 57 XDI_RateOfTurn = 0x8020,
tjerkhofmeijer 1:c24f69a2eff4 58 XDI_DeltaQ = 0x8030,
tjerkhofmeijer 1:c24f69a2eff4 59 XDI_MagneticField = 0xC020,
tjerkhofmeijer 1:c24f69a2eff4 60 XDI_StatusWord = 0xE020,
tjerkhofmeijer 1:c24f69a2eff4 61 };
tjerkhofmeijer 1:c24f69a2eff4 62
tjerkhofmeijer 1:c24f69a2eff4 63 /*!
tjerkhofmeijer 1:c24f69a2eff4 64 * \brief Low level format to use when formating Xbus messages for transmission.
tjerkhofmeijer 1:c24f69a2eff4 65 */
tjerkhofmeijer 1:c24f69a2eff4 66 enum XbusLowLevelFormat
tjerkhofmeijer 1:c24f69a2eff4 67 {
tjerkhofmeijer 1:c24f69a2eff4 68 /*! \brief Format for use with I2C interface. */
tjerkhofmeijer 1:c24f69a2eff4 69 XLLF_I2c,
tjerkhofmeijer 1:c24f69a2eff4 70 /*! \brief Format for use with SPI interface. */
tjerkhofmeijer 1:c24f69a2eff4 71 XLLF_Spi,
tjerkhofmeijer 1:c24f69a2eff4 72 /*! \brief Format for use with UART interface. */
tjerkhofmeijer 1:c24f69a2eff4 73 XLLF_Uart
tjerkhofmeijer 1:c24f69a2eff4 74 };
tjerkhofmeijer 1:c24f69a2eff4 75
tjerkhofmeijer 1:c24f69a2eff4 76 /*!
tjerkhofmeijer 1:c24f69a2eff4 77 * \brief An Xbus message structure with optional payload.
tjerkhofmeijer 1:c24f69a2eff4 78 */
tjerkhofmeijer 1:c24f69a2eff4 79 struct XbusMessage
tjerkhofmeijer 1:c24f69a2eff4 80 {
tjerkhofmeijer 1:c24f69a2eff4 81 /*! \brief The message ID of the message. */
tjerkhofmeijer 1:c24f69a2eff4 82 enum XsMessageId mid;
tjerkhofmeijer 1:c24f69a2eff4 83 /*!
tjerkhofmeijer 1:c24f69a2eff4 84 * \brief The length of the payload.
tjerkhofmeijer 1:c24f69a2eff4 85 *
tjerkhofmeijer 1:c24f69a2eff4 86 * \note The meaning of the length is message dependent. For example,
tjerkhofmeijer 1:c24f69a2eff4 87 * for XMID_OutputConfig messages it is the number of OutputConfiguration
tjerkhofmeijer 1:c24f69a2eff4 88 * elements in the configuration array.
tjerkhofmeijer 1:c24f69a2eff4 89 */
tjerkhofmeijer 1:c24f69a2eff4 90 uint16_t length;
tjerkhofmeijer 1:c24f69a2eff4 91 /*! \brief Pointer to the payload data. */
tjerkhofmeijer 1:c24f69a2eff4 92 void* data;
tjerkhofmeijer 1:c24f69a2eff4 93 };
tjerkhofmeijer 1:c24f69a2eff4 94
tjerkhofmeijer 1:c24f69a2eff4 95 /*!
tjerkhofmeijer 1:c24f69a2eff4 96 * \brief Output configuration structure.
tjerkhofmeijer 1:c24f69a2eff4 97 */
tjerkhofmeijer 1:c24f69a2eff4 98 struct OutputConfiguration
tjerkhofmeijer 1:c24f69a2eff4 99 {
tjerkhofmeijer 1:c24f69a2eff4 100 /*! \brief Data type of the output. */
tjerkhofmeijer 1:c24f69a2eff4 101 enum XsDataIdentifier dtype;
tjerkhofmeijer 1:c24f69a2eff4 102 /*!
tjerkhofmeijer 1:c24f69a2eff4 103 * \brief The output frequency in Hz, or 65535 if the value should be
tjerkhofmeijer 1:c24f69a2eff4 104 * included in every data message.
tjerkhofmeijer 1:c24f69a2eff4 105 */
tjerkhofmeijer 1:c24f69a2eff4 106 uint16_t freq;
tjerkhofmeijer 1:c24f69a2eff4 107 };
tjerkhofmeijer 1:c24f69a2eff4 108
tjerkhofmeijer 1:c24f69a2eff4 109 size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message, enum XbusLowLevelFormat format);
tjerkhofmeijer 1:c24f69a2eff4 110 bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message);
tjerkhofmeijer 1:c24f69a2eff4 111 char const* XbusMessage_dataDescription(enum XsDataIdentifier id);
tjerkhofmeijer 1:c24f69a2eff4 112
tjerkhofmeijer 1:c24f69a2eff4 113 #ifdef __cplusplus
tjerkhofmeijer 1:c24f69a2eff4 114 }
tjerkhofmeijer 1:c24f69a2eff4 115 #endif // extern "C"
tjerkhofmeijer 1:c24f69a2eff4 116
tjerkhofmeijer 1:c24f69a2eff4 117 #endif // __XBUSMESSAGE_H