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

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xbusmessage.c File Reference
Functions

xbusmessage.c File Reference

Go to the source code of this file.

Functions

static uint16_t messageLength (struct XbusMessage const *message)
 Calculate the number of bytes needed for message payload.
static void formatOutputConfig (uint8_t *raw, struct XbusMessage const *message)
 Format a message with a pointer to an array of OutputConfiguration elements.
static void formatPayload (uint8_t *raw, struct XbusMessage const *message)
 Format the payload of a message from a native data type to raw bytes.
size_t XbusMessage_format (uint8_t *raw, struct XbusMessage const *message, enum XbusLowLevelFormat format)
 Format a message into the raw Xbus format ready for transmission to a motion tracker.
static uint8_t const * getPointerToData (enum XsDataIdentifier id, uint8_t const *data, uint16_t dataLength)
 Get a pointer to the data corresponding to id.
static void readFloats (float *out, uint8_t const *raw, uint8_t floats)
 Read a number of floats from a message payload.
bool XbusMessage_getDataItem (void *item, enum XsDataIdentifier id, struct XbusMessage const *message)
 Get a data item from an XMID_MtData2 Xbus message.
char const * XbusMessage_dataDescription (enum XsDataIdentifier id)
 Get a string description for the passed data identifier.

Detailed Description

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.

Definition in file xbusmessage.c.

Function Documentation

static void formatOutputConfig ( uint8_t *  raw,
struct XbusMessage const *  message 
) [static]

Format a message with a pointer to an array of OutputConfiguration elements.

Definition at line 40 of file xbusmessage.c.

static void formatPayload ( uint8_t *  raw,
struct XbusMessage const *  message 
) [static]

Format the payload of a message from a native data type to raw bytes.

Definition at line 55 of file xbusmessage.c.

static uint8_t const* getPointerToData ( enum XsDataIdentifier  id,
uint8_t const *  data,
uint16_t  dataLength 
) [static]

Get a pointer to the data corresponding to id.

Parameters:
idThe data identifier to find in the message.
dataPointer to the raw message payload.
dataLengthThe length of the payload in bytes.
Returns:
Pointer to data item, or NULL if the identifier is not present in the message.

Definition at line 145 of file xbusmessage.c.

static uint16_t messageLength ( struct XbusMessage const *  message ) [static]

Calculate the number of bytes needed for message payload.

Definition at line 25 of file xbusmessage.c.

static void readFloats ( float *  out,
uint8_t const *  raw,
uint8_t  floats 
) [static]

Read a number of floats from a message payload.

Parameters:
outPointer to where to output data.
rawPointer to the start of the raw float data.
floatsThe number of floats to read.

Definition at line 169 of file xbusmessage.c.

char const* XbusMessage_dataDescription ( enum XsDataIdentifier  id )

Get a string description for the passed data identifier.

Definition at line 226 of file xbusmessage.c.

size_t XbusMessage_format ( uint8_t *  raw,
struct XbusMessage const *  message,
enum XbusLowLevelFormat  format 
)

Format a message into the raw Xbus format ready for transmission to a motion tracker.

Definition at line 76 of file xbusmessage.c.

bool XbusMessage_getDataItem ( void *  item,
enum XsDataIdentifier  id,
struct XbusMessage const *  message 
)

Get a data item from an XMID_MtData2 Xbus message.

Parameters:
itemPointer to where to store the data.
idThe data identifier to get.
messageThe message to read the data item from.
Returns:
true if the data item is found in the message, else false.

Definition at line 184 of file xbusmessage.c.

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