xbusmessage.h

00001 /*!
00002  * \file
00003  * \copyright Copyright (C) Xsens Technologies B.V., 2015.
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00006  * use this file except in compliance with the License. You may obtain a copy
00007  * of the License at
00008  *
00009  * http://www.apache.org/licenses/LICENSE-2.0
00010  *
00011  * Unless required by applicable law or agreed to in writing, software
00012  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00013  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00014  * License for the specific language governing permissions and limitations
00015  * under the License.
00016  */
00017 
00018 #ifndef __XBUSMESSAGE_H
00019 #define __XBUSMESSAGE_H
00020 
00021 #include <stddef.h>
00022 #include <stdint.h>
00023 #include <stdbool.h>
00024 
00025 #ifdef __cplusplus
00026 extern "C" {
00027 #endif
00028 
00029 /*! \brief Xbus message IDs. */
00030 enum XsMessageId
00031 {
00032     XMID_Wakeup             = 0x3E,
00033     XMID_WakeupAck          = 0x3F,
00034     XMID_ReqDid             = 0x00,
00035     XMID_DeviceId           = 0x01,
00036     XMID_GotoConfig         = 0x30,
00037     XMID_GotoConfigAck      = 0x31,
00038     XMID_GotoMeasurement    = 0x10,
00039     XMID_GotoMeasurementAck = 0x11,
00040     XMID_MtData2            = 0x36,
00041     XMID_ReqOutputConfig    = 0xC0,
00042     XMID_SetOutputConfig    = 0xC0,
00043     XMID_OutputConfig       = 0xC1,
00044     XMID_Reset              = 0x40,
00045     XMID_ResetAck           = 0x41,
00046     XMID_Error              = 0x42,
00047 };
00048 
00049 /*! \brief Xbus data message type IDs. */
00050 enum XsDataIdentifier
00051 {
00052     XDI_PacketCounter  = 0x1020,
00053     XDI_SampleTimeFine = 0x1060,
00054     XDI_Quaternion     = 0x2010,
00055     XDI_DeltaV         = 0x4010,
00056     XDI_Acceleration   = 0x4020,
00057     XDI_RateOfTurn     = 0x8020,
00058     XDI_DeltaQ         = 0x8030,
00059     XDI_MagneticField  = 0xC020,
00060     XDI_StatusWord     = 0xE020,
00061 };
00062 
00063 /*!
00064  * \brief Low level format to use when formating Xbus messages for transmission.
00065  */
00066 enum XbusLowLevelFormat
00067 {
00068     /*! \brief Format for use with I2C interface. */
00069     XLLF_I2c,
00070     /*! \brief Format for use with SPI interface. */
00071     XLLF_Spi,
00072     /*! \brief Format for use with UART interface. */
00073     XLLF_Uart
00074 };
00075 
00076 /*!
00077  * \brief An Xbus message structure with optional payload.
00078  */
00079 struct XbusMessage
00080 {
00081     /*! \brief The message ID of the message. */
00082     enum XsMessageId mid;
00083     /*!
00084      * \brief The length of the payload.
00085      *
00086      * \note The meaning of the length is message dependent. For example,
00087      * for XMID_OutputConfig messages it is the number of OutputConfiguration
00088      * elements in the configuration array.
00089      */
00090     uint16_t length;
00091     /*! \brief Pointer to the payload data. */
00092     void* data;
00093 };
00094 
00095 /*!
00096  * \brief Output configuration structure.
00097  */
00098 struct OutputConfiguration
00099 {
00100     /*! \brief Data type of the output. */
00101     enum XsDataIdentifier dtype;
00102     /*!
00103      * \brief The output frequency in Hz, or 65535 if the value should be
00104      * included in every data message.
00105      */
00106     uint16_t freq;
00107 };
00108 
00109 size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message, enum XbusLowLevelFormat format);
00110 bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message);
00111 char const* XbusMessage_dataDescription(enum XsDataIdentifier id);
00112 
00113 #ifdef __cplusplus
00114 }
00115 #endif // extern "C"
00116 
00117 #endif // __XBUSMESSAGE_H