Revision 1:c24f69a2eff4, committed 2015-10-02

Comitter:

tjerkhofmeijer

Date:

Fri Oct 02 16:22:33 2015 +0200

Parent:

0:eb25b1785ee4

Commit message:

Xbus library is updated to support MTi 1-series' I2C and SPI interfaces

Changed in this revision

--- a/xbusdef.h	Tue Jun 16 07:54:23 2015 +0000
+++ b/xbusdef.h	Fri Oct 02 16:22:33 2015 +0200
@@ -1,30 +1,36 @@
-/*!
- * \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.
- */
-
-#ifndef __XBUSDEF_H
-#define __XBUSDEF_H
-
-/*! \brief Xbus message preamble byte. */
-#define XBUS_PREAMBLE (0xFA)
-/*! \brief Xbus message bus ID for master devices. */
-#define XBUS_MASTERDEVICE (0xFF)
-/*! \brief Xbus length byte for messages without payload. */
-#define XBUS_NO_PAYLOAD (0x00)
-/*! \brief Xbus length byte for message with an extended payload. */
-#define XBUS_EXTENDED_LENGTH (0xFF)
-
-#endif // __XBUSDEF_H
+/*!
+ * \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.
+ */
+
+#ifndef __XBUSDEF_H
+#define __XBUSDEF_H
+
+/*! \brief Xbus message preamble byte. */
+#define XBUS_PREAMBLE (0xFA)
+/*! \brief Xbus message bus ID for master devices. */
+#define XBUS_MASTERDEVICE (0xFF)
+/*! \brief Xbus length byte for messages without payload. */
+#define XBUS_NO_PAYLOAD (0x00)
+/*! \brief Xbus length byte for message with an extended payload. */
+#define XBUS_EXTENDED_LENGTH (0xFF)
+
+/*! \brief Opcode to write to control pipe in I2C/SPI mode */
+#define XBUS_CONTROL_PIPE (0x03)
+#define XBUS_PIPE_STATUS (0x04)
+#define XBUS_NOTIFICATION_PIPE (0x05)
+#define XBUS_MEASUREMENT_PIPE (0x06)
+
+#endif // __XBUSDEF_H

--- a/xbusmessage.c	Tue Jun 16 07:54:23 2015 +0000
+++ b/xbusmessage.c	Fri Oct 02 16:22:33 2015 +0200
@@ -73,14 +73,36 @@
  * \brief Format a message into the raw Xbus format ready for transmission to
  * a motion tracker.
  */
-size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message)
+size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message, enum XbusLowLevelFormat format)
 {
 	uint8_t* dptr = raw;
-	*dptr++ = XBUS_PREAMBLE;
+	switch (format)
+	{
+		case XLLF_I2c:
+			{
+				*dptr++ = XBUS_CONTROL_PIPE;
+			}
+			break;
 
-	*dptr = XBUS_MASTERDEVICE;
-	uint8_t checksum = 0;
-	checksum -= *dptr++;
+		case XLLF_Spi:
+			{
+				*dptr++ = XBUS_CONTROL_PIPE;
+				// Fill bytes required to allow MT to process data
+				*dptr++ = 0;
+				*dptr++ = 0;
+				*dptr++ = 0;
+			}
+			break;
+
+		case XLLF_Uart:
+			{
+				*dptr++ = XBUS_PREAMBLE;
+				*dptr++ = XBUS_MASTERDEVICE;
+			}
+			break;
+	}
+
+	uint8_t checksum = (uint8_t)(-XBUS_MASTERDEVICE);
 
 	*dptr = message->mid;
 	checksum -= *dptr++;

--- a/xbusmessage.h	Tue Jun 16 07:54:23 2015 +0000
+++ b/xbusmessage.h	Fri Oct 02 16:22:33 2015 +0200
@@ -1,104 +1,117 @@
-/*!
- * \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.
- */
-
-#ifndef __XBUSMESSAGE_H
-#define __XBUSMESSAGE_H
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*! \brief Xbus message IDs. */
-enum XsMessageId
-{
-	XMID_Wakeup             = 0x3E,
-	XMID_WakeupAck          = 0x3F,
-	XMID_ReqDid             = 0x00,
-	XMID_DeviceId           = 0x01,
-	XMID_GotoConfig         = 0x30,
-	XMID_GotoConfigAck      = 0x31,
-	XMID_GotoMeasurement    = 0x10,
-	XMID_GotoMeasurementAck = 0x11,
-	XMID_MtData2            = 0x36,
-	XMID_ReqOutputConfig    = 0xC0,
-	XMID_SetOutputConfig    = 0xC0,
-	XMID_OutputConfig       = 0xC1,
-	XMID_Reset              = 0x40,
-	XMID_ResetAck           = 0x41,
-	XMID_Error              = 0x42,
-};
-
-/*! \brief Xbus data message type IDs. */
-enum XsDataIdentifier
-{
-	XDI_PacketCounter  = 0x1020,
-	XDI_SampleTimeFine = 0x1060,
-	XDI_Quaternion     = 0x2010,
-	XDI_DeltaV         = 0x4010,
-	XDI_Acceleration   = 0x4020,
-	XDI_RateOfTurn     = 0x8020,
-	XDI_DeltaQ         = 0x8030,
-	XDI_MagneticField  = 0xC020,
-	XDI_StatusWord     = 0xE020,
-};
-
-/*!
- * \brief An Xbus message structure with optional payload.
- */
-struct XbusMessage
-{
-	/*! \brief The message ID of the message. */
-	enum XsMessageId mid;
-	/*!
-	 * \brief The length of the payload.
-	 *
-	 * \note The meaning of the length is message dependent. For example,
-	 * for XMID_OutputConfig messages it is the number of OutputConfiguration
-	 * elements in the configuration array.
-	 */
-	uint16_t length;
-	/*! \brief Pointer to the payload data. */
-	void* data;
-};
-
-/*!
- * \brief Output configuration structure.
- */
-struct OutputConfiguration
-{
-	/*! \brief Data type of the output. */
-	enum XsDataIdentifier dtype;
-	/*!
-	 * \brief The output frequency in Hz, or 65535 if the value should be
-	 * included in every data message.
-	 */
-	uint16_t freq;
-};
-
-size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message);
-bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message);
-char const* XbusMessage_dataDescription(enum XsDataIdentifier id);
-
-#ifdef __cplusplus
-}
-#endif // extern "C"
-
-#endif // __XBUSMESSAGE_H
+/*!
+ * \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.
+ */
+
+#ifndef __XBUSMESSAGE_H
+#define __XBUSMESSAGE_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! \brief Xbus message IDs. */
+enum XsMessageId
+{
+	XMID_Wakeup             = 0x3E,
+	XMID_WakeupAck          = 0x3F,
+	XMID_ReqDid             = 0x00,
+	XMID_DeviceId           = 0x01,
+	XMID_GotoConfig         = 0x30,
+	XMID_GotoConfigAck      = 0x31,
+	XMID_GotoMeasurement    = 0x10,
+	XMID_GotoMeasurementAck = 0x11,
+	XMID_MtData2            = 0x36,
+	XMID_ReqOutputConfig    = 0xC0,
+	XMID_SetOutputConfig    = 0xC0,
+	XMID_OutputConfig       = 0xC1,
+	XMID_Reset              = 0x40,
+	XMID_ResetAck           = 0x41,
+	XMID_Error              = 0x42,
+};
+
+/*! \brief Xbus data message type IDs. */
+enum XsDataIdentifier
+{
+	XDI_PacketCounter  = 0x1020,
+	XDI_SampleTimeFine = 0x1060,
+	XDI_Quaternion     = 0x2010,
+	XDI_DeltaV         = 0x4010,
+	XDI_Acceleration   = 0x4020,
+	XDI_RateOfTurn     = 0x8020,
+	XDI_DeltaQ         = 0x8030,
+	XDI_MagneticField  = 0xC020,
+	XDI_StatusWord     = 0xE020,
+};
+
+/*!
+ * \brief Low level format to use when formating Xbus messages for transmission.
+ */
+enum XbusLowLevelFormat
+{
+	/*! \brief Format for use with I2C interface. */
+	XLLF_I2c,
+	/*! \brief Format for use with SPI interface. */
+	XLLF_Spi,
+	/*! \brief Format for use with UART interface. */
+	XLLF_Uart
+};
+
+/*!
+ * \brief An Xbus message structure with optional payload.
+ */
+struct XbusMessage
+{
+	/*! \brief The message ID of the message. */
+	enum XsMessageId mid;
+	/*!
+	 * \brief The length of the payload.
+	 *
+	 * \note The meaning of the length is message dependent. For example,
+	 * for XMID_OutputConfig messages it is the number of OutputConfiguration
+	 * elements in the configuration array.
+	 */
+	uint16_t length;
+	/*! \brief Pointer to the payload data. */
+	void* data;
+};
+
+/*!
+ * \brief Output configuration structure.
+ */
+struct OutputConfiguration
+{
+	/*! \brief Data type of the output. */
+	enum XsDataIdentifier dtype;
+	/*!
+	 * \brief The output frequency in Hz, or 65535 if the value should be
+	 * included in every data message.
+	 */
+	uint16_t freq;
+};
+
+size_t XbusMessage_format(uint8_t* raw, struct XbusMessage const* message, enum XbusLowLevelFormat format);
+bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message);
+char const* XbusMessage_dataDescription(enum XsDataIdentifier id);
+
+#ifdef __cplusplus
+}
+#endif // extern "C"
+
+#endif // __XBUSMESSAGE_H