FRDM-KL25Zand Xsens MTi-3
Dependencies: mbed mbed-rtos Xbus
Diff: main.cpp
- Revision:
- 14:155f9a55ec51
- Parent:
- 11:8593ba137917
- Child:
- 15:558d279addd9
diff -r dc2aa4678ec7 -r 155f9a55ec51 main.cpp --- a/main.cpp Tue May 19 13:11:23 2015 +0200 +++ b/main.cpp Tue May 19 13:29:34 2015 +0200 @@ -54,24 +54,24 @@ } } -static void mtDataHandler(uint8_t mid, uint16_t dataLength, uint8_t const* data) +static void mtDataHandler(struct XbusMessage const* message) { - if (mid == MTDATA2_MESSAGE_ID) + if (message->mid == MTDATA2_MESSAGE_ID) { pc.printf("MTData2:"); uint16_t counter; - if (MtData2_getItem(&counter, XDI_PacketCounter, data, dataLength)) + if (MtData2_getItem(&counter, XDI_PacketCounter, message->data, message->length)) { pc.printf(" Packet counter: %5d", counter); } float ori[4]; - if (MtData2_getItem(ori, XDI_Quaternion, data, dataLength)) + if (MtData2_getItem(ori, XDI_Quaternion, message->data, message->length)) { pc.printf(" Orientation: (% .3f, % .3f, % .3f, % .3f)", ori[0], ori[1], ori[2], ori[3]); } uint32_t status; - if (MtData2_getItem(&status, XDI_StatusWord, data, dataLength)) + if (MtData2_getItem(&status, XDI_StatusWord, message->data, message->length)) { pc.printf(" Status:%X", status); } @@ -79,7 +79,7 @@ } else { - pc.printf("Received Xbus message. MID=%X, length=%d\n", mid, dataLength); + pc.printf("Received Xbus message. MID=%X, length=%d\n", message->mid, message->length); } }