Diff: main.cpp

Revision:

14:155f9a55ec51

Parent:

11:8593ba137917

Child:

15:558d279addd9

--- 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);
 	}
 }