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35 #include "mikrosdk_version.h"
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
69 #define XSENSMTI3_WAIT_FOR_START 0x00
70 #define XSENSMTI3_START_PROCESS 0x01
71 #define XSENSMTI3_DATA_PROCESSING 0x02
72 #define XSENSMTI3_PARSER_DATA 0x03
79 #define XSENSMTI3_TX_DRV_BUFFER_SIZE 100
80 #define XSENSMTI3_RX_DRV_BUFFER_SIZE 1000
98 #define XSENSMTI3_MAP_MIKROBUS( cfg, mikrobus ) \
99 cfg.tx_pin = MIKROBUS( mikrobus, MIKROBUS_TX ); \
100 cfg.rx_pin = MIKROBUS( mikrobus, MIKROBUS_RX ); \
101 cfg.syn = MIKROBUS( mikrobus, MIKROBUS_AN ); \
102 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
103 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
104 cfg.rts = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
105 cfg.cts = MIKROBUS( mikrobus, MIKROBUS_INT )
166 uint32_t raw_data[ 4 ];
167 float quat_data[ 4 ];
320 #endif // XSENSMTI3_H
digital_out_t rts
Definition: xsensmti3.h:120
Click parse structure definition.
Definition: xsensmti3.h:195
pin_name_t rst
Definition: xsensmti3.h:146
uart_parity_t parity_bit
Definition: xsensmti3.h:155
err_t xsensmti3_generic_write(xsensmti3_t *ctx, uint8_t *data_buf, uint16_t len)
XSENS MTi-3 data writing function.
xsensmti3_return_value_t
XSENS MTi-3 Click return value data.
Definition: xsensmti3.h:221
xsensmti3_quat_t quat_obj
Definition: xsensmti3.h:197
pin_name_t rx_pin
Definition: xsensmti3.h:141
void xsensmti3_parser(uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj)
XSENS MTi-3 general parser.
float yaw
Definition: xsensmti3.h:212
uint32_t package_header
Definition: xsensmti3.h:196
pin_name_t cs
Definition: xsensmti3.h:147
xsensmti3_u32_data_t time_obj
Definition: xsensmti3.h:198
digital_out_t cs
Definition: xsensmti3.h:119
digital_in_t cts
Definition: xsensmti3.h:123
pin_name_t tx_pin
Definition: xsensmti3.h:142
xsensmti3_u16_data_t package_obj
Definition: xsensmti3.h:200
Click quat structure definition.
Definition: xsensmti3.h:164
digital_out_t rst
Definition: xsensmti3.h:118
uint32_t out_data
Definition: xsensmti3.h:177
err_t xsensmti3_check_package(uint8_t *package_buf, uint8_t *start_package)
XSENS MTi-3 checks package.
Click roll/pitch/yaw structure definition.
Definition: xsensmti3.h:209
uart_stop_bits_t stop_bit
Definition: xsensmti3.h:156
uint8_t crc_data
Definition: xsensmti3.h:201
uart_data_bits_t data_bit
Definition: xsensmti3.h:154
digital_out_t syn
Definition: xsensmti3.h:117
uint32_t baud_rate
Definition: xsensmti3.h:152
float pitch
Definition: xsensmti3.h:211
void xsensmti3_get_data(xsensmti3_quat_t *quat_obj, xsensmti3_data_t *data_obj)
XSENS MTi-3 get Roll, Pitch and Yaw.
@ XSENSMTI3_ERROR
Definition: xsensmti3.h:223
uint16_t data_id
Definition: xsensmti3.h:186
void xsensmti3_cfg_setup(xsensmti3_cfg_t *cfg)
XSENS MTi-3 configuration object setup function.
Click 16-bit data structure definition.
Definition: xsensmti3.h:185
@ XSENSMTI3_OK
Definition: xsensmti3.h:222
uint16_t out_data
Definition: xsensmti3.h:187
err_t xsensmti3_generic_read(xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len)
XSENS MTi-3 data reading function.
uint16_t data_id
Definition: xsensmti3.h:165
#define XSENSMTI3_RX_DRV_BUFFER_SIZE
Definition: xsensmti3.h:80
#define XSENSMTI3_TX_DRV_BUFFER_SIZE
XSENS MTi-3 driver buffer size.
Definition: xsensmti3.h:79
Click 32-bit data structure definition.
Definition: xsensmti3.h:175
uart_t uart
Definition: xsensmti3.h:126
err_t xsensmti3_init(xsensmti3_t *ctx, xsensmti3_cfg_t *cfg)
XSENS MTi-3 initialization function.
uint16_t data_id
Definition: xsensmti3.h:176
XSENS MTi-3 Click context object.
Definition: xsensmti3.h:115
xsensmti3_u32_data_t status_obj
Definition: xsensmti3.h:199
pin_name_t cts
Definition: xsensmti3.h:149
bool uart_blocking
Definition: xsensmti3.h:153
pin_name_t syn
Definition: xsensmti3.h:145
float roll
Definition: xsensmti3.h:210
pin_name_t rts
Definition: xsensmti3.h:148
XSENS MTi-3 Click configuration object.
Definition: xsensmti3.h:139