xsensmti3  2.0.0.0
xsensmti3.h
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22 
28 #ifndef XSENSMTI3_H
29 #define XSENSMTI3_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_uart.h"
48 
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
73 
79 #define XSENSMTI3_TX_DRV_BUFFER_SIZE 100
80 #define XSENSMTI3_RX_DRV_BUFFER_SIZE 1000
81  // xsensmti3_cmd
83 
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 )
106  // xsensmti3_map // xsensmti3
109 
114 typedef struct
115 {
116  // Output pins
117  digital_out_t syn;
118  digital_out_t rst;
119  digital_out_t cs;
120  digital_out_t rts;
122  // Input pins
123  digital_in_t cts;
125  // Modules
126  uart_t uart;
128  // Buffers
129  uint8_t uart_rx_buffer[ XSENSMTI3_RX_DRV_BUFFER_SIZE ];
130  uint8_t uart_tx_buffer[ XSENSMTI3_TX_DRV_BUFFER_SIZE ];
132 } xsensmti3_t;
133 
138 typedef struct
139 {
140  // Communication gpio pins
141  pin_name_t rx_pin;
142  pin_name_t tx_pin;
144  // Additional gpio pins
145  pin_name_t syn;
146  pin_name_t rst;
147  pin_name_t cs;
148  pin_name_t rts;
149  pin_name_t cts;
151  // Static variable
152  uint32_t baud_rate;
154  uart_data_bits_t data_bit;
155  uart_parity_t parity_bit;
156  uart_stop_bits_t stop_bit;
159 
163 typedef struct
164 {
165  uint16_t data_id;
166  uint32_t raw_data[ 4 ];
167  float quat_data[ 4 ];
168 
170 
174 typedef struct
175 {
176  uint16_t data_id;
177  uint32_t out_data;
178 
180 
184 typedef struct
185 {
186  uint16_t data_id;
187  uint16_t out_data;
188 
190 
194 typedef struct
195 {
196  uint32_t package_header;
201  uint8_t crc_data;
202 
204 
208 typedef struct
209 {
210  float roll;
211  float pitch;
212  float yaw;
213 
215 
220 typedef enum
221 {
223  XSENSMTI3_ERROR = -1
224 
226 
243 
258 
271 err_t xsensmti3_generic_write ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t len );
272 
285 err_t xsensmti3_generic_read ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len );
286 
295 void xsensmti3_parser ( uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj );
296 
305 
315 err_t xsensmti3_check_package( uint8_t *package_buf, uint8_t *start_package );
316 
317 #ifdef __cplusplus
318 }
319 #endif
320 #endif // XSENSMTI3_H
321  // xsensmti3
323 
324 // ------------------------------------------------------------------------ END
xsensmti3_t::rts
digital_out_t rts
Definition: xsensmti3.h:120
xsensmti3_parse_t
Click parse structure definition.
Definition: xsensmti3.h:195
xsensmti3_cfg_t::rst
pin_name_t rst
Definition: xsensmti3.h:146
xsensmti3_cfg_t::parity_bit
uart_parity_t parity_bit
Definition: xsensmti3.h:155
xsensmti3_generic_write
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
xsensmti3_return_value_t
XSENS MTi-3 Click return value data.
Definition: xsensmti3.h:221
xsensmti3_parse_t::quat_obj
xsensmti3_quat_t quat_obj
Definition: xsensmti3.h:197
xsensmti3_cfg_t::rx_pin
pin_name_t rx_pin
Definition: xsensmti3.h:141
xsensmti3_parser
void xsensmti3_parser(uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj)
XSENS MTi-3 general parser.
xsensmti3_data_t::yaw
float yaw
Definition: xsensmti3.h:212
xsensmti3_parse_t::package_header
uint32_t package_header
Definition: xsensmti3.h:196
xsensmti3_cfg_t::cs
pin_name_t cs
Definition: xsensmti3.h:147
xsensmti3_parse_t::time_obj
xsensmti3_u32_data_t time_obj
Definition: xsensmti3.h:198
xsensmti3_t::cs
digital_out_t cs
Definition: xsensmti3.h:119
xsensmti3_t::cts
digital_in_t cts
Definition: xsensmti3.h:123
xsensmti3_cfg_t::tx_pin
pin_name_t tx_pin
Definition: xsensmti3.h:142
xsensmti3_parse_t::package_obj
xsensmti3_u16_data_t package_obj
Definition: xsensmti3.h:200
xsensmti3_quat_t
Click quat structure definition.
Definition: xsensmti3.h:164
xsensmti3_t::rst
digital_out_t rst
Definition: xsensmti3.h:118
xsensmti3_u32_data_t::out_data
uint32_t out_data
Definition: xsensmti3.h:177
xsensmti3_check_package
err_t xsensmti3_check_package(uint8_t *package_buf, uint8_t *start_package)
XSENS MTi-3 checks package.
xsensmti3_data_t
Click roll/pitch/yaw structure definition.
Definition: xsensmti3.h:209
xsensmti3_cfg_t::stop_bit
uart_stop_bits_t stop_bit
Definition: xsensmti3.h:156
xsensmti3_parse_t::crc_data
uint8_t crc_data
Definition: xsensmti3.h:201
xsensmti3_cfg_t::data_bit
uart_data_bits_t data_bit
Definition: xsensmti3.h:154
xsensmti3_t::syn
digital_out_t syn
Definition: xsensmti3.h:117
xsensmti3_cfg_t::baud_rate
uint32_t baud_rate
Definition: xsensmti3.h:152
xsensmti3_data_t::pitch
float pitch
Definition: xsensmti3.h:211
xsensmti3_get_data
void xsensmti3_get_data(xsensmti3_quat_t *quat_obj, xsensmti3_data_t *data_obj)
XSENS MTi-3 get Roll, Pitch and Yaw.
XSENSMTI3_ERROR
@ XSENSMTI3_ERROR
Definition: xsensmti3.h:223
xsensmti3_u16_data_t::data_id
uint16_t data_id
Definition: xsensmti3.h:186
xsensmti3_cfg_setup
void xsensmti3_cfg_setup(xsensmti3_cfg_t *cfg)
XSENS MTi-3 configuration object setup function.
xsensmti3_u16_data_t
Click 16-bit data structure definition.
Definition: xsensmti3.h:185
XSENSMTI3_OK
@ XSENSMTI3_OK
Definition: xsensmti3.h:222
xsensmti3_u16_data_t::out_data
uint16_t out_data
Definition: xsensmti3.h:187
xsensmti3_generic_read
err_t xsensmti3_generic_read(xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len)
XSENS MTi-3 data reading function.
xsensmti3_quat_t::data_id
uint16_t data_id
Definition: xsensmti3.h:165
XSENSMTI3_RX_DRV_BUFFER_SIZE
#define XSENSMTI3_RX_DRV_BUFFER_SIZE
Definition: xsensmti3.h:80
XSENSMTI3_TX_DRV_BUFFER_SIZE
#define XSENSMTI3_TX_DRV_BUFFER_SIZE
XSENS MTi-3 driver buffer size.
Definition: xsensmti3.h:79
xsensmti3_u32_data_t
Click 32-bit data structure definition.
Definition: xsensmti3.h:175
xsensmti3_t::uart
uart_t uart
Definition: xsensmti3.h:126
xsensmti3_init
err_t xsensmti3_init(xsensmti3_t *ctx, xsensmti3_cfg_t *cfg)
XSENS MTi-3 initialization function.
xsensmti3_u32_data_t::data_id
uint16_t data_id
Definition: xsensmti3.h:176
xsensmti3_t
XSENS MTi-3 Click context object.
Definition: xsensmti3.h:115
xsensmti3_parse_t::status_obj
xsensmti3_u32_data_t status_obj
Definition: xsensmti3.h:199
xsensmti3_cfg_t::cts
pin_name_t cts
Definition: xsensmti3.h:149
xsensmti3_cfg_t::uart_blocking
bool uart_blocking
Definition: xsensmti3.h:153
xsensmti3_cfg_t::syn
pin_name_t syn
Definition: xsensmti3.h:145
xsensmti3_data_t::roll
float roll
Definition: xsensmti3.h:210
xsensmti3_cfg_t::rts
pin_name_t rts
Definition: xsensmti3.h:148
xsensmti3_cfg_t
XSENS MTi-3 Click configuration object.
Definition: xsensmti3.h:139