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 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_uart.h"
52 
73 #define XSENSMTI3_WAIT_FOR_START 0x00
74 #define XSENSMTI3_START_PROCESS 0x01
75 #define XSENSMTI3_DATA_PROCESSING 0x02
76 #define XSENSMTI3_PARSER_DATA 0x03
77 
83 #define XSENSMTI3_TX_DRV_BUFFER_SIZE 100
84 #define XSENSMTI3_RX_DRV_BUFFER_SIZE 1000
85  // xsensmti3_cmd
87 
102 #define XSENSMTI3_MAP_MIKROBUS( cfg, mikrobus ) \
103  cfg.tx_pin = MIKROBUS( mikrobus, MIKROBUS_TX ); \
104  cfg.rx_pin = MIKROBUS( mikrobus, MIKROBUS_RX ); \
105  cfg.syn = MIKROBUS( mikrobus, MIKROBUS_AN ); \
106  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
107  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
108  cfg.rts = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
109  cfg.cts = MIKROBUS( mikrobus, MIKROBUS_INT )
110  // xsensmti3_map // xsensmti3
113 
118 typedef struct
119 {
120  // Output pins
121  digital_out_t syn;
122  digital_out_t rst;
123  digital_out_t cs;
124  digital_out_t rts;
126  // Input pins
127  digital_in_t cts;
129  // Modules
130  uart_t uart;
132  // Buffers
133  uint8_t uart_rx_buffer[ XSENSMTI3_RX_DRV_BUFFER_SIZE ];
134  uint8_t uart_tx_buffer[ XSENSMTI3_TX_DRV_BUFFER_SIZE ];
136 } xsensmti3_t;
137 
142 typedef struct
143 {
144  // Communication gpio pins
145  pin_name_t rx_pin;
146  pin_name_t tx_pin;
148  // Additional gpio pins
149  pin_name_t syn;
150  pin_name_t rst;
151  pin_name_t cs;
152  pin_name_t rts;
153  pin_name_t cts;
155  // Static variable
156  uint32_t baud_rate;
158  uart_data_bits_t data_bit;
159  uart_parity_t parity_bit;
160  uart_stop_bits_t stop_bit;
163 
167 typedef struct
168 {
169  uint16_t data_id;
170  uint32_t raw_data[ 4 ];
171  float quat_data[ 4 ];
172 
174 
178 typedef struct
179 {
180  uint16_t data_id;
181  uint32_t out_data;
182 
184 
188 typedef struct
189 {
190  uint16_t data_id;
191  uint16_t out_data;
192 
194 
198 typedef struct
199 {
200  uint32_t package_header;
205  uint8_t crc_data;
206 
208 
212 typedef struct
213 {
214  float roll;
215  float pitch;
216  float yaw;
217 
219 
224 typedef enum
225 {
227  XSENSMTI3_ERROR = -1
228 
230 
247 
262 
275 err_t xsensmti3_generic_write ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t len );
276 
289 err_t xsensmti3_generic_read ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len );
290 
299 void xsensmti3_parser ( uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj );
300 
309 
319 err_t xsensmti3_check_package( uint8_t *package_buf, uint8_t *start_package );
320 
321 #ifdef __cplusplus
322 }
323 #endif
324 #endif // XSENSMTI3_H
325  // xsensmti3
327 
328 // ------------------------------------------------------------------------ END
xsensmti3_t::rts
digital_out_t rts
Definition: xsensmti3.h:124
xsensmti3_parse_t
Click parse structure definition.
Definition: xsensmti3.h:199
xsensmti3_cfg_t::rst
pin_name_t rst
Definition: xsensmti3.h:150
xsensmti3_cfg_t::parity_bit
uart_parity_t parity_bit
Definition: xsensmti3.h:159
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:225
xsensmti3_parse_t::quat_obj
xsensmti3_quat_t quat_obj
Definition: xsensmti3.h:201
xsensmti3_cfg_t::rx_pin
pin_name_t rx_pin
Definition: xsensmti3.h:145
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:216
xsensmti3_parse_t::package_header
uint32_t package_header
Definition: xsensmti3.h:200
xsensmti3_cfg_t::cs
pin_name_t cs
Definition: xsensmti3.h:151
xsensmti3_parse_t::time_obj
xsensmti3_u32_data_t time_obj
Definition: xsensmti3.h:202
xsensmti3_t::cs
digital_out_t cs
Definition: xsensmti3.h:123
xsensmti3_t::cts
digital_in_t cts
Definition: xsensmti3.h:127
xsensmti3_cfg_t::tx_pin
pin_name_t tx_pin
Definition: xsensmti3.h:146
xsensmti3_parse_t::package_obj
xsensmti3_u16_data_t package_obj
Definition: xsensmti3.h:204
xsensmti3_quat_t
Click quat structure definition.
Definition: xsensmti3.h:168
xsensmti3_t::rst
digital_out_t rst
Definition: xsensmti3.h:122
xsensmti3_u32_data_t::out_data
uint32_t out_data
Definition: xsensmti3.h:181
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:213
xsensmti3_cfg_t::stop_bit
uart_stop_bits_t stop_bit
Definition: xsensmti3.h:160
xsensmti3_parse_t::crc_data
uint8_t crc_data
Definition: xsensmti3.h:205
xsensmti3_cfg_t::data_bit
uart_data_bits_t data_bit
Definition: xsensmti3.h:158
xsensmti3_t::syn
digital_out_t syn
Definition: xsensmti3.h:121
xsensmti3_cfg_t::baud_rate
uint32_t baud_rate
Definition: xsensmti3.h:156
xsensmti3_data_t::pitch
float pitch
Definition: xsensmti3.h:215
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:227
xsensmti3_u16_data_t::data_id
uint16_t data_id
Definition: xsensmti3.h:190
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:189
XSENSMTI3_OK
@ XSENSMTI3_OK
Definition: xsensmti3.h:226
xsensmti3_u16_data_t::out_data
uint16_t out_data
Definition: xsensmti3.h:191
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:169
XSENSMTI3_RX_DRV_BUFFER_SIZE
#define XSENSMTI3_RX_DRV_BUFFER_SIZE
Definition: xsensmti3.h:84
XSENSMTI3_TX_DRV_BUFFER_SIZE
#define XSENSMTI3_TX_DRV_BUFFER_SIZE
XSENS MTi-3 driver buffer size.
Definition: xsensmti3.h:83
xsensmti3_u32_data_t
Click 32-bit data structure definition.
Definition: xsensmti3.h:179
xsensmti3_t::uart
uart_t uart
Definition: xsensmti3.h:130
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:180
xsensmti3_t
XSENS MTi-3 Click context object.
Definition: xsensmti3.h:119
xsensmti3_parse_t::status_obj
xsensmti3_u32_data_t status_obj
Definition: xsensmti3.h:203
xsensmti3_cfg_t::cts
pin_name_t cts
Definition: xsensmti3.h:153
xsensmti3_cfg_t::uart_blocking
bool uart_blocking
Definition: xsensmti3.h:157
xsensmti3_cfg_t::syn
pin_name_t syn
Definition: xsensmti3.h:149
xsensmti3_data_t::roll
float roll
Definition: xsensmti3.h:214
xsensmti3_cfg_t::rts
pin_name_t rts
Definition: xsensmti3.h:152
xsensmti3_cfg_t
XSENS MTi-3 Click configuration object.
Definition: xsensmti3.h:143