xsensmti3.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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#ifndef XSENSMTI3_H
#define XSENSMTI3_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_uart.h"
 
#define XSENSMTI3_WAIT_FOR_START        0x00
#define XSENSMTI3_START_PROCESS         0x01
#define XSENSMTI3_DATA_PROCESSING       0x02
#define XSENSMTI3_PARSER_DATA           0x03
 
#define XSENSMTI3_TX_DRV_BUFFER_SIZE    100
#define XSENSMTI3_RX_DRV_BUFFER_SIZE    1000
 
 // xsensmti3_cmd
 
#define XSENSMTI3_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.tx_pin  = MIKROBUS( mikrobus, MIKROBUS_TX ); \
    cfg.rx_pin  = MIKROBUS( mikrobus, MIKROBUS_RX ); \
    cfg.syn = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.cs  = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.rts = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.cts = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // xsensmti3_map
 // xsensmti3
 
typedef struct
{
    // Output pins
    digital_out_t syn;      
    digital_out_t rst;      
    digital_out_t cs;       
    digital_out_t rts;      
    // Input pins
    digital_in_t cts;       
    // Modules
    uart_t uart;            
    // Buffers
    uint8_t uart_rx_buffer[ XSENSMTI3_RX_DRV_BUFFER_SIZE ]; 
    uint8_t uart_tx_buffer[ XSENSMTI3_TX_DRV_BUFFER_SIZE ]; 
} xsensmti3_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t rx_pin;      
    pin_name_t tx_pin;      
    // Additional gpio pins
    pin_name_t syn;         
    pin_name_t rst;         
    pin_name_t cs;          
    pin_name_t rts;         
    pin_name_t cts;         
    // Static variable
    uint32_t          baud_rate;        
    bool              uart_blocking;    
    uart_data_bits_t  data_bit;         
    uart_parity_t     parity_bit;       
    uart_stop_bits_t  stop_bit;         
} xsensmti3_cfg_t;
 
typedef struct
{
    uint16_t data_id;
    uint32_t raw_data[ 4 ];
    float    quat_data[ 4 ];
 
} xsensmti3_quat_t;
 
typedef struct
{
    uint16_t data_id;
    uint32_t out_data;
 
} xsensmti3_u32_data_t;
 
typedef struct
{
    uint16_t data_id;
    uint16_t out_data;
 
} xsensmti3_u16_data_t;
 
typedef struct
{
    uint32_t                package_header;
    xsensmti3_quat_t        quat_obj;
    xsensmti3_u32_data_t    time_obj;
    xsensmti3_u32_data_t    status_obj;
    xsensmti3_u16_data_t    package_obj;
    uint8_t                 crc_data;
 
} xsensmti3_parse_t;
 
typedef struct
{
    float roll;
    float pitch;
    float yaw;
 
} xsensmti3_data_t;
 
typedef enum
{
    XSENSMTI3_OK = 0,
    XSENSMTI3_ERROR = -1
 
} xsensmti3_return_value_t;
 
void xsensmti3_cfg_setup ( xsensmti3_cfg_t *cfg );
 
err_t xsensmti3_init ( xsensmti3_t *ctx, xsensmti3_cfg_t *cfg );
 
err_t xsensmti3_generic_write ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t len );
 
err_t xsensmti3_generic_read ( xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len );
 
void xsensmti3_parser ( uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj );
 
void xsensmti3_get_data( xsensmti3_quat_t *quat_obj, xsensmti3_data_t *data_obj );
 
err_t xsensmti3_check_package( uint8_t *package_buf, uint8_t *start_package );
 
#ifdef __cplusplus
}
#endif
#endif // XSENSMTI3_H
 
 // xsensmti3
 
// ------------------------------------------------------------------------ END