[ins] refactor xsens700

conf/firmwares/subsystems/fixedwing/imu_xsens.makefile

@@ -56,6 +56,7 @@
 ap.CFLAGS += -DUSE_IMU
 ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
 ap.srcs   += $(SRC_MODULES)/ins/xsens.c
+ap.srcs   += $(SRC_MODULES)/ins/xsens_common.c
 ap.srcs   += $(SRC_MODULES)/ins/imu_xsens.c
 ap.srcs   += $(SRC_SUBSYSTEMS)/imu.c
 

conf/firmwares/subsystems/fixedwing/ins_xsens.makefile

@@ -27,6 +27,7 @@ ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
 ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
 ap.srcs   += $(SRC_MODULES)/ins/xsens.c
+ap.srcs   += $(SRC_MODULES)/ins/xsens_common.c
 ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c
 ap.srcs   += $(SRC_MODULES)/ins/ins_xsens.c
 ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP

conf/firmwares/subsystems/shared/ins_xsens700.makefile

@@ -11,19 +11,19 @@
 #########################################
 ## ATTITUDE
 
-ap.CFLAGS += -DUSE_INS_MODULE
-
 # AHRS Results
-ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens700.h\"
 
 ifndef XSENS_UART_BAUD
 	XSENS_UART_BAUD = B115200
 endif
 
 ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
+ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
 ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
+ap.srcs   += $(SRC_MODULES)/ins/xsens700.c
+ap.srcs   += $(SRC_MODULES)/ins/xsens_common.c
 ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c
 ap.srcs   += $(SRC_MODULES)/ins/ins_xsens700.c
 ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
@@ -35,7 +35,7 @@ ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
 ap.CFLAGS += -DUSE_GPS_XSENS
 ap.CFLAGS += -DGPS_NB_CHANNELS=50
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 

sw/airborne/modules/ins/imu_xsens.c

@@ -27,6 +27,7 @@
 
 #include "imu_xsens.h"
 #include "xsens.h"
+#include "xsens_common.h"
 
 #include "generated/airframe.h"
 

sw/airborne/modules/ins/ins_xsens.c

@@ -25,6 +25,7 @@
  */
 
 #include "ins_xsens.h"
+#include "xsens_common.h"
 #include "subsystems/ins.h"
 
 #include "generated/airframe.h"
@@ -110,7 +111,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 #if USE_GPS_XSENS
 void gps_xsens_init(void)
 {
-  gps.nb_channels = 0;
+  xsens.gps.nb_channels = 0;
 }
 
 static void gps_xsens_publish(void)
@@ -123,8 +124,6 @@ static void gps_xsens_publish(void)
     xsens.gps.last_3dfix_ticks = sys_time.nb_sec_rem;
     xsens.gps.last_3dfix_time = sys_time.nb_sec;
   }
-  // still update the global gps struct for now
-  gps = xsens.gps;
   AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &xsens.gps);
 }
 #endif

sw/airborne/modules/ins/ins_xsens700.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/**
+ * @file modules/ins/ins_xsens700.h
+ * Xsens700 as a full INS solution
+ */
+
+#ifndef INS_XSENS700_H
+#define INS_XSENS700_H
+
+#include "std.h"
+
+#include "xsens700.h"
+
+#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
+extern volatile uint8_t new_ins_attitude;
+#endif
+
+extern float ins_pitch_neutral;
+extern float ins_roll_neutral;
+
+#define DefaultInsImpl ins_xsens700
+#define InsPeriodic xsens700_periodic
+#define InsEvent ins_xsens700_event
+extern void ins_xsens700_init(void);
+extern void ins_xsens700_register(void);
+extern void ins_xsens700_event(void);
+
+#if USE_GPS_XSENS
+#ifndef PRIMARY_GPS
+#define PRIMARY_GPS gps_xsens700
+#endif
+extern void gps_xsens700_init(void);
+extern void gps_xsens700_register(void);
+#endif
+
+#endif

sw/airborne/modules/ins/xsens.c

@@ -24,6 +24,9 @@
  */
 
 #include "xsens.h"
+#include "xsens_common.h"
+
+#include "generated/airframe.h"
 
 #if USE_GPS_XSENS
 #include "math/pprz_geodetic_wgs84.h"
@@ -34,34 +37,6 @@
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
-volatile uint8_t xsens_msg_received;
-
-#define XsensLinkDevice (&((XSENS_LINK).device))
-
-#define XsensInitCheksum() { send_ck = 0; }
-#define XsensUpdateChecksum(c) { send_ck += c; }
-
-#define XsensUartSend1(c) XsensLinkDevice->put_byte(XsensLinkDevice->periph, c)
-#define XsensSend1(c) { uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); }
-#define XsensSend1ByAddr(x) { XsensSend1(*x); }
-#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); }
-#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }
-
-#define XsensHeader(msg_id, len) {              \
-    XsensUartSend1(XSENS_START);                  \
-    XsensInitCheksum();                         \
-    XsensSend1(XSENS_BID);                      \
-    XsensSend1(msg_id);                         \
-    XsensSend1(len);                            \
-  }
-#define XsensTrailer() { uint8_t i8=0x100-send_ck; XsensUartSend1(i8); }
-
-/** Includes macros generated from xsens_MTi-G.xml */
-#include "xsens_protocol.h"
-
-
-#define XSENS_MAX_PAYLOAD 254
-uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
 
 /* output mode : calibrated, orientation, position, velocity, status
  * -----------
@@ -117,15 +92,6 @@ uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
 #define XSENS_OUTPUT_SETTINGS 0x80000C05
 #endif
 
-#define UNINIT        0
-#define GOT_START     1
-#define GOT_BID       2
-#define GOT_MID       3
-#define GOT_LEN       4
-#define GOT_DATA      5
-#define GOT_CHECKSUM  6
-
-
 uint8_t xsens_errorcode;
 uint8_t xsens_msg_status;
 uint16_t xsens_time_stamp;
@@ -138,13 +104,6 @@ float xsens_gps_arm_x = 0;
 float xsens_gps_arm_y = 0;
 float xsens_gps_arm_z = 0;
 
-static uint8_t xsens_id;
-static uint8_t xsens_status;
-static uint8_t xsens_len;
-static uint8_t xsens_msg_idx;
-static uint8_t ck;
-uint8_t send_ck;
-
 volatile int xsens_configured = 0;
 
 struct Xsens xsens;
@@ -162,16 +121,6 @@ void xsens_init(void)
   xsens_output_settings = XSENS_OUTPUT_SETTINGS;
 }
 
-void xsens_event(void)
-{
-  struct link_device *dev = &((XSENS_LINK).device);
-  if (dev->char_available(dev->periph)) {
-    while (dev->char_available(dev->periph) && !xsens_msg_received) {
-      parse_xsens_buffer(dev->get_byte(dev->periph));
-    }
-  }
-}
-
 void xsens_periodic(void)
 {
   if (xsens_configured > 0) {
@@ -422,57 +371,3 @@ void parse_xsens_msg(void)
   }
 
 }
-
-
-void parse_xsens_buffer(uint8_t c)
-{
-  ck += c;
-  switch (xsens_status) {
-    case UNINIT:
-      if (c != XSENS_START) {
-        goto error;
-      }
-      xsens_status++;
-      ck = 0;
-      break;
-    case GOT_START:
-      if (c != XSENS_BID) {
-        goto error;
-      }
-      xsens_status++;
-      break;
-    case GOT_BID:
-      xsens_id = c;
-      xsens_status++;
-      break;
-    case GOT_MID:
-      xsens_len = c;
-      if (xsens_len > XSENS_MAX_PAYLOAD) {
-        goto error;
-      }
-      xsens_msg_idx = 0;
-      xsens_status++;
-      break;
-    case GOT_LEN:
-      xsens_msg_buf[xsens_msg_idx] = c;
-      xsens_msg_idx++;
-      if (xsens_msg_idx >= xsens_len) {
-        xsens_status++;
-      }
-      break;
-    case GOT_DATA:
-      if (ck != 0) {
-        goto error;
-      }
-      xsens_msg_received = TRUE;
-      goto restart;
-      break;
-    default:
-      break;
-  }
-  return;
-error:
-restart:
-  xsens_status = UNINIT;
-  return;
-}

sw/airborne/modules/ins/xsens.h

@@ -77,7 +77,6 @@ extern struct Xsens xsens;
 
 extern void xsens_init(void);
 extern void xsens_periodic(void);
-extern void xsens_event(void);
 extern void parse_xsens_msg(void);
 
 #endif /* XSENS_H */

sw/airborne/modules/ins/xsens700.c

@@ -0,0 +1,285 @@
+/*
+ * Copyright (C) 2013  Christophe De Wagter
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/**
+ * @file modules/ins/xsens700.c
+ * Parser for the Xsens700 protocol.
+ */
+
+#include "xsens700.h"
+#include "xsens_common.h"
+
+#include "generated/airframe.h"
+
+#if USE_GPS_XSENS
+#include "math/pprz_geodetic_wgs84.h"
+#endif
+
+// FIXME Debugging Only
+#include "mcu_periph/uart.h"
+#include "pprzlink/messages.h"
+#include "subsystems/datalink/downlink.h"
+
+
+uint8_t xsens_errorcode;
+uint32_t xsens_msg_statusword;
+uint16_t xsens_time_stamp;
+uint16_t xsens_output_mode;
+uint32_t xsens_output_settings;
+
+float xsens_gps_arm_x = 0;
+float xsens_gps_arm_y = 0;
+float xsens_gps_arm_z = 0;
+
+struct Xsens xsens700;
+
+volatile int xsens_configured = 0;
+
+void xsens700_init(void)
+{
+  xsens_status = UNINIT;
+  xsens_configured = 30;
+
+  xsens_msg_statusword = 0;
+  xsens_time_stamp = 0;
+}
+
+static void xsens_ask_message_rate(uint8_t c1, uint8_t c2, uint8_t freq)
+{
+  uint8_t foo = 0;
+  XsensSend1ByAddr(&c1);
+  XsensSend1ByAddr(&c2);
+  XsensSend1ByAddr(&foo);
+  XsensSend1ByAddr(&freq);
+}
+
+void xsens700_periodic(void)
+{
+  if (xsens_configured > 0) {
+    switch (xsens_configured) {
+      case 25:
+        /* send mode and settings to MT */
+        XSENS_GoToConfig();
+        //XSENS_SetOutputMode(xsens_output_mode);
+        //XSENS_SetOutputSettings(xsens_output_settings);
+        break;
+      case 18:
+        // Give pulses on SyncOut
+        //XSENS_SetSyncOutSettings(0,0x0002);
+        break;
+      case 17:
+
+        XsensHeader(XSENS_SetOutputConfiguration_ID, 44);
+        xsens_ask_message_rate(0x10, 0x10, 4);    // UTC
+        xsens_ask_message_rate(0x20, 0x30, 100);  // Attitude Euler
+        xsens_ask_message_rate(0x40, 0x10, 100);  // Delta-V
+        xsens_ask_message_rate(0x80, 0x20, 100);  // Rate of turn
+        xsens_ask_message_rate(0xE0, 0x20, 50);   // Status
+        xsens_ask_message_rate(0x30, 0x10, 50);   // Baro Pressure
+        xsens_ask_message_rate(0x88, 0x40, 1);    // NavSol
+        xsens_ask_message_rate(0x88, 0xA0, 1);    // SV Info
+        xsens_ask_message_rate(0x50, 0x20, 50);   // GPS Altitude Ellipsiod
+        xsens_ask_message_rate(0x50, 0x40, 50);   // GPS Position
+        xsens_ask_message_rate(0xD0, 0x10, 50);   // GPS Speed
+        XsensTrailer();
+        break;
+      case 2:
+        //XSENS_ReqLeverArmGps();
+        break;
+
+      case 6:
+        //XSENS_ReqMagneticDeclination();
+        break;
+
+      case 13:
+        //#ifdef AHRS_H_X
+        //#pragma message "Sending XSens Magnetic Declination."
+        //xsens_declination = atan2(AHRS_H_Y, AHRS_H_X);
+        //XSENS_SetMagneticDeclination(xsens_declination);
+        //#endif
+        break;
+      case 12:
+#ifdef GPS_IMU_LEVER_ARM_X
+#pragma message "Sending XSens GPS Arm."
+        XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z);
+#endif
+        break;
+      case 10: {
+        uint8_t baud = 1;
+        XSENS_SetBaudrate(baud);
+      }
+      break;
+
+      case 1:
+        XSENS_GoToMeasurment();
+        break;
+      default:
+        break;
+    }
+    xsens_configured--;
+    return;
+  }
+
+}
+
+
+void parse_xsens700_msg(void)
+{
+  uint8_t offset = 0;
+  if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) {
+    xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf);
+    xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf);
+    xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf);
+  } else if (xsens_id == XSENS_Error_ID) {
+    xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
+  } else if (xsens_id == XSENS_MTData2_ID) {
+    for (offset = 0; offset < xsens_len;) {
+      uint8_t code1 = xsens_msg_buf[offset];
+      uint8_t code2 = xsens_msg_buf[offset + 1];
+      int subpacklen = (int)xsens_msg_buf[offset + 2];
+      offset += 3;
+
+      if (code1 == 0x10) {
+        if (code2 == 0x10) {
+          // UTC
+        } else if (code2 == 0x20) {
+          // Packet Counter
+        }
+        if (code2 == 0x30) {
+          // ITOW
+        }
+      } else if (code1 == 0x20) {
+        if (code2 == 0x30) {
+          // Attitude Euler
+          xsens700.euler.phi   = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180;
+          xsens700.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180;
+          xsens700.euler.psi   = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180;
+
+          xsens700.new_attitude = TRUE;
+        }
+      } else if (code1 == 0x40) {
+        if (code2 == 0x10) {
+          // Delta-V
+          xsens700.accel.x = XSENS_DATA_Acceleration_x(xsens_msg_buf, offset) * 100.0f;
+          xsens700.accel.y = XSENS_DATA_Acceleration_y(xsens_msg_buf, offset) * 100.0f;
+          xsens700.accel.z = XSENS_DATA_Acceleration_z(xsens_msg_buf, offset) * 100.0f;
+        }
+      } else if (code1 == 0x80) {
+        if (code2 == 0x20) {
+          // Rate Of Turn
+          xsens700.gyro.p = XSENS_DATA_RateOfTurn_x(xsens_msg_buf, offset) * M_PI / 180;
+          xsens700.gyro.q = XSENS_DATA_RateOfTurn_y(xsens_msg_buf, offset) * M_PI / 180;
+          xsens700.gyro.r = XSENS_DATA_RateOfTurn_z(xsens_msg_buf, offset) * M_PI / 180;
+        }
+      } else if (code1 == 0x30) {
+        if (code2 == 0x10) {
+          // Baro Pressure
+        }
+      } else if (code1 == 0xE0) {
+        if (code2 == 0x20) {
+          // Status Word
+          xsens_msg_statusword = XSENS_DATA_StatusWord_status(xsens_msg_buf, offset);
+          //xsens700.gps.tow = xsens_msg_statusword;
+#if USE_GPS_XSENS
+          if (bit_is_set(xsens_msg_statusword, 2) && bit_is_set(xsens_msg_statusword, 1)) {
+            if (bit_is_set(xsens_msg_statusword, 23) && bit_is_set(xsens_msg_statusword, 24)) {
+              xsens700.gps.fix = GPS_FIX_3D;
+            } else {
+              xsens700.gps.fix = GPS_FIX_2D;
+            }
+          } else { xsens700.gps.fix = GPS_FIX_NONE; }
+#endif
+        }
+      } else if (code1 == 0x88) {
+        if (code2 == 0x40) {
+          xsens700.gps.week = XSENS_DATA_GpsSol_week(xsens_msg_buf, offset);
+          xsens700.gps.num_sv = XSENS_DATA_GpsSol_numSv(xsens_msg_buf, offset);
+          xsens700.gps.pacc = XSENS_DATA_GpsSol_pAcc(xsens_msg_buf, offset);
+          xsens700.gps.sacc = XSENS_DATA_GpsSol_sAcc(xsens_msg_buf, offset);
+          xsens700.gps.pdop = XSENS_DATA_GpsSol_pDop(xsens_msg_buf, offset);
+        } else if (code2 == 0xA0) {
+          // SVINFO
+          xsens700.gps.tow = XSENS_XDI_GpsSvInfo_iTOW(xsens_msg_buf + offset);
+
+#if USE_GPS_XSENS
+          xsens700.gps.nb_channels = XSENS_XDI_GpsSvInfo_nch(xsens_msg_buf + offset);
+
+          xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+          xsens700.gps.last_3dfix_time = sys_time.nb_sec;
+
+          uint8_t i;
+          // Do not write outside buffer
+          for (i = 0; i < Min(xsens700.gps.nb_channels, GPS_NB_CHANNELS); i++) {
+            uint8_t ch = XSENS_XDI_GpsSvInfo_chn(xsens_msg_buf + offset, i);
+            if (ch > xsens700.gps.nb_channels) { continue; }
+            xsens700.gps.svinfos[ch].svid = XSENS_XDI_GpsSvInfo_svid(xsens_msg_buf + offset, i);
+            xsens700.gps.svinfos[ch].flags = XSENS_XDI_GpsSvInfo_bitmask(xsens_msg_buf + offset, i);
+            xsens700.gps.svinfos[ch].qi = XSENS_XDI_GpsSvInfo_qi(xsens_msg_buf + offset, i);
+            xsens700.gps.svinfos[ch].cno = XSENS_XDI_GpsSvInfo_cnr(xsens_msg_buf + offset, i);
+          }
+#endif
+        }
+      } else if (code1 == 0x50) {
+        if (code2 == 0x10) {
+          //xsens700.gps.hmsl = XSENS_DATA_Altitude_h(xsens_msg_buf,offset)* 1000.0f;
+        } else if (code2 == 0x20) {
+          // Altitude Elipsoid
+          xsens700.gps.lla_pos.alt = XSENS_DATA_Altitude_h(xsens_msg_buf, offset) * 1000.0f;
+
+          // Compute geoid (MSL) height
+          float geoid_h = wgs84_ellipsoid_to_geoid(xsens700.lla_f.lat, xsens700.lla_f.lon);
+          xsens700.gps.hmsl =  xsens700.gps.lla_pos.alt - (geoid_h * 1000.0f);
+          SetBit(xsens700.gps.valid_fields, GPS_VALID_HMSL_BIT);
+
+          //xsens700.gps.tow = geoid_h * 1000.0f; //xsens700.gps.utm_pos.alt;
+        } else if (code2 == 0x40) {
+          // LatLong
+#ifdef GPS_LED
+          LED_TOGGLE(GPS_LED);
+#endif
+          xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+          xsens700.gps.last_3dfix_time = sys_time.nb_sec;
+          xsens700.gps.week = 0; // FIXME
+
+          xsens700.lla_f.lat = RadOfDeg(XSENS_DATA_LatLon_lat(xsens_msg_buf, offset));
+          xsens700.lla_f.lon = RadOfDeg(XSENS_DATA_LatLon_lon(xsens_msg_buf, offset));
+        }
+      } else if (code1 == 0xD0) {
+        if (code2 == 0x10) {
+          // Velocity
+          xsens700.vel.x = XSENS_DATA_VelocityXYZ_x(xsens_msg_buf, offset);
+          xsens700.vel.y = XSENS_DATA_VelocityXYZ_y(xsens_msg_buf, offset);
+          xsens700.vel.z = XSENS_DATA_VelocityXYZ_z(xsens_msg_buf, offset);
+          xsens700.gps.ned_vel.x = xsens700.vel.x;
+          xsens700.gps.ned_vel.y = xsens700.vel.y;
+          xsens700.gps.ned_vel.z = xsens700.vel.x;
+          SetBit(xsens700.gps.valid_fields, GPS_VALID_VEL_NED_BIT);
+        }
+      }
+
+      if (subpacklen < 0) {
+        subpacklen = 0;
+      }
+      offset += subpacklen;
+    }
+  }
+}

sw/airborne/modules/ins/xsens700.h

@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** @file modules/ins/xsens_700.h
+ * Parser for the Xsens protocol.
+ */
+
+#ifndef XSENS700_H
+#define XSENS700_H
+
+#include "std.h"
+#include "math/pprz_algebra_float.h"
+#include "math/pprz_geodetic_float.h"
+#include "math/pprz_geodetic_int.h"
+
+#if USE_GPS_XSENS
+#include "subsystems/gps.h"
+#endif
+
+struct XsensTime {
+  int8_t hour;
+  int8_t min;
+  int8_t sec;
+  int32_t nanosec;
+  int16_t year;
+  int8_t month;
+  int8_t day;
+};
+
+struct Xsens {
+  struct XsensTime time;
+  uint16_t time_stamp;
+
+  struct FloatRates gyro;
+  struct FloatVect3 accel;
+  struct FloatVect3 mag;
+
+  struct LlaCoor_f lla_f;
+  struct FloatVect3 vel;  ///< NED velocity in m/s
+
+  struct FloatQuat quat;
+  struct FloatEulers euler;
+
+  volatile bool_t msg_received;
+  volatile bool_t new_attitude;
+
+  bool_t gyro_available;
+  bool_t accel_available;
+  bool_t mag_available;
+
+#if USE_GPS_XSENS
+  struct GpsState gps;
+  bool_t gps_available;
+#endif
+};
+
+extern struct Xsens xsens700;
+
+extern void xsens700_init(void);
+extern void xsens700_periodic(void);
+extern void parse_xsens700_msg(void);
+
+#endif /* XSENS700_H */

sw/airborne/modules/ins/xsens_common.c

@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file modules/ins/xsens_common.c
+ * Parser for the Xsens protocol.
+ */
+
+#include "xsens_common.h"
+
+#include "pprzlink/pprzlink_device.h"
+#include "mcu_periph/uart.h"
+
+volatile uint8_t xsens_msg_received;
+
+uint8_t xsens_id;
+uint8_t xsens_status;
+uint8_t xsens_len;
+uint8_t xsens_msg_idx;
+uint8_t ck;
+uint8_t send_ck;
+
+uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
+
+void parse_xsens_buffer(uint8_t c);
+
+void xsens_event(void)
+{
+  struct link_device *dev = &((XSENS_LINK).device);
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !xsens_msg_received) {
+      parse_xsens_buffer(dev->get_byte(dev->periph));
+    }
+  }
+}
+
+void parse_xsens_buffer(uint8_t c)
+{
+  ck += c;
+  switch (xsens_status) {
+    case UNINIT:
+      if (c != XSENS_START) {
+        goto error;
+      }
+      xsens_status++;
+      ck = 0;
+      break;
+    case GOT_START:
+      if (c != XSENS_BID) {
+        goto error;
+      }
+      xsens_status++;
+      break;
+    case GOT_BID:
+      xsens_id = c;
+      xsens_status++;
+      break;
+    case GOT_MID:
+      xsens_len = c;
+      if (xsens_len > XSENS_MAX_PAYLOAD) {
+        goto error;
+      }
+      xsens_msg_idx = 0;
+      xsens_status++;
+      break;
+    case GOT_LEN:
+      xsens_msg_buf[xsens_msg_idx] = c;
+      xsens_msg_idx++;
+      if (xsens_msg_idx >= xsens_len) {
+        xsens_status++;
+      }
+      break;
+    case GOT_DATA:
+      if (ck != 0) {
+        goto error;
+      }
+      xsens_msg_received = TRUE;
+      goto restart;
+      break;
+    default:
+      break;
+  }
+  return;
+error:
+restart:
+  xsens_status = UNINIT;
+  return;
+}

sw/airborne/modules/ins/xsens_common.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file modules/ins/xsens_common.h
+ * Parser for the Xsens protocol.
+ */
+
+#ifndef XSENS_COMMON_H
+#define XSENS_COMMON_H
+
+#include "std.h"
+
+/** Includes macros generated from xsens_MTi-G.xml */
+#include "xsens_protocol.h"
+
+extern uint8_t xsens_id;
+extern uint8_t xsens_status;
+extern uint8_t xsens_len;
+extern uint8_t xsens_msg_idx;
+extern uint8_t ck;
+extern uint8_t send_ck;
+
+#define XsensLinkDevice (&((XSENS_LINK).device))
+
+#define XsensInitCheksum() { send_ck = 0; }
+#define XsensUpdateChecksum(c) { send_ck += c; }
+
+#define XsensUartSend1(c) XsensLinkDevice->put_byte(XsensLinkDevice->periph, c)
+#define XsensSend1(c) { uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); }
+#define XsensSend1ByAddr(x) { XsensSend1(*x); }
+#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); }
+#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }
+
+#define XsensHeader(msg_id, len) {              \
+    XsensUartSend1(XSENS_START);                  \
+    XsensInitCheksum();                         \
+    XsensSend1(XSENS_BID);                      \
+    XsensSend1(msg_id);                         \
+    XsensSend1(len);                            \
+  }
+#define XsensTrailer() { uint8_t i8=0x100-send_ck; XsensUartSend1(i8); }
+
+
+#define XSENS_MAX_PAYLOAD 254
+extern uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
+
+#define UNINIT        0
+#define GOT_START     1
+#define GOT_BID       2
+#define GOT_MID       3
+#define GOT_LEN       4
+#define GOT_DATA      5
+#define GOT_CHECKSUM  6
+
+extern void xsens_event(void);
+
+#endif /* XSENS_COMMON_H */