FaSTTUBe/INS-VN-200
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cleanup denkfehler

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r.koeppe
2024-05-16 00:43:08 +02:00
parent a02331451d
commit 1e93d42520
3 changed files with 1 additions and 149 deletions
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68
vn-interface/include/vn-interface/vn200.h
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@ -10,47 +10,6 @@
namespace VN200 {
namespace SPI {
namespace BinaryGroups {
typedef uint8_t bit_offset_t;
namespace Group1 {
// /* The bit offset of group 1 */
// const bit_offset_t BitOffset = 0;
// /* The output fields of group 1 */
// enum OutputFields {
// TimeStartup = 0,
// TimeGps,
// TimeSyncIn,
// YawPitchRoll,
// Quaternion,
// AngularRate,
// Position,
// Velocity,
// Accel,
// Imu,
// MagPres,
// DeltaTheta,
// InsStatus,
// SyncInCnt,
// TimeGpsPps,
// EMPTY15
// };
// /* TODO */
// const uint8_t payload_sizes[16] = {8, 8, 8, 12, 16, 12, 24, 12, 12, 24, 20, 28, 2, 4, 8, 0};
} // namespace Group1
} // namespace BinaryGroups
// /* Abstract base class for all packages. */
// struct binary_package_t {
// /* TODO */
// binary_package_t(){};
// /* TODO */
// virtual uint16_t size() = 0;
// /* TODO */
// virtual uint8_t *to_array() = 0;
// std::vector<uint8_t> v;
// };
/* TODO */
union header_t {
@ -76,33 +35,6 @@ union header_t {
};
};
/* TODO */
// struct configuration_t : binary_package_t {
// uint16_t AsyncMode;
// uint16_t RateDivisor;
// uint16_t OutputGroup;
// uint8_t NumOutputFields;
// uint16_t *OutputFields; /* Array with unknown size. Set in constructor. */
// /* TODO */
// configuration_t(uint8_t NumOutputFields = 1 /* TODO */) {
// OutputFields = new uint16_t[NumOutputFields];
// this->NumOutputFields = NumOutputFields;
// };
// /* TODO */
// ~configuration_t() {
// delete OutputFields;
// OutputFields = nullptr;
// }
// /* TODO */
// uint16_t size() override;
// /* TODO */
// uint8_t *to_array() override;
// /* TODO */
// void setBinaryGroups(std::vector<SPI::BinaryGroups::bit_offset_t> desired_groups);
// /* TODO */
// void setOutputFields(SPI::BinaryGroups::bit_offset_t group_bit_offset, std::vector<int> desired_output_fields);
// };
/* Writes the desired payload into the specified register */
template <typename payload_t> struct pkg_request_write_t {
struct header_t::request_t header;