extracted structs from vnproglib and made them usable for uC

vn-interface/src/helper.cpp

@@ -0,0 +1,3 @@
+#include "vn-interface/vn200.h"
+
+namespace vn {} // namespace vn

vn-interface/src/math/matrix.c

@@ -0,0 +1,20 @@
+#include "vn-interface/math/matrix.h"
+
+#include "vn-interface/types.h"
+
+void vn_m3_init_fa(mat3f *m, const float *fa) {
+  size_t i;
+
+  for (i = 0; i < 9; i++)
+    m->e[i] = fa[i];
+}
+
+mat3f vnm_negative_mat3f(mat3f m) {
+  mat3f r;
+  size_t i;
+
+  for (i = 0; i < 3 * 3; i++)
+    r.e[i] = -m.e[i];
+
+  return r;
+}

vn-interface/src/math/vector.c

@@ -0,0 +1,118 @@
+#include "vn/math/vector.h"
+
+#include <stdio.h>
+
+vec3d create_v3d(double x, double y, double z)
+{
+	vec3d v;
+
+    v.c[0] = x;
+    v.c[1] = y;
+    v.c[2] = z;
+
+    return v;
+}
+
+void vn_v3_init_fa(vec3f* v, const float* fa)
+{
+	size_t i;
+
+	for (i = 0; i < 3; i++)
+		v->c[i] = fa[i];
+}
+
+vec3f add_v3f_v3f(vec3f lhs, vec3f rhs)
+{
+	vec3f r;
+
+	r.c[0] = lhs.c[0] + rhs.c[0];
+	r.c[1] = lhs.c[1] + rhs.c[1];
+	r.c[2] = lhs.c[2] + rhs.c[2];
+
+	return r;
+}
+
+vec3d add_v3d_v3d(vec3d lhs, vec3d rhs)
+{
+	vec3d r;
+
+	r.c[0] = lhs.c[0] + rhs.c[0];
+	r.c[1] = lhs.c[1] + rhs.c[1];
+	r.c[2] = lhs.c[2] + rhs.c[2];
+
+	return r;
+}
+
+vec4f add_v4f_v4f(vec4f lhs, vec4f rhs)
+{
+	vec4f r;
+
+	r.c[0] = lhs.c[0] + rhs.c[0];
+	r.c[1] = lhs.c[1] + rhs.c[1];
+	r.c[2] = lhs.c[2] + rhs.c[2];
+	r.c[3] = lhs.c[3] + rhs.c[3];
+
+	return r;
+}
+
+vec3f sub_v3f_v3f(vec3f lhs, vec3f rhs)
+{
+	vec3f r;
+
+	r.c[0] = lhs.c[0] - rhs.c[0];
+	r.c[1] = lhs.c[1] - rhs.c[1];
+	r.c[2] = lhs.c[2] - rhs.c[2];
+
+	return r;
+}
+
+vec3d sub_v3d_v3d(vec3d lhs, vec3d rhs)
+{
+	vec3d r;
+
+	r.c[0] = lhs.c[0] - rhs.c[0];
+	r.c[1] = lhs.c[1] - rhs.c[1];
+	r.c[2] = lhs.c[2] - rhs.c[2];
+
+	return r;
+}
+
+vec4f sub_v4f_v4f(vec4f lhs, vec4f rhs)
+{
+	vec4f r;
+
+	r.c[0] = lhs.c[0] - rhs.c[0];
+	r.c[1] = lhs.c[1] - rhs.c[1];
+	r.c[2] = lhs.c[2] - rhs.c[2];
+	r.c[3] = lhs.c[3] - rhs.c[3];
+
+	return r;
+}
+
+#if defined(_MSC_VER)
+	/* Disable warnings regarding using sprintf_s since these
+	 * function signatures do not provide us with information
+	 * about the length of 'out'. */
+	#pragma warning(push)
+	#pragma warning(disable:4996)
+#endif
+
+void str_vec3f(char* out, vec3f v)
+{
+	sprintf(out, "(%f; %f; %f)", v.c[0], v.c[1], v.c[2]);
+}
+
+void str_vec3d(char* out, vec3d v)
+{
+	sprintf(out, "(%f; %f; %f)", v.c[0], v.c[1], v.c[2]);
+}
+
+void str_vec4f(char* out, vec4f v)
+{
+	sprintf(out, "(%f; %f; %f; %f)", v.c[0], v.c[1], v.c[2], v.c[3]);
+}
+
+
+#if defined(_MSC_VER)
+	#pragma warning(pop)
+#endif

vn-interface/src/registers.c

@@ -0,0 +1,15 @@
+#include "vn-interface/registers.h"
+
+void BinaryOutputRegister_initialize(BinaryOutputRegister *reg, AsyncMode asyncMode, uint32_t rateDivisor, CommonGroup commonField,
+                                     TimeGroup timeField, ImuGroup imuField, GpsGroup gpsField, AttitudeGroup attitudeField, InsGroup insField,
+                                     GpsGroup gps2Field) {
+  reg->asyncMode = asyncMode;
+  reg->rateDivisor = (uint16_t)rateDivisor;
+  reg->commonField = commonField;
+  reg->timeField = timeField;
+  reg->imuField = imuField;
+  reg->gpsField = gpsField;
+  reg->attitudeField = attitudeField;
+  reg->insField = insField;
+  reg->gps2Field = gps2Field;
+}

vn-interface/src/vn200.cpp

@@ -1,5 +0,0 @@
-#include "vn-interface/vn200.h"
-
-namespace VN200 {
-namespace SPI {} // namespace SPI
-} // namespace VN200