removed proglib of vectornav
This commit is contained in:
parent
c5dc7cf31d
commit
74509c8da3
@ -1,22 +0,0 @@
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The MIT License (MIT)
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VectorNav Programming Library (v1.2.0.0)
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Copyright (c) 2015 VectorNav Technologies, LLC
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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@ -1,57 +0,0 @@
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cmake_minimum_required(VERSION 2.8.4)
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project(libvnc C)
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set(CMAKE_SUPPRESS_REGENERATION TRUE)
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include_directories(
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include)
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set(SOURCES
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src/vn/xplat/criticalsection.c
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src/vn/xplat/event.c
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src/vn/xplat/serialport.c
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src/vn/xplat/thread.c
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src/vn/xplat/time.c
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src/vn/error.c
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src/vn/error_detection.c
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src/vn/util.c
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src/vn/math/matrix.c
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src/vn/math/vector.c
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src/vn/protocol/upack.c
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src/vn/protocol/upackf.c
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src/vn/protocol/spi.c
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src/vn/sensors/compositedata.c
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src/vn/sensors/searcher.c
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src/vn/sensors.c
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src/vn/sensors/ezasyncdata.c
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src/vn/conv.c
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include/vn/vectornav.h
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include/vn/bool.h
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include/vn/util/compiler.h
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include/vn/sensors/compositedata.h
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include/vn/const.h
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include/vn/conv.h
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include/vn/xplat/criticalsection.h
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include/vn/enum.h
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include/vn/error_detection.h
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include/vn/error.h
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include/vn/xplat/event.h
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include/vn/util/export.h
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include/vn/sensors/ezasyncdata.h
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include/vn/int.h
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include/vn/math/matrix.h
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include/vn/util/port.h
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include/vn/protocol/common.h
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include/vn/sensors/searcher.h
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include/vn/sensors.h
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include/vn/xplat/serialport.h
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include/vn/protocol/spi.h
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include/vn/xplat/thread.h
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include/vn/xplat/time.h
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include/vn/types.h
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include/vn/protocol/upack.h
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include/vn/protocol/upackf.h
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include/vn/util.h
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include/vn/math/vector.h)
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add_library(libvnc ${SOURCES})
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@ -1,50 +0,0 @@
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CC = gcc
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INCLUDES = -Iinclude
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CFLAGS = -Wall -Wpedantic -std=c90
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BINDIR = build
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OBJDIR = build/obj
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SOURCES = \
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src/vn/conv.c \
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src/vn/error.c \
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src/vn/error_detection.c \
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src/vn/sensors.c \
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src/vn/util.c \
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src/vn/math/matrix.c \
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src/vn/math/vector.c \
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src/vn/protocol/spi.c \
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src/vn/protocol/upack.c \
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src/vn/protocol/upackf.c \
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src/vn/sensors/compositedata.c \
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src/vn/sensors/ezasyncdata.c \
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src/vn/sensors/searcher.c \
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src/vn/xplat/criticalsection.c \
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src/vn/xplat/event.c \
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src/vn/xplat/serialport.c \
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src/vn/xplat/thread.c \
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src/vn/xplat/time.c
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# Set the object file names, with the source directory stripped
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# from the path, and the build path prepended in its place
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OBJECTS = $(SOURCES:src/%.c=$(OBJDIR)/%.o)
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all: dirs lib
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lib: libvnc.a
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libvnc.a: $(OBJECTS)
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ar -cvq $(BINDIR)/libvnc.a $(OBJECTS)
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# Create the directories used in the build
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.PHONY: dirs
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dirs:
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@mkdir -p $(BINDIR)
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@mkdir -p $(OBJDIR)
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@mkdir -p $(dir $(OBJECTS))
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$(OBJDIR)/%.o: src/%.c
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$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
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clean:
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rm -f $(BINDIR)/libvnc.a
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rm -f $(OBJECTS)
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@ -1,25 +0,0 @@
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cmake_minimum_required(VERSION 2.8.4)
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project(ez_async_data)
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add_subdirectory(../.. libvnc)
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set(CMAKE_SUPPRESS_REGENERATION TRUE)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
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if (CMAKE_COMPILER_IS_GNUCC)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wpedantic -std=c90")
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endif()
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set(SOURCE_FILES
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main.c)
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include_directories(../../include)
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add_executable(ez_async_data ${SOURCE_FILES})
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target_link_libraries(ez_async_data LINK_PUBLIC libvnc)
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if (UNIX OR APPLE)
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target_link_libraries(ez_async_data LINK_PUBLIC pthread)
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target_link_libraries(ez_async_data LINK_PUBLIC m)
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endif()
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CC = gcc
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INCLUDES = -I ../../include
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CFLAGS = -Wall
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all: ez_async_data
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clean:
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rm -f main.o
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rm -f ez_async_data
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cd ../.. && make clean
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ez_async_data: main.o proglib
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$(CC) -o ez_async_data main.o -L ../../build -lvnc -lpthread -lm
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proglib:
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cd ../.. && make
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main.o: main.c
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$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
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@ -1,82 +0,0 @@
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#include <stdio.h>
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/* Include files needed to use VnEzAsyncData. */
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#include "vn/sensors/ezasyncdata.h"
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int processErrorReceived(char* errorMessage, VnError errorCode);
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int main(void)
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{
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VnEzAsyncData ez;
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VnError error = E_NONE;
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size_t i = 0;
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char strConversions[50];
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/* This example walks through using the VnEzAsyncData structure to easily access
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* asynchronous data from a VectorNav sensor at a slight performance hit which is
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* acceptable for many applications, especially simple data logging. */
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/* First determine which COM port your sensor is attached to and update the
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* constant below. Also, if you have changed your sensor from the factory
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* default baudrate of 115200, you will need to update the baudrate
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* constant below as well. */
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const char SENSOR_PORT[] = "COM1"; /* Windows format for physical and virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
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const uint32_t SENSOR_BAUDRATE = 115200;
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/* We call the initialize and connect method to connect with our VectorNav sensor. */
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if ((error = VnEzAsyncData_initializeAndConnect(&ez, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
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return processErrorReceived("Error connecting to sensor.", error);
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/* Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds. */
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printf("Displaying yaw, pitch, roll at 5 Hz for 5 seconds.\n");
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for (i = 0; i < 25; i++)
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{
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VnCompositeData cd;
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VnThread_sleepMs(200);
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cd = VnEzAsyncData_currentData(&ez);
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str_vec3f(strConversions, cd.yawPitchRoll);
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printf("Current YPR: %s\n", strConversions);
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}
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/* Most of the asynchronous data handling is done by VnEzAsyncData but there are times
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* when we wish to configure the sensor directly while still having VnEzAsyncData do
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* most of the grunt work. This is easily accomplished and we show changing the ASCII
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* asynchronous data output type here. */
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if ((error = VnSensor_writeAsyncDataOutputType(VnEzAsyncData_sensor(&ez), VNYPR, true)) != E_NONE)
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return processErrorReceived("Error setting async data output type.", error);
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/* We can now display yaw, pitch, roll data from the new ASCII asynchronous data type. */
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printf("Displaying yaw, pitch, roll from new ASCII async type.\n");
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for (i = 0; i < 25; i++)
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{
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VnCompositeData cd;
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VnThread_sleepMs(200);
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cd = VnEzAsyncData_currentData(&ez);
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str_vec3f(strConversions, cd.yawPitchRoll);
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printf("Current YPR: %s\n", strConversions);
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}
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/* Now disconnect from the sensor since we are finished. */
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if ((error = VnEzAsyncData_disconnectAndUninitialize(&ez)) != E_NONE)
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return processErrorReceived("Error disconnecting from sensor.", error);
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return 0;
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}
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int processErrorReceived(char* errorMessage, VnError errorCode)
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{
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char errorCodeStr[100];
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strFromVnError(errorCodeStr, errorCode);
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printf("%s\nERROR: %s\n", errorMessage, errorCodeStr);
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return -1;
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}
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@ -1,45 +0,0 @@
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Microsoft Visual Studio Solution File, Format Version 10.00
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# Visual Studio 2008
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ez_async_data", "ez_async_data.vcproj", "{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}"
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ProjectSection(ProjectDependencies) = postProject
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||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E} = {70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}
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EndProjectSection
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||||
EndProject
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||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2008\libvnc.vcproj", "{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}"
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ProjectSection(ProjectDependencies) = postProject
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||||
EndProjectSection
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||||
EndProject
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||||
Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Win32 = Debug|Win32
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Release|Win32 = Release|Win32
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MinSizeRel|Win32 = MinSizeRel|Win32
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||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
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||||
EndGlobalSection
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||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{33C502B6-FBC3-31F7-9111-D2CADAE7787D}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{33C502B6-FBC3-31F7-9111-D2CADAE7787D}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{33C502B6-FBC3-31F7-9111-D2CADAE7787D}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{33C502B6-FBC3-31F7-9111-D2CADAE7787D}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.Release|Win32.Build.0 = Release|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.Build.0 = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
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||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
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||||
GlobalSection(ExtensibilityAddIns) = postSolution
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||||
EndGlobalSection
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||||
EndGlobal
|
||||
@ -1,280 +0,0 @@
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<?xml version="1.0" encoding = "UTF-8"?>
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<VisualStudioProject
|
||||
ProjectType="Visual C++"
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||||
Version="9.00"
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Name="ez_async_data"
|
||||
ProjectGUID="{2EC6ED3E-738A-34A9-B1E0-7F22096EAD64}"
|
||||
Keyword="Win32Proj">
|
||||
<Platforms>
|
||||
<Platform
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||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Debug"
|
||||
IntermediateDirectory="ez_async_data.dir\Debug"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Debug/"
|
||||
BasicRuntimeChecks="3"
|
||||
CompileAs="1"
|
||||
DebugInformationFormat="3"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="0"
|
||||
Optimization="0"
|
||||
RuntimeLibrary="3"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86 /debug"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\Debug\ez_async_data.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="2"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\Debug/ez_async_data.pdb"
|
||||
GenerateDebugInformation="true"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\Debug\ez_async_data.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Release"
|
||||
IntermediateDirectory="ez_async_data.dir\Release"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Release/"
|
||||
CompileAs="1"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="2"
|
||||
Optimization="2"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""/>
|
||||
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</ExceptionHandling>
|
||||
<InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
|
||||
<Optimization>MinSpace</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
<DebugInformationFormat></DebugInformationFormat>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>false</GenerateDebugInformation>
|
||||
<IgnoreSpecificDefaultLibraries>%(IgnoreSpecificDefaultLibraries)</IgnoreSpecificDefaultLibraries>
|
||||
<ImportLibrary>$(OutDir)..\$(TargetName).lib</ImportLibrary>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<Version></Version>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>true</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
|
||||
<ClCompile>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AssemblerListingLocation>RelWithDebInfo/</AssemblerListingLocation>
|
||||
<CompileAs>CompileAsC</CompileAs>
|
||||
<DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
|
||||
<ExceptionHandling>
|
||||
</ExceptionHandling>
|
||||
<InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 /debug %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<IgnoreSpecificDefaultLibraries>%(IgnoreSpecificDefaultLibraries)</IgnoreSpecificDefaultLibraries>
|
||||
<ImportLibrary>$(OutDir)..\$(TargetName).lib</ImportLibrary>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<Version></Version>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>true</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\..\main.c" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="../../../../projects/vs2013/libvnc.vcxproj">
|
||||
<Project>{E237AE2C-CE1B-39F5-B931-3C0E53353E53}</Project>
|
||||
</ProjectReference>
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
</Project>
|
||||
@ -1,13 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\..\main.c">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Filter Include="Source Files">
|
||||
<UniqueIdentifier>{A4EEDEBD-AB22-37D0-AE6B-A8E5E9834EF8}</UniqueIdentifier>
|
||||
</Filter>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -1,24 +0,0 @@
|
||||
When opening the vs2019 example Project, Visual Studio will pop up a dialog asking to retarget Projects to the latest Windows SDK Version and Platform Toolset. DO NOT update the projects because it will break building the libvncxx library. The latest Platform Toolset that can be used to build the libvncxx library is Visual Studio 2017.
|
||||
|
||||
Also, the library currently only supports x86 builds.
|
||||
|
||||
If you do not have the Visual Studio 2017 Build Tools, you will get the following error:
|
||||
|
||||
Error MSB8020 The build tools for Visual Studio 2017 (Platform Toolset = 'v141') cannot be found. To build using the v141 build tools, please install Visual Studio 2017 build tools. Alternatively, you may upgrade to the current Visual Studio tools by selecting the Project menu or right-click the solution, and then selecting "Retarget solution".
|
||||
|
||||
The following link will walk you through how to add the Visual Studio 2017 platform toolset to your environment.
|
||||
|
||||
https://docs.microsoft.com/en-us/visualstudio/install/modify-visual-studio?view=vs-2019
|
||||
|
||||
Run C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe
|
||||
|
||||
Select C++/CLI support for v141 build tools (14.16) under Compilers, build tools, and runtimes from the Individual components tab of modifying Visual Studio 2019
|
||||
|
||||
MSVC v141 - VS 2017 C++ x64/x86 build tools (v14.16)
|
||||
|
||||
Also select Windows 10 SDK 10.0.18362.0 for the needed make tools.
|
||||
|
||||
After adding support for Visual Studio 2017 build toolset, if the projects are marked as unusable, have Visual Studio install the missing components.
|
||||
|
||||
|
||||
|
||||
@ -1,47 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 16
|
||||
VisualStudioVersion = 16.0.30717.126
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ez_async_data", "ez_async_data.vcxproj", "{83240C3E-49F6-3837-8150-3F094F2A079F}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53} = {E237AE2C-CE1B-39F5-B931-3C0E53353E53}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2017\libvnc.vcxproj", "{E237AE2C-CE1B-39F5-B931-3C0E53353E53}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
MinSizeRel|Win32 = MinSizeRel|Win32
|
||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{CB9572E3-6350-3ADD-BBCD-2AD2CB1C7ECF}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{CB9572E3-6350-3ADD-BBCD-2AD2CB1C7ECF}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{CB9572E3-6350-3ADD-BBCD-2AD2CB1C7ECF}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{CB9572E3-6350-3ADD-BBCD-2AD2CB1C7ECF}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.Release|Win32.Build.0 = Release|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{83240C3E-49F6-3837-8150-3F094F2A079F}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.Build.0 = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -1,273 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|Win32">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|Win32">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="MinSizeRel|Win32">
|
||||
<Configuration>MinSizeRel</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="RelWithDebInfo|Win32">
|
||||
<Configuration>RelWithDebInfo</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<ProjectGUID>{83240C3E-49F6-3837-8150-3F094F2A079F}</ProjectGUID>
|
||||
<Keyword>Win32Proj</Keyword>
|
||||
<Platform>Win32</Platform>
|
||||
<ProjectName>ez_async_data</ProjectName>
|
||||
<WindowsTargetPlatformVersion>10.0.18362.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<_ProjectFileVersion>10.0.20506.1</_ProjectFileVersion>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">..\..\projects\vs2019\Debug\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">ez_async_data.dir\Debug\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">ez_async_data</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</GenerateManifest>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">..\..\projects\vs2019\Release\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">ez_async_data.dir\Release\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">ez_async_data</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">true</GenerateManifest>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">..\..\projects\vs2019\MinSizeRel\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">ez_async_data.dir\MinSizeRel\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">ez_async_data</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">false</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">true</GenerateManifest>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">..\..\projects\vs2019\RelWithDebInfo\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">ez_async_data.dir\RelWithDebInfo\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">ez_async_data</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">true</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">true</GenerateManifest>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
||||
<ClCompile>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AssemblerListingLocation>Debug/</AssemblerListingLocation>
|
||||
<BasicRuntimeChecks>EnableFastChecks</BasicRuntimeChecks>
|
||||
<CompileAs>CompileAsC</CompileAs>
|
||||
<DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
|
||||
<ExceptionHandling>
|
||||
</ExceptionHandling>
|
||||
<InlineFunctionExpansion>Disabled</InlineFunctionExpansion>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 /debug %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<IgnoreSpecificDefaultLibraries>%(IgnoreSpecificDefaultLibraries)</IgnoreSpecificDefaultLibraries>
|
||||
<ImportLibrary>$(OutDir)..\$(TargetName).lib</ImportLibrary>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<Version>
|
||||
</Version>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>true</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
<ClCompile>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AssemblerListingLocation>Release/</AssemblerListingLocation>
|
||||
<CompileAs>CompileAsC</CompileAs>
|
||||
<ExceptionHandling>
|
||||
</ExceptionHandling>
|
||||
<InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR="Release";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
<DebugInformationFormat>
|
||||
</DebugInformationFormat>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
<DebugInformationFormat>
|
||||
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|
||||
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|
||||
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|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
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|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
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|
||||
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|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>false</GenerateDebugInformation>
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
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||||
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|
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|
||||
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|
||||
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|
||||
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|
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||||
@ -1,13 +0,0 @@
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||||
<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup>
|
||||
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<Filter>Source Files</Filter>
|
||||
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|
||||
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||||
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<Filter Include="Source Files">
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<UniqueIdentifier>{A4EEDEBD-AB22-37D0-AE6B-A8E5E9834EF8}</UniqueIdentifier>
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@ -1,4 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup />
|
||||
</Project>
|
||||
@ -1,24 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.4)
|
||||
project(firmware_update)
|
||||
|
||||
add_subdirectory(../.. libvnc)
|
||||
|
||||
set(CMAKE_SUPPRESS_REGENERATION TRUE)
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
||||
if (CMAKE_COMPILER_IS_GNUCC)
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wpedantic -std=c90")
|
||||
endif()
|
||||
|
||||
set(SOURCE_FILES
|
||||
main.c)
|
||||
|
||||
include_directories("../../include")
|
||||
|
||||
add_executable(sensor ${SOURCE_FILES})
|
||||
|
||||
target_link_libraries(sensor LINK_PUBLIC libvnc)
|
||||
|
||||
if (UNIX OR APPLE)
|
||||
target_link_libraries(sensor LINK_PUBLIC pthread)
|
||||
endif()
|
||||
@ -1,20 +0,0 @@
|
||||
CC = gcc
|
||||
INCLUDES = -I ../../include
|
||||
CFLAGS = -Wall
|
||||
|
||||
all: firmware_update
|
||||
|
||||
clean:
|
||||
rm -f main.o
|
||||
rm -f firmware_update
|
||||
cd ../.. && make clean
|
||||
|
||||
firmware_update: main.o proglib
|
||||
$(CC) -o firmware_update main.o -L ../../build -lvnc -lpthread
|
||||
|
||||
proglib:
|
||||
cd ../.. && make
|
||||
|
||||
main.o: main.c
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
|
||||
|
||||
@ -1,31 +0,0 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 16
|
||||
VisualStudioVersion = 16.0.30717.126
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
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||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Firmware Update Example", "Firmware Update Example.vcxproj", "{615ED95B-A8FD-44D7-A8BF-3879D236C3FE}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2017\libvnc.vcxproj", "{E237AE2C-CE1B-39F5-B931-3C0E53353E53}"
|
||||
EndProject
|
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Global
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||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
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||||
Debug|x86 = Debug|x86
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||||
Release|x86 = Release|x86
|
||||
EndGlobalSection
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||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
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||||
{615ED95B-A8FD-44D7-A8BF-3879D236C3FE}.Debug|x86.ActiveCfg = Debug|Win32
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{615ED95B-A8FD-44D7-A8BF-3879D236C3FE}.Debug|x86.Build.0 = Debug|Win32
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{615ED95B-A8FD-44D7-A8BF-3879D236C3FE}.Release|x86.Build.0 = Release|Win32
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|x86.ActiveCfg = Debug|Win32
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|x86.Build.0 = Debug|Win32
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|x86.ActiveCfg = Release|Win32
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||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|x86.Build.0 = Release|Win32
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||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
SolutionGuid = {7AEE4A97-D29B-418A-A35F-75821820433A}
|
||||
EndGlobalSection
|
||||
EndGlobal
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||||
@ -1,112 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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||||
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||||
<VCProjectVersion>16.0</VCProjectVersion>
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||||
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||||
<ProjectGuid>{615ed95b-a8fd-44d7-a8bf-3879d236c3fe}</ProjectGuid>
|
||||
<RootNamespace>FirmwareUpdateExample</RootNamespace>
|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<UseDebugLibraries>true</UseDebugLibraries>
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||||
<PlatformToolset>v141</PlatformToolset>
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||||
<CharacterSet>Unicode</CharacterSet>
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||||
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|
||||
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||||
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||||
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||||
<PlatformToolset>v141</PlatformToolset>
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||||
<WholeProgramOptimization>true</WholeProgramOptimization>
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||||
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||||
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||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<LinkIncremental>true</LinkIncremental>
|
||||
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||||
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|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
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|
||||
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||||
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|
||||
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|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
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|
||||
<Link>
|
||||
<SubSystem>Console</SubSystem>
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||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
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|
||||
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|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
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|
||||
<Link>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\..\main.c" />
|
||||
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|
||||
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|
||||
<ProjectReference Include="..\..\..\..\projects\vs2017\libvnc.vcxproj">
|
||||
<Project>{e237ae2c-ce1b-39f5-b931-3c0e53353e53}</Project>
|
||||
</ProjectReference>
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
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|
||||
</Project>
|
||||
@ -1,4 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup />
|
||||
</Project>
|
||||
@ -1,24 +0,0 @@
|
||||
When opening the vs2019 example Project, Visual Studio will pop up a dialog asking to retarget Projects to the latest Windows SDK Version and Platform Toolset. DO NOT update the projects because it will break building the libvncxx library. The latest Platform Toolset that can be used to build the libvncxx library is Visual Studio 2017.
|
||||
|
||||
Also, the library currently only supports x86 builds.
|
||||
|
||||
If you do not have the Visual Studio 2017 Build Tools, you will get the following error:
|
||||
|
||||
Error MSB8020 The build tools for Visual Studio 2017 (Platform Toolset = 'v141') cannot be found. To build using the v141 build tools, please install Visual Studio 2017 build tools. Alternatively, you may upgrade to the current Visual Studio tools by selecting the Project menu or right-click the solution, and then selecting "Retarget solution".
|
||||
|
||||
The following link will walk you through how to add the Visual Studio 2017 platform toolset to your environment.
|
||||
|
||||
https://docs.microsoft.com/en-us/visualstudio/install/modify-visual-studio?view=vs-2019
|
||||
|
||||
Run C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe
|
||||
|
||||
Select C++/CLI support for v141 build tools (14.16) under Compilers, build tools, and runtimes from the Individual components tab of modifying Visual Studio 2019
|
||||
|
||||
MSVC v141 - VS 2017 C++ x64/x86 build tools (v14.16)
|
||||
|
||||
Also select Windows 10 SDK 10.0.18362.0 for the needed make tools.
|
||||
|
||||
After adding support for Visual Studio 2017 build toolset, if the projects are marked as unusable, have Visual Studio install the missing components.
|
||||
|
||||
|
||||
|
||||
@ -1,340 +0,0 @@
|
||||
#include <stdio.h>
|
||||
|
||||
/* Include files needed to do firmware updates. */
|
||||
#include "vn/sensors.h"
|
||||
|
||||
int processErrorReceived(char* errorMessage, VnError errorCode);
|
||||
|
||||
/*
|
||||
Firmware Update Protocol
|
||||
1. Switch to target processor
|
||||
2. Enter Update Mode in Bootloader
|
||||
3. Set Baud Rate
|
||||
4. Verify Acknowledgement
|
||||
5. Send firmware update one record at a time
|
||||
6. Wait for Acknowledgement before sending next record
|
||||
7. Exit Update Mode in Bootloader
|
||||
8. Switch to next target processor or return back to the NAV processor
|
||||
*/
|
||||
|
||||
int one_call_method_for_the_VN300(void)
|
||||
{
|
||||
|
||||
VnSensor vs;
|
||||
char modelNumber[30];
|
||||
char firmwareVersion[30];
|
||||
VnError error;
|
||||
|
||||
/* This example walks through using the VectorNav C Library to do a firmware update on the different processors of the VN300 using the firmwareUpdate method. */
|
||||
|
||||
/* First determine which COM port your sensor is attached to and update the
|
||||
* constant below. Also, if you have changed your sensor from the factory
|
||||
* default baudrate of 115200, you will need to update the baudrate
|
||||
* constant below as well. */
|
||||
const char SENSOR_PORT[] = "COM4"; /* Windows format for physical and virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
|
||||
const uint32_t SENSOR_BAUDRATE = 115200;
|
||||
const uint32_t FIRMWARE_UPDATE_BAUDRATE = 115200; /* This can be different than the sensor baudrate, recommend 115200 or slower for reliability */
|
||||
const char VN300_NAVFirmwareUpdate[] = "../../FirmwareUpdates/VN300_NAV_v0.5.0.0.vnx";
|
||||
const char VN300_GPSFirmwareUpdate[] = "../../FirmwareUpdates/VN300_GPS_v0.5.0.0.vnx";
|
||||
|
||||
|
||||
/* We first need to initialize our VnSensor structure. */
|
||||
printf("Initialize VN Sensor.\n");
|
||||
VnSensor_initialize(&vs);
|
||||
|
||||
/* Now connect to our sensor. */
|
||||
printf("Connect to VN Sensor.\n");
|
||||
if ((error = VnSensor_connect(&vs, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Error connecting to sensor.", error);
|
||||
|
||||
/* Let's query the sensor's model number. */
|
||||
printf("Query VN Sensor Model.\n");
|
||||
if ((error = VnSensor_readModelNumber(&vs, modelNumber, sizeof(modelNumber))) != E_NONE)
|
||||
return processErrorReceived("Error reading model number.", error);
|
||||
printf("Model Number: %s\n", modelNumber);
|
||||
|
||||
/* Let's query the sensor's firmware version. */
|
||||
printf("Query VN Sensor Firmware Version.\n");
|
||||
if ((error = VnSensor_readFirmwareVersion(&vs, firmwareVersion, sizeof(firmwareVersion))) != E_NONE)
|
||||
return processErrorReceived("Error reading firmware version.", error);
|
||||
printf("Firmware Version: %s\n", firmwareVersion);
|
||||
|
||||
/* Let's update the firmware on the NAV processor. */
|
||||
printf("NAV Firmware Update VN Sensor with %s.\n", VN300_NAVFirmwareUpdate);
|
||||
if ((error = VnSensor_firmwareUpdate(&vs, FIRMWARE_UPDATE_BAUDRATE, VN300_NAVFirmwareUpdate)) != E_NONE)
|
||||
return processErrorReceived("Error updating firmware.", error);
|
||||
|
||||
/* Let's switch to the target processor to update. */
|
||||
printf("Switch processors on VN Sensor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_GPS, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
|
||||
/* Let's update the firmware on the GPS processor. */
|
||||
printf("GPS Firmware Update VN Sensor with %s.\n", VN300_GPSFirmwareUpdate);
|
||||
if ((error = VnSensor_firmwareUpdate(&vs, FIRMWARE_UPDATE_BAUDRATE, VN300_GPSFirmwareUpdate)) != E_NONE)
|
||||
return processErrorReceived("Error updating firmware.", error);
|
||||
|
||||
/* Now disconnect from the sensor since we are finished. */
|
||||
printf("Disconnect from VN Sensor.\n");
|
||||
if ((error = VnSensor_disconnect(&vs)) != E_NONE)
|
||||
return processErrorReceived("Error disconnecting from sensor.", error);
|
||||
|
||||
/* Depending on the sensor, a power cycle may be needed instead of a reset. */
|
||||
printf("Power Cycle the sensor.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int manage_each_step_for_the_VN200(void)
|
||||
{
|
||||
VnSensor vs;
|
||||
char modelNumber[30];
|
||||
char firmwareVersion[30];
|
||||
VnError error;
|
||||
int RecordSize = MAXFIRMWAREUPDATERECORDSIZE;
|
||||
char record[MAXFIRMWAREUPDATERECORDSIZE];
|
||||
bool stillGoing = true;
|
||||
|
||||
/* This example walks through using the VectorNav C Library to connect to
|
||||
* and interact with a VectorNav sensor using the VnSensor structure. */
|
||||
|
||||
/* First determine which COM port your sensor is attached to and update the
|
||||
* constant below. Also, if you have changed your sensor from the factory
|
||||
* default baudrate of 115200, you will need to update the baudrate
|
||||
* constant below as well. */
|
||||
const char SENSOR_PORT[] = "COM3"; /* Windows format for physical and virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
|
||||
const uint32_t SENSOR_BAUDRATE = 115200;
|
||||
const uint32_t FIRMWARE_UPDATE_BAUDRATE = 115200; /* This can be different than the sensor baudrate, recommend 115200 or slower for reliability */
|
||||
const char VN200FirmwareUpdate[] = "../../FirmwareUpdates/VN200_NAV_v2.0.0.1.vnx";
|
||||
|
||||
/* We first need to initialize our VnSensor structure. */
|
||||
printf("Initialize VN Sensor.\n");
|
||||
VnSensor_initialize(&vs);
|
||||
|
||||
/* Now connect to our sensor. */
|
||||
printf("Connect to VN Sensor.\n");
|
||||
if ((error = VnSensor_connect(&vs, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Error connecting to sensor.", error);
|
||||
|
||||
/* Let's query the sensor's model number. */
|
||||
printf("Query VN Sensor Model.\n");
|
||||
if ((error = VnSensor_readModelNumber(&vs, modelNumber, sizeof(modelNumber))) != E_NONE)
|
||||
return processErrorReceived("Error reading model number.", error);
|
||||
printf("Model Number: %s\n", modelNumber);
|
||||
|
||||
/* Let's query the sensor's firmware version. */
|
||||
printf("Query VN Sensor Firmware Version.\n");
|
||||
if ((error = VnSensor_readFirmwareVersion(&vs, firmwareVersion, sizeof(firmwareVersion))) != E_NONE)
|
||||
return processErrorReceived("Error reading firmware version.", error);
|
||||
printf("Firmware Version: %s\n", firmwareVersion);
|
||||
|
||||
/* Open Firmware Update File*/
|
||||
FILE* firmwareUpdateFile = VnSensor_openFirmwareUpdateFile(VN200FirmwareUpdate);
|
||||
|
||||
/* Enter the bootloader */
|
||||
if((error = VnSensor_firmwareUpdateMode(&vs, true)) != E_NONE)
|
||||
return processErrorReceived("Failed to enter firmware update mode.", error);
|
||||
|
||||
/* Give the processor some time to reboot */
|
||||
VnThread_sleepMs(1000);
|
||||
|
||||
/* Change the baud rate for updating the firmware */
|
||||
if((error = VnSerialPort_changeBaudrate(&(vs.serialPort), FIRMWARE_UPDATE_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Failed to change the firmware update baud rate.", error);
|
||||
|
||||
/* Calibrate the Bootloader before sending records */
|
||||
VnSensor_calibrateBootloader(&vs);
|
||||
|
||||
/* Write the firmware update file to the sensor, one record at a time */
|
||||
while (stillGoing)
|
||||
{
|
||||
stillGoing = VnSensor_getNextFirmwareUpdateRecord(firmwareUpdateFile, record, RecordSize);
|
||||
if (stillGoing)
|
||||
{
|
||||
//printf("Send: %s\n", record);
|
||||
printf(".");
|
||||
if((error = VnSensor_writeFirmwareUpdateRecord(&vs, record)) != E_BOOTLOADER_NONE)
|
||||
{
|
||||
processErrorReceived("Failed to write record to firmware.", error);
|
||||
stillGoing = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
/* Switch the baud rate back to the original setting */
|
||||
if((error = VnSerialPort_changeBaudrate(&(vs.serialPort), SENSOR_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Failed to change baud rate back.", error);
|
||||
|
||||
/* Close the firmware update file */
|
||||
VnSensor_closeFirmwareUpdateFile(firmwareUpdateFile);
|
||||
|
||||
/* Exit Bootloader mode. Just sleep for 10 seconds */
|
||||
VnThread_sleepMs(10000);
|
||||
|
||||
/* Do a reset */
|
||||
VnSensor_reset(&vs, true);
|
||||
|
||||
/* Wait 2 seconds for the reset to finish */
|
||||
VnThread_sleepMs(2000);
|
||||
|
||||
/* Now disconnect from the sensor since we are finished. */
|
||||
printf("Disconnect from VN Sensor.\n");
|
||||
if ((error = VnSensor_disconnect(&vs)) != E_NONE)
|
||||
return processErrorReceived("Error disconnecting from sensor.", error);
|
||||
|
||||
/* Depending on the sensor, a power cycle may be needed instead of a reset. */
|
||||
printf("Power Cycle the sensor.\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int one_call_method_for_the_VN310(void)
|
||||
{
|
||||
|
||||
VnSensor vs;
|
||||
char modelNumber[30];
|
||||
char firmwareVersion[30];
|
||||
VnError error;
|
||||
int RecordSize = MAXFIRMWAREUPDATERECORDSIZE;
|
||||
char record[MAXFIRMWAREUPDATERECORDSIZE];
|
||||
bool stillGoing = true;
|
||||
|
||||
/* This example walks through using the VectorNav C Library to connect to
|
||||
* and interact with a VectorNav sensor using the VnSensor structure. */
|
||||
|
||||
/* First determine which COM port your sensor is attached to and update the
|
||||
* constant below. Also, if you have changed your sensor from the factory
|
||||
* default baudrate of 115200, you will need to update the baudrate
|
||||
* constant below as well. */
|
||||
const char SENSOR_PORT[] = "COM6"; /* Windows format for physical and virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
|
||||
const uint32_t SENSOR_BAUDRATE = 115200;
|
||||
const uint32_t FIRMWARE_UPDATE_BAUDRATE = 115200; /* This can be different than the sensor baudrate, recommend 115200 or slower for reliability */
|
||||
const char VN310_NAVFirmwareUpdate[] = "../../FirmwareUpdates/VN310_NAV_v0.8.1.0.vnx";
|
||||
const char VN310_GPSFirmwareUpdate[] = "../../FirmwareUpdates/VN310_GPS_v0.8.1.0.vnx";
|
||||
const char VN310_IMUFirmwareUpdate[] = "../../FirmwareUpdates/VN310_IMU_v2.5.1.0.vnx";
|
||||
|
||||
bool updateNAV = true;
|
||||
bool updateGPS = true;
|
||||
bool updateIMU = true;
|
||||
|
||||
|
||||
/* We first need to initialize our VnSensor structure. */
|
||||
printf("Initialize VN Sensor.\n");
|
||||
VnSensor_initialize(&vs);
|
||||
|
||||
/* Now connect to our sensor. */
|
||||
printf("Connect to VN Sensor.\n");
|
||||
if ((error = VnSensor_connect(&vs, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Error connecting to sensor.", error);
|
||||
|
||||
/* Let's query the sensor's model number. */
|
||||
printf("Query VN Sensor Model.\n");
|
||||
if ((error = VnSensor_readModelNumber(&vs, modelNumber, sizeof(modelNumber))) != E_NONE)
|
||||
return processErrorReceived("Error reading model number.", error);
|
||||
printf("Model Number: %s\n", modelNumber);
|
||||
|
||||
/* Let's query the sensor's firmware version. */
|
||||
printf("Query VN Sensor Firmware Version.\n");
|
||||
if ((error = VnSensor_readFirmwareVersion(&vs, firmwareVersion, sizeof(firmwareVersion))) != E_NONE)
|
||||
return processErrorReceived("Error reading firmware version.", error);
|
||||
printf("Firmware Version: %s\n", firmwareVersion);
|
||||
|
||||
if (updateNAV)
|
||||
{
|
||||
/* Let's update the firmware on the NAV processor. */
|
||||
printf("NAV Firmware Update VN Sensor with %s.\n", VN310_NAVFirmwareUpdate);
|
||||
if ((error = VnSensor_firmwareUpdate(&vs, FIRMWARE_UPDATE_BAUDRATE, VN310_NAVFirmwareUpdate)) != E_NONE)
|
||||
return processErrorReceived("Error updating firmware.", error);
|
||||
|
||||
/* Need to switch back to NAV befor we leave*/
|
||||
printf("Switch to NAV processor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_NAV, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
}
|
||||
|
||||
if (updateGPS)
|
||||
{
|
||||
/* Let's switch to the target processor to update. */
|
||||
printf("Switch to GPS processor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_GPS, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
|
||||
/* Let's update the firmware on the GPS processor. */
|
||||
printf("GPS Firmware Update VN Sensor with %s.\n", VN310_GPSFirmwareUpdate);
|
||||
if ((error = VnSensor_firmwareUpdate(&vs, FIRMWARE_UPDATE_BAUDRATE, VN310_GPSFirmwareUpdate)) != E_NONE)
|
||||
return processErrorReceived("Error updating firmware.", error);
|
||||
|
||||
/* Need to switch back to NAV since we cannot switch directly to IMU from GPS. */
|
||||
printf("Switch to NAV processor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_NAV, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
}
|
||||
|
||||
if (updateIMU)
|
||||
{
|
||||
/* Let's switch to the target processor to update. */
|
||||
printf("Switch to IMU processor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_IMU, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
|
||||
/* Let's update the firmware on the GPS processor. */
|
||||
printf("IMU Firmware Update VN Sensor with %s.\n", VN310_IMUFirmwareUpdate);
|
||||
if ((error = VnSensor_firmwareUpdate(&vs, FIRMWARE_UPDATE_BAUDRATE, VN310_IMUFirmwareUpdate)) != E_NONE)
|
||||
return processErrorReceived("Error updating firmware.", error);
|
||||
|
||||
/* Need to switch back to NAV befor we leave*/
|
||||
printf("Switch to NAV processor.\n");
|
||||
if ((error = VnSensor_switchProcessors(&vs, VNPROCESSOR_NAV, modelNumber, firmwareVersion)) != E_NONE)
|
||||
return processErrorReceived("Error switching processors.", error);
|
||||
}
|
||||
/* Now disconnect from the sensor since we are finished. */
|
||||
printf("Disconnect from VN Sensor.\n");
|
||||
if ((error = VnSensor_disconnect(&vs)) != E_NONE)
|
||||
return processErrorReceived("Error disconnecting from sensor.", error);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int processErrorReceived(char* errorMessage, VnError errorCode)
|
||||
{
|
||||
char errorCodeStr[100];
|
||||
strFromVnError(errorCodeStr, errorCode);
|
||||
printf("%s\nERROR: %s\n", errorMessage, errorCodeStr);
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
int retval = 0;
|
||||
|
||||
printf("********************************************************************************\n");
|
||||
printf("Updating the firmware on a VN200.\n");
|
||||
printf("********************************************************************************\n");
|
||||
retval = manage_each_step_for_the_VN200();
|
||||
|
||||
printf("********************************************************************************\n");
|
||||
printf("Updating the firmware on a VN300.\n");
|
||||
printf("********************************************************************************\n");
|
||||
retval = one_call_method_for_the_VN300();
|
||||
|
||||
printf("********************************************************************************\n");
|
||||
printf("Updating the firmware on a VN310.\n");
|
||||
printf("********************************************************************************\n");
|
||||
retval = one_call_method_for_the_VN310();
|
||||
|
||||
return retval;
|
||||
}
|
||||
@ -1,24 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.4)
|
||||
project(getting_started C)
|
||||
|
||||
add_subdirectory(../.. libvnc)
|
||||
|
||||
set(CMAKE_SUPPRESS_REGENERATION TRUE)
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
||||
if (CMAKE_COMPILER_IS_GNUCC)
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wpedantic -std=c90")
|
||||
endif()
|
||||
|
||||
set(SOURCE_FILES
|
||||
main.c)
|
||||
|
||||
include_directories("../../include")
|
||||
|
||||
add_executable(getting_started ${SOURCE_FILES})
|
||||
|
||||
target_link_libraries(getting_started LINK_PUBLIC libvnc)
|
||||
|
||||
if (UNIX OR APPLE)
|
||||
target_link_libraries(getting_started LINK_PUBLIC pthread)
|
||||
endif()
|
||||
@ -1,20 +0,0 @@
|
||||
CC = gcc
|
||||
INCLUDES = -I ../../include
|
||||
CFLAGS = -Wall
|
||||
|
||||
all: getting_started
|
||||
|
||||
clean:
|
||||
rm -f main.o
|
||||
rm -f getting_started
|
||||
cd ../.. && make clean
|
||||
|
||||
getting_started: main.o proglib
|
||||
$(CC) -o getting_started main.o -L ../../build -lvnc -lpthread
|
||||
|
||||
proglib:
|
||||
cd ../.. && make
|
||||
|
||||
main.o: main.c
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
|
||||
|
||||
@ -1,438 +0,0 @@
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
/* Include files needed to use the UART protocol. */
|
||||
#include "vn/util.h"
|
||||
#include "vn/protocol/upack.h"
|
||||
#include "vn/protocol/upackf.h"
|
||||
#include "vn/int.h"
|
||||
|
||||
/* This include file normally contains higher level abstractions for working
|
||||
* with VectorNav sensors. However, we include it for some string functions to
|
||||
* display named options for the sensor's register's fields. */
|
||||
#include "vn/sensors.h"
|
||||
|
||||
void packetFoundHandler(void *userData, VnUartPacket *packet, size_t runningIndexOfPacketStart);
|
||||
void UserUart_initialize(void);
|
||||
bool UserUart_checkForReceivedData(char* buffer, size_t bufferSize, size_t* numOfBytesReceived);
|
||||
void UserUart_mockReceivedData(char* buffer, size_t bufferSize);
|
||||
void UserUart_sendData(char *data, size_t size);
|
||||
|
||||
bool gIsCheckingForModelNumberResponse = false;
|
||||
bool gIsCheckingForAsyncOutputFreqResponse = false;
|
||||
bool gIsCheckingForVpeBasicControlResponse = false;
|
||||
uint8_t gEnable, gHeadingMode, gFilteringMode, gTuningMode;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
char buffer[256];
|
||||
size_t numOfBytes, readModelNumberSize, writeAsyncOutputFreqSize, readVpeBasicControlSize, writeVpeBasicControlSize;
|
||||
size_t writeBinaryOutput1Size;
|
||||
char mockAsciiAsyncData[] = "$VNYMR,+100.949,-007.330,+000.715,-00.0049,-00.2449,+00.5397,-01.258,-00.100,-09.701,-00.000018,+00.001122,-00.000551*69\r\n";
|
||||
char mockReadModelNumberResponse[] = "$VNRRG,01,VN-200T-CR*31\r\n";
|
||||
char mockWriteAsyncOutputFrequencyResponse[] = "$VNWRG,07,2*6F\r\n";
|
||||
char mockFactoryDefaultReadVpeBasicControlResponse[] = "$VNRRG,35,1,1,1,1*75\r\n";
|
||||
char mockWriteVpeBasicControlResponse[] = "$VNWRG,35,1,0,1,1*71\r\n";
|
||||
char mockErrorMessage[] = "$VNERR,12*72\r\n";
|
||||
uint8_t mockBinaryAsyncData[] = { 0xFA, 0x01, 0x09, 0x00, 0x70, 0x05, 0x00, 0x03, 0x0A, 0x00, 0x00, 0x00, 0x48, 0x0E, 0x2C, 0x42, 0x08, 0x4C, 0x37, 0xC1, 0x10, 0x38, 0x8B, 0xC2, 0xD4, 0xCB };
|
||||
char genReadModelNumberBuffer[256];
|
||||
char genWriteAsyncOutputFrequencyBuffer[256];
|
||||
char genReadVpeBasicControlBuffer[256];
|
||||
char genWriteVpeBasicControlBuffer[256];
|
||||
char genWriteBinaryOutput1Buffer[256];
|
||||
|
||||
/* This example provides an overview of the UART protocol functionality
|
||||
* of the VectorNav C Library.
|
||||
*
|
||||
* Using the UART Protocol allows communicating with a VectorNav sensor
|
||||
* over a UART interface using both ASCII and binary protocols. Usage of
|
||||
* this "core" feature requires you to do all of the grunt work of
|
||||
* initializing and managing the UART port for your development
|
||||
* environment. Once this is setup, you will initialize the UART protocol
|
||||
* and then simply pass arrays of data between your UART code and the
|
||||
* VectorNav C Library's protocol code. To keep this example generic, we
|
||||
* will mock the necessary UART initialization and management functions
|
||||
* that would need to be replaced by code specific for your environment
|
||||
* to tie into a real VectorNav sensor. For now we just use some fake data
|
||||
* to illustrate the process. */
|
||||
|
||||
/* The VnUartProtocol structure encapsulates the data used for buffering
|
||||
* and handling incoming data. It is not associated with sending commands
|
||||
* to the sensor. This will be illustrated further in the example. */
|
||||
VnUartPacketFinder up;
|
||||
|
||||
/* First thing you should do is initialize the data structure. */
|
||||
VnUartPacketFinder_initialize(&up);
|
||||
|
||||
/* Register our callback method for when the VnUartPacketFinder finds an
|
||||
ASCII asynchronous packet. */
|
||||
VnUartPacketFinder_registerPacketFoundHandler(&up, packetFoundHandler, NULL);
|
||||
|
||||
/* Initialize the UART port (this is mimicked in this example). */
|
||||
UserUart_initialize();
|
||||
|
||||
/* With our VnUartProtocol and mock UART initialized, we will fake an
|
||||
* asynchronous message output by a VectorNav sensor and received by our
|
||||
* mock UART port. */
|
||||
UserUart_mockReceivedData(mockAsciiAsyncData, strlen(mockAsciiAsyncData));
|
||||
|
||||
/* Normally you will be continually checking for new UART data and then
|
||||
* passing any received data to the VnUartProtocol to build, parse and
|
||||
* verify data packets. Since this is just for demonstration purposes, we
|
||||
* just poll the mock UART for its current data. In a real world
|
||||
* environment where you are servicing a real UART port, you would have
|
||||
* code similar to the code lines below.
|
||||
*
|
||||
* char buffer[256];
|
||||
* while (1)
|
||||
* {
|
||||
* size_t numOfBytes;
|
||||
* if (UserUart_checkForReceivedData(buffer, 256, &numOfBytes))
|
||||
* VnUartPacketFinder_processReceivedData(buffer, numOfBytes);
|
||||
* }
|
||||
*/
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
|
||||
/* Now when we pass the data to the VnUartPacketFinder, our function
|
||||
* validPacketFoundHandler will be called since we passed in a complete
|
||||
* and valid data packet. Scroll down to the function validPacketFoundHandler
|
||||
* to see how to process and extract the values from the packet. */
|
||||
VnUartPacketFinder_processData(&up,(uint8_t*) buffer, numOfBytes);
|
||||
|
||||
/* Processing received asynchronous data from the sensor is fairly straight
|
||||
* forward. However, you may wish to query or configure the sensor and in
|
||||
* theory this is still straight forward if you do not add code to handle
|
||||
* retransmits of commands or communication timeouts. We will show the
|
||||
* basic structure of querying and configuring and leave it to the
|
||||
* developer for adding edge case handling code. The file sensors.cpp in
|
||||
* the C++ may serve as a reference for adding this extra code.
|
||||
*/
|
||||
|
||||
/* We will first illustrate querying the sensor's model number. First we
|
||||
* generate a read register command. */
|
||||
VnUartPacket_genReadModelNumber(
|
||||
genReadModelNumberBuffer,
|
||||
sizeof(genReadModelNumberBuffer),
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
&readModelNumberSize);
|
||||
|
||||
/* Now send the data to the sensor. */
|
||||
gIsCheckingForModelNumberResponse = true;
|
||||
UserUart_sendData(genReadModelNumberBuffer, readModelNumberSize);
|
||||
|
||||
/* Mock that the sensor responded to our request. */
|
||||
UserUart_mockReceivedData(mockReadModelNumberResponse, strlen(mockReadModelNumberResponse));
|
||||
|
||||
/* Now process the mock data that our fake UART port received and hand it
|
||||
* over to our UART packet finder. */
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
gIsCheckingForModelNumberResponse = false;
|
||||
|
||||
/* Let's see how to perform a trivial configuration of the sensor. We will
|
||||
* change the asynchronous data output frequency to 2 Hz. */
|
||||
VnUartPacket_genWriteAsyncDataOutputFrequency(
|
||||
genWriteAsyncOutputFrequencyBuffer,
|
||||
sizeof(genWriteAsyncOutputFrequencyBuffer),
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
&writeAsyncOutputFreqSize,
|
||||
2);
|
||||
|
||||
/* Now send the data to the sensor. */
|
||||
gIsCheckingForAsyncOutputFreqResponse = true;
|
||||
UserUart_sendData(genWriteAsyncOutputFrequencyBuffer, writeAsyncOutputFreqSize);
|
||||
|
||||
/* Mock that the sensor responded to our request. */
|
||||
UserUart_mockReceivedData(mockWriteAsyncOutputFrequencyResponse, strlen(mockWriteAsyncOutputFrequencyResponse));
|
||||
|
||||
/* Now process the mock data that our fake UART port received and hand it
|
||||
* over to our UART packet finder. */
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
gIsCheckingForAsyncOutputFreqResponse = false;
|
||||
|
||||
/* Other configuration register on the VectorNav sensors have multiple
|
||||
* fields that need to be set when we write to them. If we only are
|
||||
* interested in one field, a safe and easy way to perform this is to first
|
||||
* read the current configuration, change the fields we are concerned with,
|
||||
* and then write the settings back to the sensor. We will illustrate this
|
||||
* now by changing the sensors heading mode of the VPE Basic Control
|
||||
* register. */
|
||||
|
||||
printf("Reading current values of the VPE Basic Control register.\n");
|
||||
|
||||
/* First generate a read register command. */
|
||||
VnUartPacket_genReadVpeBasicControl(
|
||||
genReadVpeBasicControlBuffer,
|
||||
sizeof(genReadVpeBasicControlBuffer),
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
&readVpeBasicControlSize);
|
||||
|
||||
/* Now send the data to the sensor. */
|
||||
gIsCheckingForVpeBasicControlResponse = true;
|
||||
UserUart_sendData(genReadVpeBasicControlBuffer, readVpeBasicControlSize);
|
||||
|
||||
/* Mock that the sensor responded to our request. */
|
||||
UserUart_mockReceivedData(mockFactoryDefaultReadVpeBasicControlResponse, strlen(mockFactoryDefaultReadVpeBasicControlResponse));
|
||||
|
||||
/* Now process the mock data that our fake UART port received and hand it
|
||||
* over to our UART packet finder. */
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
gIsCheckingForVpeBasicControlResponse = false;
|
||||
|
||||
/* The validPacketFoundHandler will have set the current values of the VPE
|
||||
* Basic Control register into our global variables. Let's now change the
|
||||
* heading mode field for this register while keeping the other fields in
|
||||
* their current state. */
|
||||
|
||||
printf("Writing new values to the VPE Basic Control register.\n");
|
||||
|
||||
/* Generate the write register command. */
|
||||
VnUartPacket_genWriteVpeBasicControl(
|
||||
genWriteVpeBasicControlBuffer,
|
||||
sizeof(genWriteVpeBasicControlBuffer),
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
&writeVpeBasicControlSize,
|
||||
gEnable,
|
||||
0, /* Could possibly use a value from the enum HeadingMode in sensors.h. */
|
||||
gFilteringMode,
|
||||
gTuningMode);
|
||||
|
||||
/* Send the data to the sensor. */
|
||||
gIsCheckingForVpeBasicControlResponse = true;
|
||||
UserUart_sendData(genWriteVpeBasicControlBuffer, writeVpeBasicControlSize);
|
||||
|
||||
/* Mock that the sensor responded to our request. */
|
||||
UserUart_mockReceivedData(mockWriteVpeBasicControlResponse, strlen(mockWriteVpeBasicControlResponse));
|
||||
|
||||
/* Process the mock data that our fake UART port received and hand it
|
||||
* over to our UART packet finder. */
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
gIsCheckingForVpeBasicControlResponse = false;
|
||||
|
||||
/* The VectorNav sensor also supports binary asynchronous data output,
|
||||
* which can be configured by the user to support flexible configuration of
|
||||
* data output types. In this example, we will show how to configure the
|
||||
* sensor's binary output configuration register, and then process a packet
|
||||
* received of this binary output data. */
|
||||
|
||||
/* Generate our command to configure the Binary Output 1 register. Normally
|
||||
* when working with the functions from the file uart.h, the data types as
|
||||
* listed in the user manual are used, without any abstractions getting in
|
||||
* the way. However, here we use some enums defined in sensors.h for
|
||||
* specifying the flags of the register's fields since it is much easier to
|
||||
* understand. Here we configure the sensor to output yaw, pitch, roll and
|
||||
* timestart data at 4 Hz. Note that the sensor's user manual requires
|
||||
* specifying which groups are present; however, this function call will
|
||||
* take care of determining which fields are present. */
|
||||
VnUartPacket_genWriteBinaryOutput1(
|
||||
(uint8_t*)genWriteBinaryOutput1Buffer,
|
||||
sizeof(genWriteBinaryOutput1Buffer),
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
&writeBinaryOutput1Size,
|
||||
ASYNCMODE_PORT1,
|
||||
200,
|
||||
COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL, /* Note use of binary OR to configure flags. */
|
||||
TIMEGROUP_NONE,
|
||||
IMUGROUP_NONE,
|
||||
GPSGROUP_NONE,
|
||||
ATTITUDEGROUP_NONE,
|
||||
INSGROUP_NONE,
|
||||
GPSGROUP_NONE);
|
||||
|
||||
/* Send the data to the sensor. */
|
||||
UserUart_sendData(genWriteBinaryOutput1Buffer, writeBinaryOutput1Size);
|
||||
|
||||
/* Mock that the sensor responded to our request. */
|
||||
UserUart_mockReceivedData((char*)mockBinaryAsyncData, 26);
|
||||
|
||||
/* Process the mock data that our fake UART port received and hand it
|
||||
* over to our UART packet finder. */
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
|
||||
/* Lastly, you may want to include code that checks for error messages
|
||||
* output from the sensor. To demonstrate, we pass a fake error message to
|
||||
* be handled by our code. */
|
||||
UserUart_mockReceivedData(mockErrorMessage, strlen(mockErrorMessage));
|
||||
UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes);
|
||||
VnUartPacketFinder_processData(&up, (uint8_t*)buffer, numOfBytes);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void packetFoundHandler(void *userData, VnUartPacket *packet, size_t runningIndexOfPacketStart)
|
||||
{
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(runningIndexOfPacketStart);
|
||||
(userData);
|
||||
|
||||
/* When this function is called, the packet will already have been
|
||||
* validated so no checksum/CRC check is required. */
|
||||
|
||||
/* First see if this is an ASCII or binary packet. */
|
||||
if (VnUartPacket_type(packet) == PACKETTYPE_ASCII)
|
||||
{
|
||||
/* Now that we know this is an ASCII packet, we can call the various
|
||||
* ASCII functions to further process this packet. */
|
||||
if (VnUartPacket_isAsciiAsync(packet))
|
||||
{
|
||||
/* We know we have an ASCII asynchronous data packet. Let's see if
|
||||
* this is a message type we are looking for. */
|
||||
VnAsciiAsync asyncType = VnUartPacket_determineAsciiAsyncType(packet);
|
||||
|
||||
if (asyncType == VNYMR)
|
||||
{
|
||||
/* Parse the VNYMR message. */
|
||||
vec3f ypr, mag, accel, angularRate;
|
||||
char yprStr[100], magStr[100], accelStr[100], angularRateStr[100];
|
||||
|
||||
VnUartPacket_parseVNYMR(packet, &ypr, &mag, &accel, &angularRate);
|
||||
|
||||
str_vec3f(yprStr, ypr);
|
||||
str_vec3f(magStr, mag);
|
||||
str_vec3f(accelStr, accel);
|
||||
str_vec3f(angularRateStr, angularRate);
|
||||
printf("[Found VNYMR Packet]\n");
|
||||
printf(" YawPitchRoll: %s\n", yprStr);
|
||||
printf(" Magnetic: %s\n", magStr);
|
||||
printf(" Acceleration: %s\n", accelStr);
|
||||
printf(" Angular Rate: %s\n", angularRateStr);
|
||||
}
|
||||
}
|
||||
else if (VnUartPacket_isResponse(packet))
|
||||
{
|
||||
if (gIsCheckingForModelNumberResponse)
|
||||
{
|
||||
char modelNumber[100];
|
||||
|
||||
VnUartPacket_parseModelNumber(packet, modelNumber);
|
||||
|
||||
printf("Model Number: %s\n", modelNumber);
|
||||
}
|
||||
else if (gIsCheckingForAsyncOutputFreqResponse)
|
||||
{
|
||||
uint32_t asyncOutputFreq;
|
||||
|
||||
VnUartPacket_parseAsyncDataOutputFrequency(packet, &asyncOutputFreq);
|
||||
|
||||
printf("Asynchronous Output Frequency: %u Hz\n", asyncOutputFreq);
|
||||
}
|
||||
else if (gIsCheckingForVpeBasicControlResponse)
|
||||
{
|
||||
char enableStr[100], headingModeStr[100], filteringModeStr[100], tuningModeStr[100];
|
||||
|
||||
VnUartPacket_parseVpeBasicControl(packet, &gEnable, &gHeadingMode, &gFilteringMode, &gTuningMode);
|
||||
|
||||
strFromBool(enableStr, (bool) gEnable);
|
||||
strFromHeadingMode(headingModeStr, (VnHeadingMode)gHeadingMode);
|
||||
strFromVpeMode(filteringModeStr, (VnVpeMode)gFilteringMode);
|
||||
strFromVpeMode(tuningModeStr, (VnVpeMode)gTuningMode);
|
||||
printf("[VPE Basic Control]\n");
|
||||
printf(" Enable: %s\n", enableStr);
|
||||
printf(" Heading Mode: %s\n", headingModeStr);
|
||||
printf(" Filtering Mode: %s\n", filteringModeStr);
|
||||
printf(" Tuning Mode: %s\n", tuningModeStr);
|
||||
}
|
||||
}
|
||||
else if (VnUartPacket_isError(packet))
|
||||
{
|
||||
uint8_t error;
|
||||
char errorStr[100];
|
||||
|
||||
VnUartPacket_parseError(packet, &error);
|
||||
|
||||
strFromSensorError(errorStr, (SensorError) error);
|
||||
|
||||
printf("Sensor Error: %s\n", errorStr);
|
||||
}
|
||||
}
|
||||
else if (VnUartPacket_type(packet) == PACKETTYPE_BINARY) {
|
||||
uint64_t timeStartup;
|
||||
vec3f ypr;
|
||||
char yprStr[100];
|
||||
|
||||
/* See if this is a binary packet type we are expecting. */
|
||||
if (!VnUartPacket_isCompatible(
|
||||
packet,
|
||||
(CommonGroup)(COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL),
|
||||
(TimeGroup)(TIMEGROUP_NONE),
|
||||
(ImuGroup)(IMUGROUP_NONE),
|
||||
(GpsGroup)(GPSGROUP_NONE),
|
||||
(AttitudeGroup)(ATTITUDEGROUP_NONE),
|
||||
(InsGroup)(INSGROUP_NONE),
|
||||
(GpsGroup)(GPSGROUP_NONE)))
|
||||
{
|
||||
/* Not the type of binary packet we are expecting. */
|
||||
return;
|
||||
}
|
||||
|
||||
/* Ok, we have our expected binary output packet. Since there are many
|
||||
* ways to configure the binary data output, the burden is on the user
|
||||
* to correctly parse the binary packet. However, we can make use of
|
||||
* the parsing convenience methods provided by the VnUartPacket structure.
|
||||
* When using these convenience methods, you have to extract them in
|
||||
* the order they are organized in the binary packet per the User Manual. */
|
||||
timeStartup = VnUartPacket_extractUint64(packet);
|
||||
ypr = VnUartPacket_extractVec3f(packet);
|
||||
str_vec3f(yprStr, ypr);
|
||||
printf("[Binary Packet Received]\n");
|
||||
printf(" TimeStartup: %u\n", (uint32_t) timeStartup);
|
||||
printf(" Yaw Pitch Roll: %s\n", yprStr);
|
||||
}
|
||||
}
|
||||
|
||||
/* Some variables to enable our mock UART port. */
|
||||
char* mockUartReceivedDataBuffer[256];
|
||||
size_t mockUartReceivedDataSize;
|
||||
|
||||
/* This is a mock function which in a real development environment would
|
||||
* contain code to initialize the device's UART port. However, to keep this
|
||||
* example generic, we simply initialize our program to mimic a UART port
|
||||
* provided by the user. */
|
||||
void UserUart_initialize(void)
|
||||
{
|
||||
mockUartReceivedDataSize = 0;
|
||||
}
|
||||
|
||||
/* This is another mock function which would be replaced in a real program to
|
||||
* actually query the environment's UART for any data received. We just mock
|
||||
* the data in this example. */
|
||||
bool UserUart_checkForReceivedData(char* buffer, size_t bufferSize, size_t* numOfBytesReceived)
|
||||
{
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(bufferSize);
|
||||
|
||||
if (mockUartReceivedDataSize == 0)
|
||||
return false;
|
||||
|
||||
memcpy(buffer, mockUartReceivedDataBuffer, mockUartReceivedDataSize);
|
||||
*numOfBytesReceived = mockUartReceivedDataSize;
|
||||
|
||||
mockUartReceivedDataSize = 0;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/* This is a helper method for our mocked UART port that will mimic data that
|
||||
* has been received on a UART port. This function would not be implemented in
|
||||
* an environment that is using an actual UART port. */
|
||||
void UserUart_mockReceivedData(char* buffer, size_t bufferSize)
|
||||
{
|
||||
memcpy(mockUartReceivedDataBuffer, buffer, bufferSize);
|
||||
mockUartReceivedDataSize = bufferSize;
|
||||
}
|
||||
|
||||
/* This is a method for simulating sending data to a VectorNav sensor. This
|
||||
* will need to be implemented by the developer to actually send the data over
|
||||
* the system's UART. */
|
||||
void UserUart_sendData(char *data, size_t size)
|
||||
{
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(data);
|
||||
(size);
|
||||
|
||||
/* Do nothing since we are mocking a UART port. */
|
||||
}
|
||||
@ -1,45 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 10.00
|
||||
# Visual Studio 2008
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "getting_started", "getting_started.vcproj", "{46C5F55A-E6B2-3D9A-B942-92B966974AFA}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E} = {70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2008\libvnc.vcproj", "{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
MinSizeRel|Win32 = MinSizeRel|Win32
|
||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{E7542957-E5BC-392D-9CBA-5113C1B5195E}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{E7542957-E5BC-392D-9CBA-5113C1B5195E}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E7542957-E5BC-392D-9CBA-5113C1B5195E}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{E7542957-E5BC-392D-9CBA-5113C1B5195E}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{46C5F55A-E6B2-3D9A-B942-92B966974AFA}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{46C5F55A-E6B2-3D9A-B942-92B966974AFA}.Debug|Win32.Build.0 = Debug|Win32
|
||||
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@ -1,24 +0,0 @@
|
||||
When opening the vs2019 example Project, Visual Studio will pop up a dialog asking to retarget Projects to the latest Windows SDK Version and Platform Toolset. DO NOT update the projects because it will break building the libvncxx library. The latest Platform Toolset that can be used to build the libvncxx library is Visual Studio 2017.
|
||||
|
||||
Also, the library currently only supports x86 builds.
|
||||
|
||||
If you do not have the Visual Studio 2017 Build Tools, you will get the following error:
|
||||
|
||||
Error MSB8020 The build tools for Visual Studio 2017 (Platform Toolset = 'v141') cannot be found. To build using the v141 build tools, please install Visual Studio 2017 build tools. Alternatively, you may upgrade to the current Visual Studio tools by selecting the Project menu or right-click the solution, and then selecting "Retarget solution".
|
||||
|
||||
The following link will walk you through how to add the Visual Studio 2017 platform toolset to your environment.
|
||||
|
||||
https://docs.microsoft.com/en-us/visualstudio/install/modify-visual-studio?view=vs-2019
|
||||
|
||||
Run C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe
|
||||
|
||||
Select C++/CLI support for v141 build tools (14.16) under Compilers, build tools, and runtimes from the Individual components tab of modifying Visual Studio 2019
|
||||
|
||||
MSVC v141 - VS 2017 C++ x64/x86 build tools (v14.16)
|
||||
|
||||
Also select Windows 10 SDK 10.0.18362.0 for the needed make tools.
|
||||
|
||||
After adding support for Visual Studio 2017 build toolset, if the projects are marked as unusable, have Visual Studio install the missing components.
|
||||
|
||||
|
||||
|
||||
@ -1,43 +0,0 @@
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Microsoft Visual Studio Solution File, Format Version 12.00
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||||
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||||
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||||
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|
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RelWithDebInfo|Win32 = RelWithDebInfo|Win32
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{620DB29A-E896-3F44-A0B7-202206594DC3}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
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{620DB29A-E896-3F44-A0B7-202206594DC3}.Release|Win32.ActiveCfg = Release|Win32
|
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{620DB29A-E896-3F44-A0B7-202206594DC3}.Release|Win32.Build.0 = Release|Win32
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{620DB29A-E896-3F44-A0B7-202206594DC3}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{620DB29A-E896-3F44-A0B7-202206594DC3}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.ActiveCfg = Debug|Win32
|
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.Build.0 = Debug|Win32
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
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||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.Build.0 = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
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||||
EndGlobalSection
|
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GlobalSection(SolutionProperties) = preSolution
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||||
HideSolutionNode = FALSE
|
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GlobalSection(ExtensibilityGlobals) = postSolution
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@ -1,273 +0,0 @@
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|
||||
<ProjectConfiguration Include="Release|Win32">
|
||||
<Configuration>Release</Configuration>
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||||
<Platform>Win32</Platform>
|
||||
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|
||||
<ProjectConfiguration Include="MinSizeRel|Win32">
|
||||
<Configuration>MinSizeRel</Configuration>
|
||||
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||||
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|
||||
<ProjectConfiguration Include="RelWithDebInfo|Win32">
|
||||
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||||
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|
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|
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|
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|
||||
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|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
|
||||
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|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
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|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
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|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
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|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
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|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
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|
||||
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|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
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|
||||
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|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">getting_started</TargetName>
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@ -1,13 +0,0 @@
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||||
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||||
@ -1,24 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.4)
|
||||
project(sensor)
|
||||
|
||||
add_subdirectory(../.. libvnc)
|
||||
|
||||
set(CMAKE_SUPPRESS_REGENERATION TRUE)
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
||||
if (CMAKE_COMPILER_IS_GNUCC)
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wpedantic -std=c90")
|
||||
endif()
|
||||
|
||||
set(SOURCE_FILES
|
||||
main.c)
|
||||
|
||||
include_directories("../../include")
|
||||
|
||||
add_executable(sensor ${SOURCE_FILES})
|
||||
|
||||
target_link_libraries(sensor LINK_PUBLIC libvnc)
|
||||
|
||||
if (UNIX OR APPLE)
|
||||
target_link_libraries(sensor LINK_PUBLIC pthread)
|
||||
endif()
|
||||
@ -1,20 +0,0 @@
|
||||
CC = gcc
|
||||
INCLUDES = -I ../../include
|
||||
CFLAGS = -Wall
|
||||
|
||||
all: sensor
|
||||
|
||||
clean:
|
||||
rm -f main.o
|
||||
rm -f sensor
|
||||
cd ../.. && make clean
|
||||
|
||||
sensor: main.o proglib
|
||||
$(CC) -o sensor main.o -L ../../build -lvnc -lpthread
|
||||
|
||||
proglib:
|
||||
cd ../.. && make
|
||||
|
||||
main.o: main.c
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
|
||||
|
||||
@ -1,265 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
/* Include files needed to use VnSensor. */
|
||||
#include "vn/sensors.h"
|
||||
|
||||
void asciiAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex);
|
||||
void asciiOrBinaryAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex);
|
||||
int processErrorReceived(char* errorMessage, VnError errorCode);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
VnSensor vs;
|
||||
char modelNumber[30];
|
||||
char strConversions[50];
|
||||
vec3f ypr;
|
||||
YawPitchRollMagneticAccelerationAndAngularRatesRegister reg;
|
||||
VpeBasicControlRegister vpeReg;
|
||||
uint32_t oldHz, newHz;
|
||||
VnAsciiAsync asyncType;
|
||||
BinaryOutputRegister bor;
|
||||
VnError error;
|
||||
|
||||
/* This example walks through using the VectorNav C Library to connect to
|
||||
* and interact with a VectorNav sensor using the VnSensor structure. */
|
||||
|
||||
/* First determine which COM port your sensor is attached to and update the
|
||||
* constant below. Also, if you have changed your sensor from the factory
|
||||
* default baudrate of 115200, you will need to update the baudrate
|
||||
* constant below as well. */
|
||||
const char SENSOR_PORT[] = "COM1"; /* Windows format for physical and virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
|
||||
/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
|
||||
const uint32_t SENSOR_BAUDRATE = 115200;
|
||||
|
||||
/* We first need to initialize our VnSensor structure. */
|
||||
VnSensor_initialize(&vs);
|
||||
|
||||
/* Now connect to our sensor. */
|
||||
if ((error = VnSensor_connect(&vs, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
|
||||
return processErrorReceived("Error connecting to sensor.", error);
|
||||
|
||||
/* Let's query the sensor's model number. */
|
||||
if ((error = VnSensor_readModelNumber(&vs, modelNumber, sizeof(modelNumber))) != E_NONE)
|
||||
return processErrorReceived("Error reading model number.", error);
|
||||
printf("Model Number: %s\n", modelNumber);
|
||||
|
||||
/* Get some orientation data from the sensor. */
|
||||
if ((error = VnSensor_readYawPitchRoll(&vs, &ypr)) != E_NONE)
|
||||
return processErrorReceived("Error reading yaw pitch roll.", error);
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("Current YPR: %s\n", strConversions);
|
||||
|
||||
/* Get some orientation and IMU data. */
|
||||
if ((error = VnSensor_readYawPitchRollMagneticAccelerationAndAngularRates(&vs, ®)) != E_NONE)
|
||||
return processErrorReceived("Error reading orientation and IMU data.", error);
|
||||
str_vec3f(strConversions, reg.yawPitchRoll);
|
||||
printf("Current YPR: %s\n", strConversions);
|
||||
str_vec3f(strConversions, reg.mag);
|
||||
printf("Current Magnetic: %s\n", strConversions);
|
||||
str_vec3f(strConversions, reg.accel);
|
||||
printf("Current Acceleration: %s\n", strConversions);
|
||||
str_vec3f(strConversions, reg.gyro);
|
||||
printf("Current Angular Rates: %s\n", strConversions);
|
||||
|
||||
/* Let's do some simple reconfiguration of the sensor. As it comes from the
|
||||
* factory, the sensor outputs asynchronous data at 40 Hz. We will change
|
||||
* this to 2 Hz for demonstration purposes. */
|
||||
if ((error = VnSensor_readAsyncDataOutputFrequency(&vs, &oldHz)) != E_NONE)
|
||||
return processErrorReceived("Error reading async data output frequency.", error);
|
||||
if ((error = VnSensor_writeAsyncDataOutputFrequency(&vs, 2, true)) != E_NONE)
|
||||
return processErrorReceived("Error writing async data output frequency.", error);
|
||||
if ((error = VnSensor_readAsyncDataOutputFrequency(&vs, &newHz)) != E_NONE)
|
||||
return processErrorReceived("Error reading async data output frequency.", error);
|
||||
printf("Old Async Frequency: %d Hz\n", oldHz);
|
||||
printf("New Async Frequency: %d Hz\n", newHz);
|
||||
|
||||
/* For the registers that have more complex configuration options, it is
|
||||
* convenient to read the current existing register configuration, change
|
||||
* only the values of interest, and then write the configuration to the
|
||||
* register. This allows preserving the current settings for the register's
|
||||
* other fields. Below, we change the heading mode used by the sensor. */
|
||||
if ((error = VnSensor_readVpeBasicControl(&vs, &vpeReg)) != E_NONE)
|
||||
return processErrorReceived("Error reading VPE basic control.", error);
|
||||
strFromHeadingMode(strConversions, vpeReg.headingMode);
|
||||
printf("Old Heading Mode: %s\n", strConversions);
|
||||
vpeReg.headingMode = VNHEADINGMODE_ABSOLUTE;
|
||||
if ((error = VnSensor_writeVpeBasicControl(&vs, vpeReg, true)) != E_NONE)
|
||||
return processErrorReceived("Error writing VPE basic control.", error);
|
||||
if ((error = VnSensor_readVpeBasicControl(&vs, &vpeReg)) != E_NONE)
|
||||
return processErrorReceived("Error reading VPE basic control.", error);
|
||||
strFromHeadingMode(strConversions, vpeReg.headingMode);
|
||||
printf("New Heading Mode: %s\n", strConversions);
|
||||
|
||||
/* Up to now, we have shown some examples of how to configure the sensor
|
||||
* and query for the latest measurements. However, this querying is a
|
||||
* relatively slow method for getting measurements since the CPU has to
|
||||
* send out the command to the sensor and also wait for the command
|
||||
* response. An alternative way of receiving the sensor's latest
|
||||
* measurements without the waiting for a query response, you can configure
|
||||
* the library to alert you when new asynchronous data measurements are
|
||||
* received. We will illustrate hooking up to our current VnSensor to
|
||||
* receive these notifications of asynchronous messages. */
|
||||
|
||||
/* First let's configure the sensor to output a known asynchronous data
|
||||
* message type. */
|
||||
if ((error = VnSensor_writeAsyncDataOutputType(&vs, VNYPR, true)) != E_NONE)
|
||||
return processErrorReceived("Error writing to async data output type.", error);
|
||||
if ((error = VnSensor_readAsyncDataOutputType(&vs, &asyncType)) != E_NONE)
|
||||
return processErrorReceived("Error reading async data output type.", error);
|
||||
strFromVnAsciiAsync(strConversions, asyncType);
|
||||
printf("ASCII Async Type: %s\n", strConversions);
|
||||
|
||||
/* You will need to define a method which has the appropriate
|
||||
* signature for receiving notifications. This is implemented with the
|
||||
* method asciiAsyncMessageReceived. Now we register the method with the
|
||||
* VnSensor structure. */
|
||||
VnSensor_registerAsyncPacketReceivedHandler(&vs, asciiAsyncMessageReceived, NULL);
|
||||
|
||||
/* Now sleep for 5 seconds so that our asynchronous callback method can
|
||||
* receive and display receive yaw, pitch, roll packets. */
|
||||
printf("Starting sleep...\n");
|
||||
VnThread_sleepSec(5);
|
||||
|
||||
/* Unregister our callback method. */
|
||||
VnSensor_unregisterAsyncPacketReceivedHandler(&vs);
|
||||
|
||||
/* As an alternative to receiving notifications of new ASCII asynchronous
|
||||
* messages, the binary output configuration of the sensor is another
|
||||
* popular choice for receiving data since it is compact, fast to parse,
|
||||
* and can be output at faster rates over the same connection baudrate.
|
||||
* Here we will configure the binary output register and process packets
|
||||
* with a new callback method that can handle both ASCII and binary
|
||||
* packets. */
|
||||
|
||||
/* First we create a structure for setting the configuration information
|
||||
* for the binary output register to send yaw, pitch, roll data out at
|
||||
* 4 Hz. */
|
||||
BinaryOutputRegister_initialize(
|
||||
&bor,
|
||||
ASYNCMODE_PORT1,
|
||||
200,
|
||||
COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL, /* Note use of binary OR to configure flags. */
|
||||
TIMEGROUP_NONE,
|
||||
IMUGROUP_NONE,
|
||||
GPSGROUP_NONE,
|
||||
ATTITUDEGROUP_NONE,
|
||||
INSGROUP_NONE,
|
||||
GPSGROUP_NONE);
|
||||
|
||||
if ((error = VnSensor_writeBinaryOutput1(&vs, &bor, true)) != E_NONE)
|
||||
return processErrorReceived("Error writing binary output 1.", error);
|
||||
|
||||
VnSensor_registerAsyncPacketReceivedHandler(&vs, asciiOrBinaryAsyncMessageReceived, NULL);
|
||||
|
||||
printf("Starting sleep...\n");
|
||||
VnThread_sleepSec(5);
|
||||
|
||||
VnSensor_unregisterAsyncPacketReceivedHandler(&vs);
|
||||
|
||||
/* Now disconnect from the sensor since we are finished. */
|
||||
if ((error = VnSensor_disconnect(&vs)) != E_NONE)
|
||||
return processErrorReceived("Error disconnecting from sensor.", error);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* This is our basic callback handler for notifications of new asynchronous
|
||||
* data packets received. The userData parameter is a pointer to the data we
|
||||
* supplied when we called registerAsyncPacketReceivedHandler. In this case
|
||||
* we didn't need any user data so we just set this to NULL. Alternatively you
|
||||
* can provide a pointer to user data which you can use in the callback method.
|
||||
* One use for this is help in calling back to a member method instead of just
|
||||
* a global or static method. The Packet p parameter is an encapsulation of
|
||||
* the data packet. At this state, it has already been validated and identified
|
||||
* as an asynchronous data message. However, some processing is required on the
|
||||
* user side to make sure it is the right type of asynchronous message type so
|
||||
* we can parse it correctly. The index parameter is an advanced usage item and
|
||||
* can be safely ignored for now. */
|
||||
void asciiAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex)
|
||||
{
|
||||
vec3f ypr;
|
||||
char strConversions[50];
|
||||
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(userData);
|
||||
(runningIndex);
|
||||
|
||||
/* Make sure we have an ASCII packet and not a binary packet. */
|
||||
if (VnUartPacket_type(packet) != PACKETTYPE_ASCII)
|
||||
return;
|
||||
|
||||
/* Make sure we have a VNYPR data packet. */
|
||||
if (VnUartPacket_determineAsciiAsyncType(packet) != VNYPR)
|
||||
return;
|
||||
|
||||
/* We now need to parse out the yaw, pitch, roll data. */
|
||||
VnUartPacket_parseVNYPR(packet, &ypr);
|
||||
|
||||
/* Now print out the yaw, pitch, roll measurements. */
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("ASCII Async YPR: %s\n", strConversions);
|
||||
}
|
||||
|
||||
void asciiOrBinaryAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex)
|
||||
{
|
||||
vec3f ypr;
|
||||
char strConversions[50];
|
||||
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(userData);
|
||||
(runningIndex);
|
||||
|
||||
if (VnUartPacket_type(packet) == PACKETTYPE_ASCII && VnUartPacket_determineAsciiAsyncType(packet) == VNYPR)
|
||||
{
|
||||
VnUartPacket_parseVNYPR(packet, &ypr);
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("ASCII Async YPR: %s\n", strConversions);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if (VnUartPacket_type(packet) == PACKETTYPE_BINARY)
|
||||
{
|
||||
uint64_t timeStartup;
|
||||
|
||||
/* First make sure we have a binary packet type we expect since there
|
||||
* are many types of binary output types that can be configured. */
|
||||
if (!VnUartPacket_isCompatible(packet,
|
||||
COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL,
|
||||
TIMEGROUP_NONE,
|
||||
IMUGROUP_NONE,
|
||||
GPSGROUP_NONE,
|
||||
ATTITUDEGROUP_NONE,
|
||||
INSGROUP_NONE,
|
||||
GPSGROUP_NONE))
|
||||
/* Not the type of binary packet we are expecting. */
|
||||
return;
|
||||
|
||||
/* Ok, we have our expected binary output packet. Since there are many
|
||||
* ways to configure the binary data output, the burden is on the user
|
||||
* to correctly parse the binary packet. However, we can make use of
|
||||
* the parsing convenience methods provided by the Packet structure.
|
||||
* When using these convenience methods, you have to extract them in
|
||||
* the order they are organized in the binary packet per the User Manual. */
|
||||
timeStartup = VnUartPacket_extractUint64(packet);
|
||||
ypr = VnUartPacket_extractVec3f(packet);
|
||||
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("Binary Async TimeStartup: %" PRIu64 "\n", timeStartup);
|
||||
printf("Binary Async YPR: %s\n", strConversions);
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
int processErrorReceived(char* errorMessage, VnError errorCode)
|
||||
{
|
||||
char errorCodeStr[100];
|
||||
strFromVnError(errorCodeStr, errorCode);
|
||||
printf("%s\nERROR: %s\n", errorMessage, errorCodeStr);
|
||||
return -1;
|
||||
}
|
||||
@ -1,45 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 10.00
|
||||
# Visual Studio 2008
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2008\libvnc.vcproj", "{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "sensor", "sensor.vcproj", "{927C0236-400D-359E-98AC-3F7C087AC1B2}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E} = {70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
MinSizeRel|Win32 = MinSizeRel|Win32
|
||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{DBFFEF57-639E-3E8E-A308-89C14C6933B3}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{DBFFEF57-639E-3E8E-A308-89C14C6933B3}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{DBFFEF57-639E-3E8E-A308-89C14C6933B3}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{DBFFEF57-639E-3E8E-A308-89C14C6933B3}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.Build.0 = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.Release|Win32.Build.0 = Release|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{927C0236-400D-359E-98AC-3F7C087AC1B2}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -1,280 +0,0 @@
|
||||
<?xml version="1.0" encoding = "UTF-8"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="9.00"
|
||||
Name="sensor"
|
||||
ProjectGUID="{927C0236-400D-359E-98AC-3F7C087AC1B2}"
|
||||
Keyword="Win32Proj">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Debug"
|
||||
IntermediateDirectory="sensor.dir\Debug"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Debug/"
|
||||
BasicRuntimeChecks="3"
|
||||
CompileAs="1"
|
||||
DebugInformationFormat="3"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="0"
|
||||
Optimization="0"
|
||||
RuntimeLibrary="3"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86 /debug"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\Debug\sensor.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="2"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\Debug/sensor.pdb"
|
||||
GenerateDebugInformation="true"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\Debug\sensor.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Release"
|
||||
IntermediateDirectory="sensor.dir\Release"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Release/"
|
||||
CompileAs="1"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="2"
|
||||
Optimization="2"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\Release\sensor.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="1"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\Release/sensor.pdb"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\Release\sensor.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="MinSizeRel|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\MinSizeRel"
|
||||
IntermediateDirectory="sensor.dir\MinSizeRel"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="MinSizeRel/"
|
||||
CompileAs="1"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="1"
|
||||
Optimization="1"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\MinSizeRel\sensor.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="1"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\MinSizeRel/sensor.pdb"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\MinSizeRel\sensor.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="RelWithDebInfo|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\RelWithDebInfo"
|
||||
IntermediateDirectory="sensor.dir\RelWithDebInfo"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="RelWithDebInfo/"
|
||||
CompileAs="1"
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||||
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|
||||
<ClCompile Include="..\..\main.c">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Filter Include="Source Files">
|
||||
<UniqueIdentifier>{FB246C80-D0EB-3916-B47A-681FFA994058}</UniqueIdentifier>
|
||||
</Filter>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -1,24 +0,0 @@
|
||||
When opening the vs2019 example Project, Visual Studio will pop up a dialog asking to retarget Projects to the latest Windows SDK Version and Platform Toolset. DO NOT update the projects because it will break building the libvncxx library. The latest Platform Toolset that can be used to build the libvncxx library is Visual Studio 2017.
|
||||
|
||||
Also, the library currently only supports x86 builds.
|
||||
|
||||
If you do not have the Visual Studio 2017 Build Tools, you will get the following error:
|
||||
|
||||
Error MSB8020 The build tools for Visual Studio 2017 (Platform Toolset = 'v141') cannot be found. To build using the v141 build tools, please install Visual Studio 2017 build tools. Alternatively, you may upgrade to the current Visual Studio tools by selecting the Project menu or right-click the solution, and then selecting "Retarget solution".
|
||||
|
||||
The following link will walk you through how to add the Visual Studio 2017 platform toolset to your environment.
|
||||
|
||||
https://docs.microsoft.com/en-us/visualstudio/install/modify-visual-studio?view=vs-2019
|
||||
|
||||
Run C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe
|
||||
|
||||
Select C++/CLI support for v141 build tools (14.16) under Compilers, build tools, and runtimes from the Individual components tab of modifying Visual Studio 2019
|
||||
|
||||
MSVC v141 - VS 2017 C++ x64/x86 build tools (v14.16)
|
||||
|
||||
Also select Windows 10 SDK 10.0.18362.0 for the needed make tools.
|
||||
|
||||
After adding support for Visual Studio 2017 build toolset, if the projects are marked as unusable, have Visual Studio install the missing components.
|
||||
|
||||
|
||||
|
||||
@ -1,33 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 16
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2017\libvnc.vcxproj", "{E237AE2C-CE1B-39F5-B931-3C0E53353E53}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "sensor", "sensor.vcxproj", "{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53} = {E237AE2C-CE1B-39F5-B931-3C0E53353E53}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{114398B3-D059-3B35-8E60-D50F43E2C38F}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{114398B3-D059-3B35-8E60-D50F43E2C38F}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.Build.0 = Release|Win32
|
||||
{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}.Release|Win32.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -1,154 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|Win32">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|Win32">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<ProjectGUID>{DA121FE3-04A0-3763-A4B5-750DF8A3ACC6}</ProjectGUID>
|
||||
<Keyword>Win32Proj</Keyword>
|
||||
<Platform>Win32</Platform>
|
||||
<ProjectName>sensor</ProjectName>
|
||||
<WindowsTargetPlatformVersion>10.0.18362.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseOfMfc>false</UseOfMfc>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<_ProjectFileVersion>10.0.20506.1</_ProjectFileVersion>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">..\..\projects\vs2019\Debug\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">sensor.dir\Debug\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">sensor</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</GenerateManifest>
|
||||
<OutDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">..\..\projects\vs2019\Release\</OutDir>
|
||||
<IntDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">sensor.dir\Release\</IntDir>
|
||||
<TargetName Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">sensor</TargetName>
|
||||
<TargetExt Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">.exe</TargetExt>
|
||||
<LinkIncremental Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</LinkIncremental>
|
||||
<GenerateManifest Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">true</GenerateManifest>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
||||
<ClCompile>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AssemblerListingLocation>Debug/</AssemblerListingLocation>
|
||||
<BasicRuntimeChecks>EnableFastChecks</BasicRuntimeChecks>
|
||||
<CompileAs>CompileAsC</CompileAs>
|
||||
<DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
|
||||
<ExceptionHandling>
|
||||
</ExceptionHandling>
|
||||
<InlineFunctionExpansion>Disabled</InlineFunctionExpansion>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 /debug %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<IgnoreSpecificDefaultLibraries>%(IgnoreSpecificDefaultLibraries)</IgnoreSpecificDefaultLibraries>
|
||||
<ImportLibrary>$(OutDir)..\$(TargetName).lib</ImportLibrary>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<Version>
|
||||
</Version>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>true</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
<ClCompile>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AssemblerListingLocation>Release/</AssemblerListingLocation>
|
||||
<CompileAs>CompileAsC</CompileAs>
|
||||
<ExceptionHandling>
|
||||
</ExceptionHandling>
|
||||
<InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
|
||||
<WarningLevel>EnableAllWarnings</WarningLevel>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR="Release";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ObjectFileName>$(IntDir)</ObjectFileName>
|
||||
<DebugInformationFormat>
|
||||
</DebugInformationFormat>
|
||||
</ClCompile>
|
||||
<ResourceCompile>
|
||||
<PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
</ResourceCompile>
|
||||
<Midl>
|
||||
<AdditionalIncludeDirectories>..\..\..\..\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
|
||||
<HeaderFileName>%(Filename).h</HeaderFileName>
|
||||
<TypeLibraryName>%(Filename).tlb</TypeLibraryName>
|
||||
<InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
|
||||
<ProxyFileName>%(Filename)_p.c</ProxyFileName>
|
||||
</Midl>
|
||||
<Link>
|
||||
<AdditionalOptions> /machine:X86 %(AdditionalOptions)</AdditionalOptions>
|
||||
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<GenerateDebugInformation>false</GenerateDebugInformation>
|
||||
<IgnoreSpecificDefaultLibraries>%(IgnoreSpecificDefaultLibraries)</IgnoreSpecificDefaultLibraries>
|
||||
<ImportLibrary>$(OutDir)..\$(TargetName).lib</ImportLibrary>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<Version>
|
||||
</Version>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>true</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\..\main.c" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="../../../../projects/vs2017/libvnc.vcxproj">
|
||||
<Project>{E237AE2C-CE1B-39F5-B931-3C0E53353E53}</Project>
|
||||
</ProjectReference>
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
</Project>
|
||||
@ -1,13 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\..\main.c">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Filter Include="Source Files">
|
||||
<UniqueIdentifier>{FB246C80-D0EB-3916-B47A-681FFA994058}</UniqueIdentifier>
|
||||
</Filter>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -1,4 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup />
|
||||
</Project>
|
||||
@ -1,24 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.4)
|
||||
project(spi)
|
||||
|
||||
add_subdirectory(../.. libvnc)
|
||||
|
||||
set(CMAKE_SUPPRESS_REGENERATION TRUE)
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
||||
if (CMAKE_COMPILER_IS_GNUCC)
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wpedantic -std=c90")
|
||||
endif()
|
||||
|
||||
set(SOURCE_FILES
|
||||
main.c)
|
||||
|
||||
include_directories("../../include")
|
||||
|
||||
add_executable(spi ${SOURCE_FILES})
|
||||
|
||||
target_link_libraries(spi LINK_PUBLIC libvnc)
|
||||
|
||||
if (UNIX OR APPLE)
|
||||
target_link_libraries(spi LINK_PUBLIC pthread)
|
||||
endif()
|
||||
@ -1,20 +0,0 @@
|
||||
CC = gcc
|
||||
INCLUDES = -I ../../include
|
||||
CFLAGS = -Wall
|
||||
|
||||
all: spi
|
||||
|
||||
clean:
|
||||
rm -f main.o
|
||||
rm -f spi
|
||||
cd ../.. && make clean
|
||||
|
||||
spi: main.o ../../build/libvnc.a
|
||||
$(CC) -o spi main.o -L ../../build -lvnc -lpthread
|
||||
|
||||
../../build/libvnc.a:
|
||||
cd ../.. && make
|
||||
|
||||
main.o: main.c
|
||||
$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
|
||||
|
||||
@ -1,148 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
/* Include to get access to the VectorNav SPI functions. */
|
||||
#include "vn/protocol/spi.h"
|
||||
#include "vn/protocol/common.h"
|
||||
#include "vn/xplat/thread.h"
|
||||
|
||||
int display_error(const char* msg);
|
||||
void mockspi_initialize(void);
|
||||
void mockspi_writeread(const char* dataOut, size_t dataOutSize, char* dataIn);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* This example walks through using the VectorNav C Library to connect to
|
||||
* and interact with a mock VectorNav sensor through the Serial Peripheral
|
||||
* Interaface (SPI). Once you work through and understand the example, you
|
||||
* may want to try replacing the mock functions with ones that interface
|
||||
* with your SPI subsystem. */
|
||||
|
||||
char txbuf[0x100];
|
||||
char rxbuf[0x100];
|
||||
size_t bufcmdsize;
|
||||
size_t responseSize;
|
||||
vec3f ypr;
|
||||
char strConversions[50];
|
||||
size_t i;
|
||||
|
||||
mockspi_initialize();
|
||||
|
||||
/* With SPI 'initialize', let's work through reading the current yaw, pitch,
|
||||
* roll values from the sensor. */
|
||||
|
||||
/* First we must generate the command to query the sensor. */
|
||||
bufcmdsize = sizeof(txbuf); /* First set this variable to the size of the buffer. */
|
||||
if (VnSpi_genReadYawPitchRoll(
|
||||
txbuf,
|
||||
&bufcmdsize, /* Pass in the pointer since the function will set this with the length of the command generate. */
|
||||
0,
|
||||
&responseSize) != E_NONE)
|
||||
return display_error("Error generating read yaw, pitch, roll command.\n");
|
||||
|
||||
/* Send out the command over SPI. */
|
||||
mockspi_writeread(
|
||||
txbuf,
|
||||
responseSize,
|
||||
rxbuf);
|
||||
|
||||
/* Now the sensor will have responded with data on this transaction but
|
||||
* since the sensor only responds on following transaction, we will
|
||||
* disregard this data. These double transactions can be mitigated by only
|
||||
* requesting the same data each time or by staggering the the requested
|
||||
* data in an appropriate order. */
|
||||
|
||||
/* Make sure enough time has passed for the sensor to format the previous response. */
|
||||
VnThread_sleepMs(1); /* Actual sensor requirement is only 50 us. */
|
||||
|
||||
/* Retransmit so the sensor responds with the previous request. */
|
||||
mockspi_writeread(
|
||||
txbuf,
|
||||
responseSize,
|
||||
rxbuf);
|
||||
|
||||
/* Now parse the received response. */
|
||||
if (VnSpi_parseYawPitchRoll(
|
||||
rxbuf,
|
||||
&ypr) != E_NONE)
|
||||
return display_error("Error parsing yaw, pitch, roll.\n");
|
||||
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("Current YPR: %s\n", strConversions);
|
||||
|
||||
/* We have now shown how to process one full command transaction which
|
||||
* requires two SPI transactions because the VectorNav sensor requires a
|
||||
* short amount of time to ready the response. Now we can optimize this
|
||||
* transaction squence to utilize this behavior when we are only requesting
|
||||
* the same data each time. This is illustrated in the for loop below. */
|
||||
|
||||
for (i = 0; i < 25; i++)
|
||||
{
|
||||
/* For this loop, we want to display data at ~10 Hz. */
|
||||
VnThread_sleepMs(100);
|
||||
|
||||
/* Perform a transaction for the same sensor register. */
|
||||
mockspi_writeread(
|
||||
txbuf,
|
||||
responseSize,
|
||||
rxbuf);
|
||||
|
||||
/* Now since the previous command was for the same register, we will
|
||||
* have valid data and can print/use the results. */
|
||||
if (VnSpi_parseYawPitchRoll(
|
||||
rxbuf,
|
||||
&ypr) != E_NONE)
|
||||
return display_error("Error parsing yaw, pitch, roll.\n");
|
||||
|
||||
str_vec3f(strConversions, ypr);
|
||||
printf("Current YPR: %s\n", strConversions);
|
||||
}
|
||||
|
||||
/* We illustrate how to write settings to the sensor by changing the
|
||||
* asynchronous data output type. Note that this setting only affects the
|
||||
* output on the UART ports and has no effect on the SPI ports. It is only
|
||||
* used for illustration purposes. */
|
||||
|
||||
/* Remember to reset the bufcmdsize variable to let the function know how
|
||||
* large the provided buffer is. */
|
||||
bufcmdsize = sizeof(txbuf);
|
||||
|
||||
if (VnSpi_genWriteAsyncDataOutputType(
|
||||
txbuf,
|
||||
&bufcmdsize,
|
||||
0,
|
||||
&responseSize,
|
||||
VNYPR) != E_NONE)
|
||||
return display_error("Error generating write async data output type command.\n");
|
||||
|
||||
mockspi_writeread(
|
||||
txbuf,
|
||||
responseSize,
|
||||
rxbuf);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int display_error(const char* msg)
|
||||
{
|
||||
printf("%s\n", msg);
|
||||
return -1;
|
||||
}
|
||||
|
||||
void mockspi_initialize(void)
|
||||
{
|
||||
/* Do nothing since we are faking the SPI interface. */
|
||||
}
|
||||
|
||||
void mockspi_writeread(const char* dataOut, size_t dataOutSize, char* dataIn)
|
||||
{
|
||||
/* This function fakes a SPI subsystem for this example. */
|
||||
|
||||
char yprResponse[] = { 0x00, 0x01, 0x08, 0x00, 0xd8, 0x9c, 0xd4, 0x42, 0x44, 0xba, 0x9e, 0x40, 0x4e, 0xe4, 0x8b, 0x40 };
|
||||
|
||||
/* Silence 'unreferenced formal parameters' warning in Visual Studio. */
|
||||
(dataOut);
|
||||
(dataOutSize);
|
||||
|
||||
memcpy(dataIn, yprResponse, sizeof(yprResponse));
|
||||
}
|
||||
@ -1,45 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 10.00
|
||||
# Visual Studio 2008
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2008\libvnc.vcproj", "{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "spi", "spi.vcproj", "{E97AFF45-BD23-37BA-B775-3285FB4CB488}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E} = {70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
MinSizeRel|Win32 = MinSizeRel|Win32
|
||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{74FDA5CC-6BE6-39DE-A845-070037ACF440}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{74FDA5CC-6BE6-39DE-A845-070037ACF440}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{74FDA5CC-6BE6-39DE-A845-070037ACF440}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{74FDA5CC-6BE6-39DE-A845-070037ACF440}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.Release|Win32.Build.0 = Release|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.Release|Win32.Build.0 = Release|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{E97AFF45-BD23-37BA-B775-3285FB4CB488}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -1,280 +0,0 @@
|
||||
<?xml version="1.0" encoding = "UTF-8"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="9.00"
|
||||
Name="spi"
|
||||
ProjectGUID="{E97AFF45-BD23-37BA-B775-3285FB4CB488}"
|
||||
Keyword="Win32Proj">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Debug"
|
||||
IntermediateDirectory="spi.dir\Debug"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Debug/"
|
||||
BasicRuntimeChecks="3"
|
||||
CompileAs="1"
|
||||
DebugInformationFormat="3"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="0"
|
||||
Optimization="0"
|
||||
RuntimeLibrary="3"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;_DEBUG;CMAKE_INTDIR=\"Debug\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86 /debug"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\Debug\spi.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="2"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\Debug/spi.pdb"
|
||||
GenerateDebugInformation="true"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\Debug\spi.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\Release"
|
||||
IntermediateDirectory="spi.dir\Release"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="Release/"
|
||||
CompileAs="1"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="2"
|
||||
Optimization="2"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"Release\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\Release\spi.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="1"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\Release/spi.pdb"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\Release\spi.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="MinSizeRel|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\MinSizeRel"
|
||||
IntermediateDirectory="spi.dir\MinSizeRel"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="MinSizeRel/"
|
||||
CompileAs="1"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="1"
|
||||
Optimization="1"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"MinSizeRel\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\MinSizeRel\spi.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="1"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\MinSizeRel/spi.pdb"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\MinSizeRel\spi.lib"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="RelWithDebInfo|Win32"
|
||||
OutputDirectory="..\..\projects\vs2008\RelWithDebInfo"
|
||||
IntermediateDirectory="spi.dir\RelWithDebInfo"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" -Wall"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
AssemblerListingLocation="RelWithDebInfo/"
|
||||
CompileAs="1"
|
||||
DebugInformationFormat="3"
|
||||
ExceptionHandling="0"
|
||||
InlineFunctionExpansion="1"
|
||||
Optimization="2"
|
||||
RuntimeLibrary="2"
|
||||
WarningLevel="3"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"RelWithDebInfo\""
|
||||
ObjectFile="$(IntDir)\"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
PreprocessorDefinitions="WIN32;_WINDOWS;NDEBUG;CMAKE_INTDIR=\"RelWithDebInfo\""/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
AdditionalIncludeDirectories="..\..\..\..\include;"
|
||||
MkTypLibCompatible="false"
|
||||
TargetEnvironment="1"
|
||||
GenerateStublessProxies="true"
|
||||
TypeLibraryName="$(InputName).tlb"
|
||||
OutputDirectory="$(IntDir)"
|
||||
HeaderFileName="$(InputName).h"
|
||||
DLLDataFileName=""
|
||||
InterfaceIdentifierFileName="$(InputName)_i.c"
|
||||
ProxyFileName="$(InputName)_p.c"/>
|
||||
<Tool
|
||||
Name="VCManifestTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkLibraryDependencies="true"
|
||||
AdditionalOptions=" /machine:X86 /debug"
|
||||
AdditionalDependencies="$(NOINHERIT) kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib "
|
||||
OutputFile="..\..\projects\vs2008\RelWithDebInfo\spi.exe"
|
||||
Version="0.0"
|
||||
LinkIncremental="2"
|
||||
AdditionalLibraryDirectories=""
|
||||
ProgramDatabaseFile="..\..\projects\vs2008\RelWithDebInfo/spi.pdb"
|
||||
GenerateDebugInformation="true"
|
||||
SubSystem="1"
|
||||
ImportLibrary="..\..\projects\vs2008\RelWithDebInfo\spi.lib"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
<ProjectReference
|
||||
ReferencedProjectIdentifier="{70E66665-CE8F-31EF-ADCF-0D8B4D0A5C2E}"
|
||||
RelativePathToProject="..\..\..\..\projects\vs2008\libvnc.vcproj"
|
||||
/>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath="..\..\main.c">
|
||||
</File>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
@ -1,45 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 11.00
|
||||
# Visual Studio 2010
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libvnc", "..\..\..\..\projects\vs2010\libvnc.vcxproj", "{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "spi", "spi.vcxproj", "{EC0AE006-B56D-3638-A6F1-5C17AF5E3C6C}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9} = {B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
MinSizeRel|Win32 = MinSizeRel|Win32
|
||||
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{A6BCC45E-DC02-352E-B1B5-B2E3D2BCC62B}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{A6BCC45E-DC02-352E-B1B5-B2E3D2BCC62B}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{A6BCC45E-DC02-352E-B1B5-B2E3D2BCC62B}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{A6BCC45E-DC02-352E-B1B5-B2E3D2BCC62B}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.Release|Win32.Build.0 = Release|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
|
||||
{B2219FEB-ABD0-3385-9B91-C25C64E3DCF9}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
|
||||
{EC0AE006-B56D-3638-A6F1-5C17AF5E3C6C}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{EC0AE006-B56D-3638-A6F1-5C17AF5E3C6C}.Debug|Win32.Build.0 = Debug|Win32
|
||||
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@ -1,13 +0,0 @@
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@ -1,24 +0,0 @@
|
||||
When opening the vs2019 example Project, Visual Studio will pop up a dialog asking to retarget Projects to the latest Windows SDK Version and Platform Toolset. DO NOT update the projects because it will break building the libvncxx library. The latest Platform Toolset that can be used to build the libvncxx library is Visual Studio 2017.
|
||||
|
||||
Also, the library currently only supports x86 builds.
|
||||
|
||||
If you do not have the Visual Studio 2017 Build Tools, you will get the following error:
|
||||
|
||||
Error MSB8020 The build tools for Visual Studio 2017 (Platform Toolset = 'v141') cannot be found. To build using the v141 build tools, please install Visual Studio 2017 build tools. Alternatively, you may upgrade to the current Visual Studio tools by selecting the Project menu or right-click the solution, and then selecting "Retarget solution".
|
||||
|
||||
The following link will walk you through how to add the Visual Studio 2017 platform toolset to your environment.
|
||||
|
||||
https://docs.microsoft.com/en-us/visualstudio/install/modify-visual-studio?view=vs-2019
|
||||
|
||||
Run C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe
|
||||
|
||||
Select C++/CLI support for v141 build tools (14.16) under Compilers, build tools, and runtimes from the Individual components tab of modifying Visual Studio 2019
|
||||
|
||||
MSVC v141 - VS 2017 C++ x64/x86 build tools (v14.16)
|
||||
|
||||
Also select Windows 10 SDK 10.0.18362.0 for the needed make tools.
|
||||
|
||||
After adding support for Visual Studio 2017 build toolset, if the projects are marked as unusable, have Visual Studio install the missing components.
|
||||
|
||||
|
||||
|
||||
@ -1,33 +0,0 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
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||||
# Visual Studio Version 16
|
||||
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||||
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||||
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|
||||
ProjectSection(ProjectDependencies) = postProject
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||||
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Global
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||||
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||||
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{E237AE2C-CE1B-39F5-B931-3C0E53353E53}.Release|Win32.Build.0 = Release|Win32
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{7FD1457E-F969-3283-99D4-282344F762A7}.Debug|Win32.ActiveCfg = Debug|Win32
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||||
{7FD1457E-F969-3283-99D4-282344F762A7}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{7FD1457E-F969-3283-99D4-282344F762A7}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{7FD1457E-F969-3283-99D4-282344F762A7}.Release|Win32.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
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GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
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EndGlobal
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@ -1,152 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup Label="ProjectConfigurations">
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||||
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||||
<Configuration>Debug</Configuration>
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||||
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||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|Win32">
|
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<Configuration>Release</Configuration>
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<ProjectGUID>{7FD1457E-F969-3283-99D4-282344F762A7}</ProjectGUID>
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<Keyword>Win32Proj</Keyword>
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<Platform>Win32</Platform>
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<ProjectName>spi</ProjectName>
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<WindowsTargetPlatformVersion>10.0.18362.0</WindowsTargetPlatformVersion>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseOfMfc>false</UseOfMfc>
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<CharacterSet>MultiByte</CharacterSet>
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||||
<div class="contents">
|
||||
<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
|
||||
<table class="directory">
|
||||
<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_acceleration_compensation_register.html" target="_self">AccelerationCompensationRegister</a></td><td class="desc">Structure representing the Acceleration Compensation register </td></tr>
|
||||
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_binary_output_register.html" target="_self">BinaryOutputRegister</a></td><td class="desc">Structure representing a Binary Output register </td></tr>
|
||||
<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_calculated_magnetometer_calibration_register.html" target="_self">CalculatedMagnetometerCalibrationRegister</a></td><td class="desc">Structure representing the Calculated Magnetometer Calibration register </td></tr>
|
||||
<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_communication_protocol_control_register.html" target="_self">CommunicationProtocolControlRegister</a></td><td class="desc">Structure representing the Communication Protocol Control register </td></tr>
|
||||
<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_delta_theta_and_delta_velocity_configuration_register.html" target="_self">DeltaThetaAndDeltaVelocityConfigurationRegister</a></td><td class="desc">Structure representing the Delta Theta and Delta Velocity Configuration register </td></tr>
|
||||
<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_delta_theta_and_delta_velocity_register.html" target="_self">DeltaThetaAndDeltaVelocityRegister</a></td><td class="desc">Structure representing the Delta Theta and Delta Velocity register </td></tr>
|
||||
<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_filter_active_tuning_parameters_register.html" target="_self">FilterActiveTuningParametersRegister</a></td><td class="desc">Structure representing the Filter Active Tuning Parameters register </td></tr>
|
||||
<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_filter_basic_control_register.html" target="_self">FilterBasicControlRegister</a></td><td class="desc">Structure representing the Filter Basic Control register </td></tr>
|
||||
<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_filter_measurements_variance_parameters_register.html" target="_self">FilterMeasurementsVarianceParametersRegister</a></td><td class="desc">Structure representing the Filter Measurements Variance Parameters register </td></tr>
|
||||
<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gps_compass_baseline_register.html" target="_self">GpsCompassBaselineRegister</a></td><td class="desc">Structure representing the GPS Compass Baseline register </td></tr>
|
||||
<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gps_compass_estimated_baseline_register.html" target="_self">GpsCompassEstimatedBaselineRegister</a></td><td class="desc">Structure representing the GPS Compass Estimated Baseline register </td></tr>
|
||||
<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gps_configuration_register.html" target="_self">GpsConfigurationRegister</a></td><td class="desc">Structure representing the GPS Configuration register </td></tr>
|
||||
<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gps_solution_ecef_register.html" target="_self">GpsSolutionEcefRegister</a></td><td class="desc">Structure representing the GPS Solution - ECEF register </td></tr>
|
||||
<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gps_solution_lla_register.html" target="_self">GpsSolutionLlaRegister</a></td><td class="desc">Structure representing the GPS Solution - LLA register </td></tr>
|
||||
<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_gyro_compensation_register.html" target="_self">GyroCompensationRegister</a></td><td class="desc">Structure representing the Gyro Compensation register </td></tr>
|
||||
<tr id="row_15_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_imu_filtering_configuration_register.html" target="_self">ImuFilteringConfigurationRegister</a></td><td class="desc">Structure representing the IMU Filtering Configuration register </td></tr>
|
||||
<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_imu_measurements_register.html" target="_self">ImuMeasurementsRegister</a></td><td class="desc">Structure representing the IMU Measurements register </td></tr>
|
||||
<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_imu_rate_configuration_register.html" target="_self">ImuRateConfigurationRegister</a></td><td class="desc">Structure representing the IMU Rate Configuration register </td></tr>
|
||||
<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_advanced_configuration_register.html" target="_self">InsAdvancedConfigurationRegister</a></td><td class="desc">Structure representing the INS Advanced Configuration register </td></tr>
|
||||
<tr id="row_19_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_basic_configuration_register_vn200.html" target="_self">InsBasicConfigurationRegisterVn200</a></td><td class="desc">Structure representing the INS Basic Configuration register for a VN-200 sensor </td></tr>
|
||||
<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_basic_configuration_register_vn300.html" target="_self">InsBasicConfigurationRegisterVn300</a></td><td class="desc">Structure representing the INS Basic Configuration register for a VN-300 sensor </td></tr>
|
||||
<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_solution_ecef_register.html" target="_self">InsSolutionEcefRegister</a></td><td class="desc">Structure representing the INS Solution - ECEF register </td></tr>
|
||||
<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_solution_lla_register.html" target="_self">InsSolutionLlaRegister</a></td><td class="desc">Structure representing the INS Solution - LLA register </td></tr>
|
||||
<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_state_ecef_register.html" target="_self">InsStateEcefRegister</a></td><td class="desc">Structure representing the INS State - ECEF register </td></tr>
|
||||
<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_ins_state_lla_register.html" target="_self">InsStateLlaRegister</a></td><td class="desc">Structure representing the INS State - LLA register </td></tr>
|
||||
<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_magnetic_acceleration_and_angular_rates_register.html" target="_self">MagneticAccelerationAndAngularRatesRegister</a></td><td class="desc">Structure representing the Magnetic, Acceleration and Angular Rates register </td></tr>
|
||||
<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_magnetic_and_gravity_reference_vectors_register.html" target="_self">MagneticAndGravityReferenceVectorsRegister</a></td><td class="desc">Structure representing the Magnetic and Gravity Reference Vectors register </td></tr>
|
||||
<tr id="row_27_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_magnetometer_calibration_control_register.html" target="_self">MagnetometerCalibrationControlRegister</a></td><td class="desc">Structure representing the Magnetometer Calibration Control register </td></tr>
|
||||
<tr id="row_28_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_magnetometer_compensation_register.html" target="_self">MagnetometerCompensationRegister</a></td><td class="desc">Structure representing the Magnetometer Compensation register </td></tr>
|
||||
<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="unionmat3f.html" target="_self">mat3f</a></td><td class="desc">Represents a 3x3 matrix with an underlying data type of <code>float</code> </td></tr>
|
||||
<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_quaternion_magnetic_acceleration_and_angular_rates_register.html" target="_self">QuaternionMagneticAccelerationAndAngularRatesRegister</a></td><td class="desc">Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register </td></tr>
|
||||
<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="unionquatf.html" target="_self">quatf</a></td><td class="desc">Represents a quaternion reading with underlying data type of <code>float</code> </td></tr>
|
||||
<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_reference_vector_configuration_register.html" target="_self">ReferenceVectorConfigurationRegister</a></td><td class="desc">Structure representing the Reference Vector Configuration register </td></tr>
|
||||
<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_startup_filter_bias_estimate_register.html" target="_self">StartupFilterBiasEstimateRegister</a></td><td class="desc">Structure representing the Startup Filter Bias Estimate register </td></tr>
|
||||
<tr id="row_34_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_synchronization_control_register.html" target="_self">SynchronizationControlRegister</a></td><td class="desc">Structure representing the Synchronization Control register </td></tr>
|
||||
<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_synchronization_status_register.html" target="_self">SynchronizationStatusRegister</a></td><td class="desc">Structure representing the Synchronization Status register </td></tr>
|
||||
<tr id="row_36_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="unionvec3d.html" target="_self">vec3d</a></td><td class="desc">Represents a 3 component vector with an underlying data type of <code>double</code> </td></tr>
|
||||
<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="unionvec3f.html" target="_self">vec3f</a></td><td class="desc">Various vector types and operations </td></tr>
|
||||
<tr id="row_38_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="unionvec4f.html" target="_self">vec4f</a></td><td class="desc">Represents a 4 component vector with an underlying data type of <code>float</code> </td></tr>
|
||||
<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_velocity_compensation_control_register.html" target="_self">VelocityCompensationControlRegister</a></td><td class="desc">Structure representing the Velocity Compensation Control register </td></tr>
|
||||
<tr id="row_40_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_velocity_compensation_status_register.html" target="_self">VelocityCompensationStatusRegister</a></td><td class="desc">Structure representing the Velocity Compensation Status register </td></tr>
|
||||
<tr id="row_41_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_composite_data.html" target="_self">VnCompositeData</a></td><td class="desc">Composite structure of all available data types from VectorNav sensors </td></tr>
|
||||
<tr id="row_42_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_critical_section.html" target="_self">VnCriticalSection</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_43_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_event.html" target="_self">VnEvent</a></td><td class="desc">Structure representing an event </td></tr>
|
||||
<tr id="row_44_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_ez_async_data.html" target="_self">VnEzAsyncData</a></td><td class="desc">Structure supporting easy and reliable access to asynchronous data from a VectorNav sensor at the cost of a slight performance hit </td></tr>
|
||||
<tr id="row_45_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_port_info.html" target="_self">VnPortInfo</a></td><td class="desc">Containing information about the port to be searched </td></tr>
|
||||
<tr id="row_46_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_sensor.html" target="_self">VnSensor</a></td><td class="desc">Helpful structure for working with VectorNav sensors </td></tr>
|
||||
<tr id="row_47_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_serial_port.html" target="_self">VnSerialPort</a></td><td class="desc">Provides access to a serial port </td></tr>
|
||||
<tr id="row_48_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_stopwatch.html" target="_self">VnStopwatch</a></td><td class="desc">Provides simple timing capabilities </td></tr>
|
||||
<tr id="row_49_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_thread.html" target="_self">VnThread</a></td><td class="desc">Structure for working with threads </td></tr>
|
||||
<tr id="row_50_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_uart_packet.html" target="_self">VnUartPacket</a></td><td class="desc">Structure representing a UART packet received from a VectorNav sensor </td></tr>
|
||||
<tr id="row_51_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vn_uart_packet_finder.html" target="_self">VnUartPacketFinder</a></td><td class="desc">Data structure holding current parsing status of data received from a VectorNav sensor </td></tr>
|
||||
<tr id="row_52_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_accelerometer_advanced_tuning_register.html" target="_self">VpeAccelerometerAdvancedTuningRegister</a></td><td class="desc">Structure representing the VPE Accelerometer Advanced Tuning register </td></tr>
|
||||
<tr id="row_53_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_accelerometer_basic_tuning_register.html" target="_self">VpeAccelerometerBasicTuningRegister</a></td><td class="desc">Structure representing the VPE Accelerometer Basic Tuning register </td></tr>
|
||||
<tr id="row_54_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_basic_control_register.html" target="_self">VpeBasicControlRegister</a></td><td class="desc">Structure representing the VPE Basic Control register </td></tr>
|
||||
<tr id="row_55_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_gyro_basic_tuning_register.html" target="_self">VpeGyroBasicTuningRegister</a></td><td class="desc">Structure representing the VPE Gyro Basic Tuning register </td></tr>
|
||||
<tr id="row_56_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_magnetometer_advanced_tuning_register.html" target="_self">VpeMagnetometerAdvancedTuningRegister</a></td><td class="desc">Structure representing the VPE Magnetometer Advanced Tuning register </td></tr>
|
||||
<tr id="row_57_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_vpe_magnetometer_basic_tuning_register.html" target="_self">VpeMagnetometerBasicTuningRegister</a></td><td class="desc">Structure representing the VPE Magnetometer Basic Tuning register </td></tr>
|
||||
<tr id="row_58_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_yaw_pitch_roll_magnetic_acceleration_and_angular_rates_register.html" target="_self">YawPitchRollMagneticAccelerationAndAngularRatesRegister</a></td><td class="desc">Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register </td></tr>
|
||||
<tr id="row_59_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_yaw_pitch_roll_true_body_acceleration_and_angular_rates_register.html" target="_self">YawPitchRollTrueBodyAccelerationAndAngularRatesRegister</a></td><td class="desc">Structure representing the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register </td></tr>
|
||||
<tr id="row_60_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_yaw_pitch_roll_true_inertial_acceleration_and_angular_rates_register.html" target="_self">YawPitchRollTrueInertialAccelerationAndAngularRatesRegister</a></td><td class="desc">Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register </td></tr>
|
||||
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<div class="title">bool.h</div> </div>
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<div class="contents">
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef VNBOOL_H_INCLUDED</span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define VNBOOL_H_INCLUDED</span></div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
|
||||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "vn/util/compiler.h"</span></div>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "vn/int.h"</span></div>
|
||||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#if !defined(__cplusplus)</span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"> #if VN_HAVE_STDBOOL_H</span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"> #include <stdbool.h></span></div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor"> #else</span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor"> #if !defined(__GNUC__)</span></div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="comment">/* _Bool builtin type is included in GCC. */</span></div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="comment">/* ISO C Standard: 5.2.5 An object declared as type _Bool is large</span></div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * enough to store the values 0 and 1. */</span></div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">typedef</span> int8_t _Bool;</div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="comment">/* ISO C Standard: 7.16 Boolean type */</span></div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor"> #if defined(__STDC__) && defined(__GNUC__)</span></div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="comment">/* Avoid warning "ISO C90/89 does not support boolean types" */</span></div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor"> #define bool int8_t</span></div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor"> #else</span></div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor"> #define bool _Bool</span></div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor"> #define true 1</span></div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor"> #define false 0</span></div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"> #define __bool_true_false_are_defined 1</span></div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div>
|
||||
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<tr><td rowspan="2" valign="bottom"><a name="letter_A"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  A  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_filter_measurements_variance_parameters_register.html">FilterMeasurementsVarianceParametersRegister</a>   </td><td valign="top"><a class="el" href="struct_ins_solution_lla_register.html">InsSolutionLlaRegister</a>   </td><td valign="top"><a class="el" href="struct_synchronization_control_register.html">SynchronizationControlRegister</a>   </td><td valign="top"><a class="el" href="struct_vpe_accelerometer_basic_tuning_register.html">VpeAccelerometerBasicTuningRegister</a>   </td></tr>
|
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<tr><td rowspan="2" valign="bottom"><a name="letter_G"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  G  </div></td></tr></table>
|
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</td><td valign="top"><a class="el" href="struct_ins_state_ecef_register.html">InsStateEcefRegister</a>   </td><td valign="top"><a class="el" href="struct_synchronization_status_register.html">SynchronizationStatusRegister</a>   </td><td valign="top"><a class="el" href="struct_vpe_basic_control_register.html">VpeBasicControlRegister</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_acceleration_compensation_register.html">AccelerationCompensationRegister</a>   </td><td valign="top"><a class="el" href="struct_ins_state_lla_register.html">InsStateLlaRegister</a>   </td><td rowspan="2" valign="bottom"><a name="letter_V"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  V  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_vpe_gyro_basic_tuning_register.html">VpeGyroBasicTuningRegister</a>   </td></tr>
|
||||
<tr><td rowspan="2" valign="bottom"><a name="letter_B"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  B  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_gps_compass_baseline_register.html">GpsCompassBaselineRegister</a>   </td><td rowspan="2" valign="bottom"><a name="letter_M"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  M  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_vpe_magnetometer_advanced_tuning_register.html">VpeMagnetometerAdvancedTuningRegister</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_gps_compass_estimated_baseline_register.html">GpsCompassEstimatedBaselineRegister</a>   </td><td valign="top"><a class="el" href="struct_velocity_compensation_control_register.html">VelocityCompensationControlRegister</a>   </td><td valign="top"><a class="el" href="struct_vpe_magnetometer_basic_tuning_register.html">VpeMagnetometerBasicTuningRegister</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_binary_output_register.html">BinaryOutputRegister</a>   </td><td valign="top"><a class="el" href="struct_gps_configuration_register.html">GpsConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_magnetic_acceleration_and_angular_rates_register.html">MagneticAccelerationAndAngularRatesRegister</a>   </td><td valign="top"><a class="el" href="struct_velocity_compensation_status_register.html">VelocityCompensationStatusRegister</a>   </td><td rowspan="2" valign="bottom"><a name="letter_Y"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  Y  </div></td></tr></table>
|
||||
</td></tr>
|
||||
<tr><td rowspan="2" valign="bottom"><a name="letter_C"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  C  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_gps_solution_ecef_register.html">GpsSolutionEcefRegister</a>   </td><td valign="top"><a class="el" href="struct_magnetic_and_gravity_reference_vectors_register.html">MagneticAndGravityReferenceVectorsRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_composite_data.html">VnCompositeData</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_gps_solution_lla_register.html">GpsSolutionLlaRegister</a>   </td><td valign="top"><a class="el" href="struct_magnetometer_calibration_control_register.html">MagnetometerCalibrationControlRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a>   </td><td valign="top"><a class="el" href="struct_yaw_pitch_roll_magnetic_acceleration_and_angular_rates_register.html">YawPitchRollMagneticAccelerationAndAngularRatesRegister</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_calculated_magnetometer_calibration_register.html">CalculatedMagnetometerCalibrationRegister</a>   </td><td valign="top"><a class="el" href="struct_gyro_compensation_register.html">GyroCompensationRegister</a>   </td><td valign="top"><a class="el" href="struct_magnetometer_compensation_register.html">MagnetometerCompensationRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_event.html">VnEvent</a>   </td><td valign="top"><a class="el" href="struct_yaw_pitch_roll_true_body_acceleration_and_angular_rates_register.html">YawPitchRollTrueBodyAccelerationAndAngularRatesRegister</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_communication_protocol_control_register.html">CommunicationProtocolControlRegister</a>   </td><td rowspan="2" valign="bottom"><a name="letter_I"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  I  </div></td></tr></table>
|
||||
</td><td rowspan="2" valign="bottom"><a name="letter_Q"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  Q  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_vn_ez_async_data.html">VnEzAsyncData</a>   </td><td valign="top"><a class="el" href="struct_yaw_pitch_roll_true_inertial_acceleration_and_angular_rates_register.html">YawPitchRollTrueInertialAccelerationAndAngularRatesRegister</a>   </td></tr>
|
||||
<tr><td rowspan="2" valign="bottom"><a name="letter_D"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  D  </div></td></tr></table>
|
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</td><td valign="top"><a class="el" href="struct_vn_port_info.html">VnPortInfo</a>   </td><td rowspan="2" valign="bottom"><a name="letter_m"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  m  </div></td></tr></table>
|
||||
</td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_imu_filtering_configuration_register.html">ImuFilteringConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_quaternion_magnetic_acceleration_and_angular_rates_register.html">QuaternionMagneticAccelerationAndAngularRatesRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_sensor.html">VnSensor</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_delta_theta_and_delta_velocity_configuration_register.html">DeltaThetaAndDeltaVelocityConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_imu_measurements_register.html">ImuMeasurementsRegister</a>   </td><td rowspan="2" valign="bottom"><a name="letter_R"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  R  </div></td></tr></table>
|
||||
</td><td valign="top"><a class="el" href="struct_vn_serial_port.html">VnSerialPort</a>   </td><td valign="top"><a class="el" href="unionmat3f.html">mat3f</a>   </td></tr>
|
||||
<tr><td valign="top"><a class="el" href="struct_delta_theta_and_delta_velocity_register.html">DeltaThetaAndDeltaVelocityRegister</a>   </td><td valign="top"><a class="el" href="struct_imu_rate_configuration_register.html">ImuRateConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_stopwatch.html">VnStopwatch</a>   </td><td rowspan="2" valign="bottom"><a name="letter_q"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  q  </div></td></tr></table>
|
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|
||||
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|
||||
</td><td valign="top"><a class="el" href="struct_ins_advanced_configuration_register.html">InsAdvancedConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_reference_vector_configuration_register.html">ReferenceVectorConfigurationRegister</a>   </td><td valign="top"><a class="el" href="struct_vn_thread.html">VnThread</a>   </td></tr>
|
||||
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|
||||
</td><td valign="top"><a class="el" href="struct_vn_uart_packet.html">VnUartPacket</a>   </td><td valign="top"><a class="el" href="unionquatf.html">quatf</a>   </td></tr>
|
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|
||||
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|
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|
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|
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|
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<div class="contents">
|
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef _VNCOMMON_H_</span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define _VNCOMMON_H_</span></div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
|
||||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
|
||||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="keyword">extern</span> <span class="stringliteral">"C"</span> {</div>
|
||||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keyword">typedef</span> <span class="keyword">enum</span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> {</div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  VNOFF = 0, </div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  VNYPR = 1, </div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  VNQTN = 2, </div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  VNQTM = 3, </div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  VNQTA = 4, </div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  VNQTR = 5, </div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  VNQMA = 6, </div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  VNQAR = 7, </div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  VNQMR = 8, </div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  VNDCM = 9, </div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  VNMAG = 10, </div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  VNACC = 11, </div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  VNGYR = 12, </div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  VNMAR = 13, </div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  VNYMR = 14, </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  VNYCM = 15, </div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  VNYBA = 16, </div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  VNYIA = 17, </div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  VNICM = 18, </div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  VNIMU = 19, </div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  VNGPS = 20, </div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  VNGPE = 21, </div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  VNINS = 22, </div>
|
||||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  VNINE = 23, </div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  VNISL = 28, </div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  VNISE = 29, </div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  VNDTV = 30 </div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ,</div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  VNRAW = 252, </div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  VNCMV = 253, </div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  VNSTV = 254, </div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  VNCOV = 255 </div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> } VnAsciiAsync;</div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> }</div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#endif</span></div>
|
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef _VN_UTIL_COMPILER_H</span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define _VN_UTIL_COMPILER_H</span></div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
|
||||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">/* This header provides some simple checks for various features supported by the</span></div>
|
||||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* current compiler. */</span></div>
|
||||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">/* Determine the level of standard C support. */</span></div>
|
||||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#if __STDC__</span></div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor"> #if defined (__STDC_VERSION__)</span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor"> #if (__STDC_VERSION__ >= 199901L)</span></div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"> #define C99</span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">/* Determine if the compiler has stdbool.h. */</span></div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#if defined(C99) || _MSC_VER >= 1800</span></div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor"> #define VN_HAVE_STDBOOL_H 1</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#else</span></div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor"> #define VN_HAVE_STDBOOL_H 0</span></div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">/* Determine if the secure CRT is available. */</span></div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#if defined(_MSC_VER)</span></div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor"> #define VN_HAVE_SECURE_CRT 1</span></div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#else</span></div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor"> #define VN_HAVE_SECURE_CRT 0</span></div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">/* Determine if the generic type math library (tgmath.h) is available. */</span></div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#if defined(C99)</span></div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor"> #define VN_HAVE_GENERIC_TYPE_MATH 1</span></div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#else</span></div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor"> #define VN_HAVE_GENERIC_TYPE_MATH 0</span></div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#endif</span></div>
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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8bde4b85f1f8cd0faa87b91375e717e4.html">vn</a></li><li class="navelem"><a class="el" href="dir_b8f3676ce45a2d9945f359024fabdbc0.html">sensors</a></li> </ul>
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<div class="header">
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<div class="title">compositedata.h</div> </div>
|
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</div><!--header-->
|
||||
<div class="contents">
|
||||
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef _VNCOMPOSITEDATA_H_</span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define _VNCOMPOSITEDATA_H_</span></div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
|
||||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "vn/bool.h"</span></div>
|
||||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="criticalsection_8h.html">vn/xplat/criticalsection.h</a>"</span></div>
|
||||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "vn/enum.h"</span></div>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "vn/int.h"</span></div>
|
||||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "vn/math/vector.h"</span></div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "vn/math/matrix.h"</span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "vn/protocol/upack.h"</span></div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "vn/math/vector.h"</span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">extern</span> <span class="stringliteral">"C"</span> {</div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#ifdef _WIN32</span></div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#pragma warning(push)</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#pragma warning(disable : 4820)</span></div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html"> 23</a></span> <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> {</div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a422bd966180f1f455de6f4d6b9e60d17"> 25</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a422bd966180f1f455de6f4d6b9e60d17">yawPitchRoll</a>; </div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a61cfa09b4d48bfff612330015e501408"> 26</a></span>  <a class="code" href="unionvec4f.html">vec4f</a> <a class="code" href="struct_vn_composite_data.html#a61cfa09b4d48bfff612330015e501408">quaternion</a>; </div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9b0e6f2f6038bc87368c2a6e560fd8f2"> 27</a></span>  <a class="code" href="unionmat3f.html">mat3f</a> <a class="code" href="struct_vn_composite_data.html#a9b0e6f2f6038bc87368c2a6e560fd8f2">directionCosineMatrix</a>; </div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a6bc5cd050ab074f5767ec2f0fd60a92e"> 28</a></span>  <a class="code" href="unionvec3d.html">vec3d</a> <a class="code" href="struct_vn_composite_data.html#a6bc5cd050ab074f5767ec2f0fd60a92e">positionGpsLla</a>; </div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a198e10e9fd54ad276a5c7ead976e956e"> 29</a></span>  <a class="code" href="unionvec3d.html">vec3d</a> <a class="code" href="struct_vn_composite_data.html#a198e10e9fd54ad276a5c7ead976e956e">positionGpsEcef</a>; </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a0eb39d5d6a26c2fae9eb0c461e599222"> 30</a></span>  <a class="code" href="unionvec3d.html">vec3d</a> <a class="code" href="struct_vn_composite_data.html#a0eb39d5d6a26c2fae9eb0c461e599222">positionEstimatedLla</a>; </div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a30e10a84e4248dc53aaa3e7c2d31fe9c"> 31</a></span>  <a class="code" href="unionvec3d.html">vec3d</a> <a class="code" href="struct_vn_composite_data.html#a30e10a84e4248dc53aaa3e7c2d31fe9c">positionEstimatedEcef</a>; </div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aa77bb9c96133e669ebaf606c153a08b8"> 32</a></span>  VelocityType <a class="code" href="struct_vn_composite_data.html#aa77bb9c96133e669ebaf606c153a08b8">velocityType</a>; </div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#afe6a1223da73b9bd81fc412ddafd20f3"> 33</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#afe6a1223da73b9bd81fc412ddafd20f3">velocityGpsNed</a>; </div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#ac543bd1b8af08fa34b8a37209102a48b"> 34</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#ac543bd1b8af08fa34b8a37209102a48b">velocityGpsEcef</a>; </div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#ab0e147b470741426dd06e2fd7608b403"> 35</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#ab0e147b470741426dd06e2fd7608b403">velocityEstimatedBody</a>; </div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aededf4c7739e2ae0724de91641d6dee9"> 36</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#aededf4c7739e2ae0724de91641d6dee9">velocityEstimatedNed</a>; </div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a677ab87b376896d10b091b9d8682e6eb"> 37</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a677ab87b376896d10b091b9d8682e6eb">velocityEstimatedEcef</a>; </div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9d1d8cb4355d4b9ab047e73b12b2f128"> 38</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a9d1d8cb4355d4b9ab047e73b12b2f128">magnetic</a>; </div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a21f67714e076de3c5258b0df66690ec1"> 39</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a21f67714e076de3c5258b0df66690ec1">magneticUncompensated</a>; </div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a2626f2354fac6a2120e4eaf23e985e4f"> 40</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a2626f2354fac6a2120e4eaf23e985e4f">magneticNed</a>; </div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#afa4d62e17e32eb869af646dd431278b3"> 41</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#afa4d62e17e32eb869af646dd431278b3">magneticEcef</a>; </div>
|
||||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="unionvec3f.html">vec3f</a> magneticRaw; </div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a7dcdfb3d2836d604b6055db3524fb850"> 45</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a7dcdfb3d2836d604b6055db3524fb850">acceleration</a>; </div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a7523ff430976aaf730790e36879f0c5b"> 46</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a7523ff430976aaf730790e36879f0c5b">accelerationUncompensated</a>; </div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9fc34b4d3b6709417f66ea1f6677da3f"> 47</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a9fc34b4d3b6709417f66ea1f6677da3f">accelerationNed</a>; </div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aba3fc13f8d0796478158e2a8db6201b9"> 48</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#aba3fc13f8d0796478158e2a8db6201b9">accelerationEcef</a>; </div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a3bc388595b56a1897d8fe4bdcc4a3d9c"> 49</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a3bc388595b56a1897d8fe4bdcc4a3d9c">accelerationLinearBody</a>; </div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a1569cf62df6e6cff41030f1a17a4efcd"> 50</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a1569cf62df6e6cff41030f1a17a4efcd">accelerationLinearNed</a>; </div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9f351b92299dbf4bf9312df4127c5d8a"> 51</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a9f351b92299dbf4bf9312df4127c5d8a">accelerationLinearEcef</a>; </div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="unionvec3f.html">vec3f</a> accelerationRaw; </div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9e93db1b514e2592c5098b1f3b207d22"> 55</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a9e93db1b514e2592c5098b1f3b207d22">angularRate</a>; </div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a9316ec9da5875c4e17ce1ec3743a0803"> 56</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a9316ec9da5875c4e17ce1ec3743a0803">angularRateUncompensated</a>; </div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="unionvec3f.html">vec3f</a> angularRateRaw; </div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#afc1d28cfbce795d6ea954ebe725241f5"> 60</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#afc1d28cfbce795d6ea954ebe725241f5">temperature</a>; </div>
|
||||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">float</span> temperatureRaw; </div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#ac870e1249bab4a2a68cc4126761d24ef"> 64</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#ac870e1249bab4a2a68cc4126761d24ef">pressure</a>; </div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a7682251beedb1819056d92610af7cd09"> 65</a></span>  uint64_t <a class="code" href="struct_vn_composite_data.html#a7682251beedb1819056d92610af7cd09">timeStartup</a>; </div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a1a61318ed6aa02b4ff346e7eb8f68891"> 66</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#a1a61318ed6aa02b4ff346e7eb8f68891">deltaTime</a>; </div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aa092a4d41f672ccf2fa814da4e79032c"> 67</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#aa092a4d41f672ccf2fa814da4e79032c">deltaTheta</a>; </div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#afc94796e5da87f7751db5368d218c756"> 68</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#afc94796e5da87f7751db5368d218c756">deltaVelocity</a>; </div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aa286df8ebe6354374b3ac7627635f916"> 69</a></span>  <span class="keywordtype">double</span> <a class="code" href="struct_vn_composite_data.html#aa286df8ebe6354374b3ac7627635f916">tow</a>; </div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a75a738c4141aeb0df05229d6c5d2beea"> 70</a></span>  uint16_t <a class="code" href="struct_vn_composite_data.html#a75a738c4141aeb0df05229d6c5d2beea">week</a>; </div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a3178ced0e7e771e1dde55945384a85f3"> 71</a></span>  uint8_t <a class="code" href="struct_vn_composite_data.html#a3178ced0e7e771e1dde55945384a85f3">gpsFix</a>; </div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a930c169f06fc077f0f285e497af7c1b1"> 72</a></span>  uint8_t <a class="code" href="struct_vn_composite_data.html#a930c169f06fc077f0f285e497af7c1b1">numSats</a>; </div>
|
||||
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a3f732e16a58a3302d57d10c67d805d99"> 73</a></span>  uint64_t <a class="code" href="struct_vn_composite_data.html#a3f732e16a58a3302d57d10c67d805d99">timeGps</a>; </div>
|
||||
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a65a22ac276b40c40787803ff3349571c"> 74</a></span>  uint64_t <a class="code" href="struct_vn_composite_data.html#a65a22ac276b40c40787803ff3349571c">timeGpsPps</a>; </div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a1dab92337d2c9d9ac1110084065caa3c"> 75</a></span>  uint64_t <a class="code" href="struct_vn_composite_data.html#a1dab92337d2c9d9ac1110084065caa3c">gpsTow</a>; </div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#ac98f8597fca9cfb1f9e4bcb6da1d9e2a"> 76</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#ac98f8597fca9cfb1f9e4bcb6da1d9e2a">attitudeUncertainty</a>; </div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a852e8fd1ff03df8d99fa41e107938da9"> 77</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a852e8fd1ff03df8d99fa41e107938da9">positionUncertaintyGpsNed</a>; </div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a2a02e178ae1fbb19622b90f4d5224aae"> 78</a></span>  <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="struct_vn_composite_data.html#a2a02e178ae1fbb19622b90f4d5224aae">positionUncertaintyGpsEcef</a>; </div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a44c9086a20bb0c88d45878027e9bd1ae"> 79</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#a44c9086a20bb0c88d45878027e9bd1ae">positionUncertaintyEstimated</a>; </div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aced69b7bc20fbc9eb605442668e0130a"> 80</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#aced69b7bc20fbc9eb605442668e0130a">velocityUncertaintyGps</a>; </div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a6f3b2f3b0772d5399135b7d56fe7d581"> 81</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_vn_composite_data.html#a6f3b2f3b0772d5399135b7d56fe7d581">velocityUncertaintyEstimated</a>; </div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a6e3eda250d2ba565b0cdb97bafe0999a"> 82</a></span>  uint32_t <a class="code" href="struct_vn_composite_data.html#a6e3eda250d2ba565b0cdb97bafe0999a">timeUncertainty</a>; </div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a59dc81ba9dcf248e6412917bc5f23c3e"> 83</a></span>  uint16_t <a class="code" href="struct_vn_composite_data.html#a59dc81ba9dcf248e6412917bc5f23c3e">vpeStatus</a>; </div>
|
||||
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#a21b4eec3eda79b3bddff91b86ab88c62"> 84</a></span>  uint16_t <a class="code" href="struct_vn_composite_data.html#a21b4eec3eda79b3bddff91b86ab88c62">insStatus</a>; </div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#aa4fab63e1d94ebffeea0ec6932b1da36"> 85</a></span>  uint64_t <a class="code" href="struct_vn_composite_data.html#aa4fab63e1d94ebffeea0ec6932b1da36">timeSyncIn</a>; </div>
|
||||
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#ad50a62350c1430e02769c22071a3998f"> 86</a></span>  uint32_t <a class="code" href="struct_vn_composite_data.html#ad50a62350c1430e02769c22071a3998f">syncInCnt</a>; </div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="struct_vn_composite_data.html#af84067adb14fad35669540940236ce97"> 87</a></span>  uint16_t <a class="code" href="struct_vn_composite_data.html#af84067adb14fad35669540940236ce97">sensSat</a>; </div>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="preprocessor"> #ifdef EXTRA</span></div>
|
||||
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="unionvec3f.html">vec3f</a> yprRates; </div>
|
||||
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="preprocessor"> #endif</span></div>
|
||||
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
|
||||
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> } <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>;</div>
|
||||
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="preprocessor">#ifdef _WIN32</span></div>
|
||||
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor">#pragma warning(pop)</span></div>
|
||||
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
|
||||
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">bool</span> VnCompositeData_hasCourseOverGround(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData);</div>
|
||||
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
|
||||
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">bool</span> VnCompositeData_courseOverGround(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData, <span class="keywordtype">float</span>* courseOverGroundOut);</div>
|
||||
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div>
|
||||
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> VnCompositeData_hasSpeedOverGround(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData);</div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
|
||||
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">bool</span> VnCompositeData_speedOverGround(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData, <span class="keywordtype">float</span>* speedOverGroundOut);</div>
|
||||
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
|
||||
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span> VnCompositeData_initialize(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData);</div>
|
||||
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div>
|
||||
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacket(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData, <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet, <a class="code" href="struct_vn_critical_section.html">VnCriticalSection</a>* criticalSection);</div>
|
||||
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
|
||||
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">void</span> VnCompositeData_processAsciiAsyncPacket(<a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData, <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet, <a class="code" href="struct_vn_critical_section.html">VnCriticalSection</a>* criticalSection);</div>
|
||||
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
|
||||
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketCommonGroup(</div>
|
||||
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  CommonGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
|
||||
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketTimeGroup(</div>
|
||||
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  TimeGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
|
||||
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketImuGroup(</div>
|
||||
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  ImuGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div>
|
||||
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketGpsGroup(</div>
|
||||
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  GpsGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div>
|
||||
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketAttitudeGroup(</div>
|
||||
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  AttitudeGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div>
|
||||
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">void</span> VnCompositeData_processBinaryPacketInsGroup(</div>
|
||||
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a>* compositeData,</div>
|
||||
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet,</div>
|
||||
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  InsGroup groupFlags);</div>
|
||||
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
|
||||
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
|
||||
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
|
||||
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a1a61318ed6aa02b4ff346e7eb8f68891"><div class="ttname"><a href="struct_vn_composite_data.html#a1a61318ed6aa02b4ff346e7eb8f68891">VnCompositeData::deltaTime</a></div><div class="ttdeci">float deltaTime</div><div class="ttdef"><b>Definition:</b> compositedata.h:66</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_ac98f8597fca9cfb1f9e4bcb6da1d9e2a"><div class="ttname"><a href="struct_vn_composite_data.html#ac98f8597fca9cfb1f9e4bcb6da1d9e2a">VnCompositeData::attitudeUncertainty</a></div><div class="ttdeci">vec3f attitudeUncertainty</div><div class="ttdef"><b>Definition:</b> compositedata.h:76</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aededf4c7739e2ae0724de91641d6dee9"><div class="ttname"><a href="struct_vn_composite_data.html#aededf4c7739e2ae0724de91641d6dee9">VnCompositeData::velocityEstimatedNed</a></div><div class="ttdeci">vec3f velocityEstimatedNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:36</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a1569cf62df6e6cff41030f1a17a4efcd"><div class="ttname"><a href="struct_vn_composite_data.html#a1569cf62df6e6cff41030f1a17a4efcd">VnCompositeData::accelerationLinearNed</a></div><div class="ttdeci">vec3f accelerationLinearNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:50</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9b0e6f2f6038bc87368c2a6e560fd8f2"><div class="ttname"><a href="struct_vn_composite_data.html#a9b0e6f2f6038bc87368c2a6e560fd8f2">VnCompositeData::directionCosineMatrix</a></div><div class="ttdeci">mat3f directionCosineMatrix</div><div class="ttdef"><b>Definition:</b> compositedata.h:27</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_afc94796e5da87f7751db5368d218c756"><div class="ttname"><a href="struct_vn_composite_data.html#afc94796e5da87f7751db5368d218c756">VnCompositeData::deltaVelocity</a></div><div class="ttdeci">vec3f deltaVelocity</div><div class="ttdef"><b>Definition:</b> compositedata.h:68</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9e93db1b514e2592c5098b1f3b207d22"><div class="ttname"><a href="struct_vn_composite_data.html#a9e93db1b514e2592c5098b1f3b207d22">VnCompositeData::angularRate</a></div><div class="ttdeci">vec3f angularRate</div><div class="ttdef"><b>Definition:</b> compositedata.h:55</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a930c169f06fc077f0f285e497af7c1b1"><div class="ttname"><a href="struct_vn_composite_data.html#a930c169f06fc077f0f285e497af7c1b1">VnCompositeData::numSats</a></div><div class="ttdeci">uint8_t numSats</div><div class="ttdef"><b>Definition:</b> compositedata.h:72</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a61cfa09b4d48bfff612330015e501408"><div class="ttname"><a href="struct_vn_composite_data.html#a61cfa09b4d48bfff612330015e501408">VnCompositeData::quaternion</a></div><div class="ttdeci">vec4f quaternion</div><div class="ttdef"><b>Definition:</b> compositedata.h:26</div></div>
|
||||
<div class="ttc" id="struct_vn_uart_packet_html"><div class="ttname"><a href="struct_vn_uart_packet.html">VnUartPacket</a></div><div class="ttdoc">Structure representing a UART packet received from a VectorNav sensor. </div><div class="ttdef"><b>Definition:</b> upack.h:34</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a44c9086a20bb0c88d45878027e9bd1ae"><div class="ttname"><a href="struct_vn_composite_data.html#a44c9086a20bb0c88d45878027e9bd1ae">VnCompositeData::positionUncertaintyEstimated</a></div><div class="ttdeci">float positionUncertaintyEstimated</div><div class="ttdef"><b>Definition:</b> compositedata.h:79</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a422bd966180f1f455de6f4d6b9e60d17"><div class="ttname"><a href="struct_vn_composite_data.html#a422bd966180f1f455de6f4d6b9e60d17">VnCompositeData::yawPitchRoll</a></div><div class="ttdeci">vec3f yawPitchRoll</div><div class="ttdef"><b>Definition:</b> compositedata.h:25</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a21b4eec3eda79b3bddff91b86ab88c62"><div class="ttname"><a href="struct_vn_composite_data.html#a21b4eec3eda79b3bddff91b86ab88c62">VnCompositeData::insStatus</a></div><div class="ttdeci">uint16_t insStatus</div><div class="ttdef"><b>Definition:</b> compositedata.h:84</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a6e3eda250d2ba565b0cdb97bafe0999a"><div class="ttname"><a href="struct_vn_composite_data.html#a6e3eda250d2ba565b0cdb97bafe0999a">VnCompositeData::timeUncertainty</a></div><div class="ttdeci">uint32_t timeUncertainty</div><div class="ttdef"><b>Definition:</b> compositedata.h:82</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a7523ff430976aaf730790e36879f0c5b"><div class="ttname"><a href="struct_vn_composite_data.html#a7523ff430976aaf730790e36879f0c5b">VnCompositeData::accelerationUncompensated</a></div><div class="ttdeci">vec3f accelerationUncompensated</div><div class="ttdef"><b>Definition:</b> compositedata.h:46</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a75a738c4141aeb0df05229d6c5d2beea"><div class="ttname"><a href="struct_vn_composite_data.html#a75a738c4141aeb0df05229d6c5d2beea">VnCompositeData::week</a></div><div class="ttdeci">uint16_t week</div><div class="ttdef"><b>Definition:</b> compositedata.h:70</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aced69b7bc20fbc9eb605442668e0130a"><div class="ttname"><a href="struct_vn_composite_data.html#aced69b7bc20fbc9eb605442668e0130a">VnCompositeData::velocityUncertaintyGps</a></div><div class="ttdeci">float velocityUncertaintyGps</div><div class="ttdef"><b>Definition:</b> compositedata.h:80</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a1dab92337d2c9d9ac1110084065caa3c"><div class="ttname"><a href="struct_vn_composite_data.html#a1dab92337d2c9d9ac1110084065caa3c">VnCompositeData::gpsTow</a></div><div class="ttdeci">uint64_t gpsTow</div><div class="ttdef"><b>Definition:</b> compositedata.h:75</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9f351b92299dbf4bf9312df4127c5d8a"><div class="ttname"><a href="struct_vn_composite_data.html#a9f351b92299dbf4bf9312df4127c5d8a">VnCompositeData::accelerationLinearEcef</a></div><div class="ttdeci">vec3f accelerationLinearEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:51</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a30e10a84e4248dc53aaa3e7c2d31fe9c"><div class="ttname"><a href="struct_vn_composite_data.html#a30e10a84e4248dc53aaa3e7c2d31fe9c">VnCompositeData::positionEstimatedEcef</a></div><div class="ttdeci">vec3d positionEstimatedEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:31</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a6f3b2f3b0772d5399135b7d56fe7d581"><div class="ttname"><a href="struct_vn_composite_data.html#a6f3b2f3b0772d5399135b7d56fe7d581">VnCompositeData::velocityUncertaintyEstimated</a></div><div class="ttdeci">float velocityUncertaintyEstimated</div><div class="ttdef"><b>Definition:</b> compositedata.h:81</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a7682251beedb1819056d92610af7cd09"><div class="ttname"><a href="struct_vn_composite_data.html#a7682251beedb1819056d92610af7cd09">VnCompositeData::timeStartup</a></div><div class="ttdeci">uint64_t timeStartup</div><div class="ttdef"><b>Definition:</b> compositedata.h:65</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a21f67714e076de3c5258b0df66690ec1"><div class="ttname"><a href="struct_vn_composite_data.html#a21f67714e076de3c5258b0df66690ec1">VnCompositeData::magneticUncompensated</a></div><div class="ttdeci">vec3f magneticUncompensated</div><div class="ttdef"><b>Definition:</b> compositedata.h:39</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_afc1d28cfbce795d6ea954ebe725241f5"><div class="ttname"><a href="struct_vn_composite_data.html#afc1d28cfbce795d6ea954ebe725241f5">VnCompositeData::temperature</a></div><div class="ttdeci">float temperature</div><div class="ttdef"><b>Definition:</b> compositedata.h:60</div></div>
|
||||
<div class="ttc" id="unionvec4f_html"><div class="ttname"><a href="unionvec4f.html">vec4f</a></div><div class="ttdoc">Represents a 4 component vector with an underlying data type of float. </div><div class="ttdef"><b>Definition:</b> vector.h:68</div></div>
|
||||
<div class="ttc" id="unionvec3d_html"><div class="ttname"><a href="unionvec3d.html">vec3d</a></div><div class="ttdoc">Represents a 3 component vector with an underlying data type of double. </div><div class="ttdef"><b>Definition:</b> vector.h:41</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a2626f2354fac6a2120e4eaf23e985e4f"><div class="ttname"><a href="struct_vn_composite_data.html#a2626f2354fac6a2120e4eaf23e985e4f">VnCompositeData::magneticNed</a></div><div class="ttdeci">vec3f magneticNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:40</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a198e10e9fd54ad276a5c7ead976e956e"><div class="ttname"><a href="struct_vn_composite_data.html#a198e10e9fd54ad276a5c7ead976e956e">VnCompositeData::positionGpsEcef</a></div><div class="ttdeci">vec3d positionGpsEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:29</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a852e8fd1ff03df8d99fa41e107938da9"><div class="ttname"><a href="struct_vn_composite_data.html#a852e8fd1ff03df8d99fa41e107938da9">VnCompositeData::positionUncertaintyGpsNed</a></div><div class="ttdeci">vec3f positionUncertaintyGpsNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:77</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a3178ced0e7e771e1dde55945384a85f3"><div class="ttname"><a href="struct_vn_composite_data.html#a3178ced0e7e771e1dde55945384a85f3">VnCompositeData::gpsFix</a></div><div class="ttdeci">uint8_t gpsFix</div><div class="ttdef"><b>Definition:</b> compositedata.h:71</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a65a22ac276b40c40787803ff3349571c"><div class="ttname"><a href="struct_vn_composite_data.html#a65a22ac276b40c40787803ff3349571c">VnCompositeData::timeGpsPps</a></div><div class="ttdeci">uint64_t timeGpsPps</div><div class="ttdef"><b>Definition:</b> compositedata.h:74</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aa092a4d41f672ccf2fa814da4e79032c"><div class="ttname"><a href="struct_vn_composite_data.html#aa092a4d41f672ccf2fa814da4e79032c">VnCompositeData::deltaTheta</a></div><div class="ttdeci">vec3f deltaTheta</div><div class="ttdef"><b>Definition:</b> compositedata.h:67</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9d1d8cb4355d4b9ab047e73b12b2f128"><div class="ttname"><a href="struct_vn_composite_data.html#a9d1d8cb4355d4b9ab047e73b12b2f128">VnCompositeData::magnetic</a></div><div class="ttdeci">vec3f magnetic</div><div class="ttdef"><b>Definition:</b> compositedata.h:38</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a2a02e178ae1fbb19622b90f4d5224aae"><div class="ttname"><a href="struct_vn_composite_data.html#a2a02e178ae1fbb19622b90f4d5224aae">VnCompositeData::positionUncertaintyGpsEcef</a></div><div class="ttdeci">vec3f positionUncertaintyGpsEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:78</div></div>
|
||||
<div class="ttc" id="criticalsection_8h_html"><div class="ttname"><a href="criticalsection_8h.html">criticalsection.h</a></div></div>
|
||||
<div class="ttc" id="struct_vn_critical_section_html"><div class="ttname"><a href="struct_vn_critical_section.html">VnCriticalSection</a></div><div class="ttdef"><b>Definition:</b> criticalsection.h:38</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9fc34b4d3b6709417f66ea1f6677da3f"><div class="ttname"><a href="struct_vn_composite_data.html#a9fc34b4d3b6709417f66ea1f6677da3f">VnCompositeData::accelerationNed</a></div><div class="ttdeci">vec3f accelerationNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:47</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html"><div class="ttname"><a href="struct_vn_composite_data.html">VnCompositeData</a></div><div class="ttdoc">Composite structure of all available data types from VectorNav sensors. </div><div class="ttdef"><b>Definition:</b> compositedata.h:23</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_af84067adb14fad35669540940236ce97"><div class="ttname"><a href="struct_vn_composite_data.html#af84067adb14fad35669540940236ce97">VnCompositeData::sensSat</a></div><div class="ttdeci">uint16_t sensSat</div><div class="ttdef"><b>Definition:</b> compositedata.h:87</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a3bc388595b56a1897d8fe4bdcc4a3d9c"><div class="ttname"><a href="struct_vn_composite_data.html#a3bc388595b56a1897d8fe4bdcc4a3d9c">VnCompositeData::accelerationLinearBody</a></div><div class="ttdeci">vec3f accelerationLinearBody</div><div class="ttdef"><b>Definition:</b> compositedata.h:49</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a9316ec9da5875c4e17ce1ec3743a0803"><div class="ttname"><a href="struct_vn_composite_data.html#a9316ec9da5875c4e17ce1ec3743a0803">VnCompositeData::angularRateUncompensated</a></div><div class="ttdeci">vec3f angularRateUncompensated</div><div class="ttdef"><b>Definition:</b> compositedata.h:56</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aa77bb9c96133e669ebaf606c153a08b8"><div class="ttname"><a href="struct_vn_composite_data.html#aa77bb9c96133e669ebaf606c153a08b8">VnCompositeData::velocityType</a></div><div class="ttdeci">VelocityType velocityType</div><div class="ttdef"><b>Definition:</b> compositedata.h:32</div></div>
|
||||
<div class="ttc" id="unionmat3f_html"><div class="ttname"><a href="unionmat3f.html">mat3f</a></div><div class="ttdoc">Represents a 3x3 matrix with an underlying data type of float. </div><div class="ttdef"><b>Definition:</b> matrix.h:11</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a7dcdfb3d2836d604b6055db3524fb850"><div class="ttname"><a href="struct_vn_composite_data.html#a7dcdfb3d2836d604b6055db3524fb850">VnCompositeData::acceleration</a></div><div class="ttdeci">vec3f acceleration</div><div class="ttdef"><b>Definition:</b> compositedata.h:45</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a6bc5cd050ab074f5767ec2f0fd60a92e"><div class="ttname"><a href="struct_vn_composite_data.html#a6bc5cd050ab074f5767ec2f0fd60a92e">VnCompositeData::positionGpsLla</a></div><div class="ttdeci">vec3d positionGpsLla</div><div class="ttdef"><b>Definition:</b> compositedata.h:28</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a677ab87b376896d10b091b9d8682e6eb"><div class="ttname"><a href="struct_vn_composite_data.html#a677ab87b376896d10b091b9d8682e6eb">VnCompositeData::velocityEstimatedEcef</a></div><div class="ttdeci">vec3f velocityEstimatedEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:37</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aa286df8ebe6354374b3ac7627635f916"><div class="ttname"><a href="struct_vn_composite_data.html#aa286df8ebe6354374b3ac7627635f916">VnCompositeData::tow</a></div><div class="ttdeci">double tow</div><div class="ttdef"><b>Definition:</b> compositedata.h:69</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_ab0e147b470741426dd06e2fd7608b403"><div class="ttname"><a href="struct_vn_composite_data.html#ab0e147b470741426dd06e2fd7608b403">VnCompositeData::velocityEstimatedBody</a></div><div class="ttdeci">vec3f velocityEstimatedBody</div><div class="ttdef"><b>Definition:</b> compositedata.h:35</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a3f732e16a58a3302d57d10c67d805d99"><div class="ttname"><a href="struct_vn_composite_data.html#a3f732e16a58a3302d57d10c67d805d99">VnCompositeData::timeGps</a></div><div class="ttdeci">uint64_t timeGps</div><div class="ttdef"><b>Definition:</b> compositedata.h:73</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_ac543bd1b8af08fa34b8a37209102a48b"><div class="ttname"><a href="struct_vn_composite_data.html#ac543bd1b8af08fa34b8a37209102a48b">VnCompositeData::velocityGpsEcef</a></div><div class="ttdeci">vec3f velocityGpsEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:34</div></div>
|
||||
<div class="ttc" id="unionvec3f_html"><div class="ttname"><a href="unionvec3f.html">vec3f</a></div><div class="ttdoc">Various vector types and operations. </div><div class="ttdef"><b>Definition:</b> vector.h:14</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a59dc81ba9dcf248e6412917bc5f23c3e"><div class="ttname"><a href="struct_vn_composite_data.html#a59dc81ba9dcf248e6412917bc5f23c3e">VnCompositeData::vpeStatus</a></div><div class="ttdeci">uint16_t vpeStatus</div><div class="ttdef"><b>Definition:</b> compositedata.h:83</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_ad50a62350c1430e02769c22071a3998f"><div class="ttname"><a href="struct_vn_composite_data.html#ad50a62350c1430e02769c22071a3998f">VnCompositeData::syncInCnt</a></div><div class="ttdeci">uint32_t syncInCnt</div><div class="ttdef"><b>Definition:</b> compositedata.h:86</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_afe6a1223da73b9bd81fc412ddafd20f3"><div class="ttname"><a href="struct_vn_composite_data.html#afe6a1223da73b9bd81fc412ddafd20f3">VnCompositeData::velocityGpsNed</a></div><div class="ttdeci">vec3f velocityGpsNed</div><div class="ttdef"><b>Definition:</b> compositedata.h:33</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_a0eb39d5d6a26c2fae9eb0c461e599222"><div class="ttname"><a href="struct_vn_composite_data.html#a0eb39d5d6a26c2fae9eb0c461e599222">VnCompositeData::positionEstimatedLla</a></div><div class="ttdeci">vec3d positionEstimatedLla</div><div class="ttdef"><b>Definition:</b> compositedata.h:30</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_afa4d62e17e32eb869af646dd431278b3"><div class="ttname"><a href="struct_vn_composite_data.html#afa4d62e17e32eb869af646dd431278b3">VnCompositeData::magneticEcef</a></div><div class="ttdeci">vec3f magneticEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:41</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aa4fab63e1d94ebffeea0ec6932b1da36"><div class="ttname"><a href="struct_vn_composite_data.html#aa4fab63e1d94ebffeea0ec6932b1da36">VnCompositeData::timeSyncIn</a></div><div class="ttdeci">uint64_t timeSyncIn</div><div class="ttdef"><b>Definition:</b> compositedata.h:85</div></div>
|
||||
<div class="ttc" id="struct_vn_composite_data_html_aba3fc13f8d0796478158e2a8db6201b9"><div class="ttname"><a href="struct_vn_composite_data.html#aba3fc13f8d0796478158e2a8db6201b9">VnCompositeData::accelerationEcef</a></div><div class="ttdeci">vec3f accelerationEcef</div><div class="ttdef"><b>Definition:</b> compositedata.h:48</div></div>
|
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<div class="ttc" id="struct_vn_composite_data_html_ac870e1249bab4a2a68cc4126761d24ef"><div class="ttname"><a href="struct_vn_composite_data.html#ac870e1249bab4a2a68cc4126761d24ef">VnCompositeData::pressure</a></div><div class="ttdeci">float pressure</div><div class="ttdef"><b>Definition:</b> compositedata.h:64</div></div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __VNCONTS_H__</span></div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __VNCONV_H__</span></div>
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|
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
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<div class="ttc" id="unionvec3d_html"><div class="ttname"><a href="unionvec3d.html">vec3d</a></div><div class="ttdoc">Represents a 3 component vector with an underlying data type of double. </div><div class="ttdef"><b>Definition:</b> vector.h:41</div></div>
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Data Structures</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a></td></tr>
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</table><table class="memberdecls">
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Functions</h2></td></tr>
|
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<tr class="memitem:abe85fa757adb49711376901b1440db5e"><td class="memItemLeft" align="right" valign="top">VnError </td><td class="memItemRight" valign="bottom"><a class="el" href="criticalsection_8h.html#abe85fa757adb49711376901b1440db5e">VnCriticalSection_initialize</a> (<a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> *criticalSection)</td></tr>
|
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<tr class="separator:abe85fa757adb49711376901b1440db5e"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a73e9706beca47d6a1ee389d65ab18cc8"><td class="memItemLeft" align="right" valign="top">VnError </td><td class="memItemRight" valign="bottom"><a class="el" href="criticalsection_8h.html#a73e9706beca47d6a1ee389d65ab18cc8">VnCriticalSection_deinitialize</a> (<a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> *criticalSection)</td></tr>
|
||||
<tr class="memdesc:a73e9706beca47d6a1ee389d65ab18cc8"><td class="mdescLeft"> </td><td class="mdescRight">Disposes of a <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure and associated resources. <a href="#a73e9706beca47d6a1ee389d65ab18cc8">More...</a><br /></td></tr>
|
||||
<tr class="separator:a73e9706beca47d6a1ee389d65ab18cc8"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:abadd347552031004ace13cbff1fc0ab1"><td class="memItemLeft" align="right" valign="top">VnError </td><td class="memItemRight" valign="bottom"><a class="el" href="criticalsection_8h.html#abadd347552031004ace13cbff1fc0ab1">VnCriticalSection_enter</a> (<a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> *criticalSection)</td></tr>
|
||||
<tr class="memdesc:abadd347552031004ace13cbff1fc0ab1"><td class="mdescLeft"> </td><td class="mdescRight">Attempt to enter a critical section. <a href="#abadd347552031004ace13cbff1fc0ab1">More...</a><br /></td></tr>
|
||||
<tr class="separator:abadd347552031004ace13cbff1fc0ab1"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aff7c6ec7e675a773407b871cc6272828"><td class="memItemLeft" align="right" valign="top">VnError </td><td class="memItemRight" valign="bottom"><a class="el" href="criticalsection_8h.html#aff7c6ec7e675a773407b871cc6272828">VnCriticalSection_leave</a> (<a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> *criticalSection)</td></tr>
|
||||
<tr class="memdesc:aff7c6ec7e675a773407b871cc6272828"><td class="mdescLeft"> </td><td class="mdescRight">Leave a critical section. <a href="#aff7c6ec7e675a773407b871cc6272828">More...</a><br /></td></tr>
|
||||
<tr class="separator:aff7c6ec7e675a773407b871cc6272828"><td class="memSeparator" colspan="2"> </td></tr>
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||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>{COMMON_HEADER}</p>
|
||||
<h1><a class="anchor" id="DESCRIPTION"></a>
|
||||
DESCRIPTION</h1>
|
||||
<p>This header file contains structures and functions useful for critical sections. </p>
|
||||
</div><h2 class="groupheader">Function Documentation</h2>
|
||||
<a class="anchor" id="a73e9706beca47d6a1ee389d65ab18cc8"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
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<tr>
|
||||
<td class="memname">VnError VnCriticalSection_deinitialize </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> * </td>
|
||||
<td class="paramname"><em>criticalSection</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Disposes of a <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure and associated resources. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir">[in]</td><td class="paramname">criticalSection</td><td>The associated <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Any errors encountered. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="abadd347552031004ace13cbff1fc0ab1"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
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|
||||
<tr>
|
||||
<td class="memname">VnError VnCriticalSection_enter </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> * </td>
|
||||
<td class="paramname"><em>criticalSection</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Attempt to enter a critical section. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir">[in]</td><td class="paramname">criticalSection</td><td>The associated <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Any errors encountered. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="abe85fa757adb49711376901b1440db5e"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">VnError VnCriticalSection_initialize </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> * </td>
|
||||
<td class="paramname"><em>criticalSection</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<p>Initializes a <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure.</p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir">[in]</td><td class="paramname">criticalSection</td><td>The <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure to initialize. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Any errors encountered. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="aff7c6ec7e675a773407b871cc6272828"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">VnError VnCriticalSection_leave </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype"><a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> * </td>
|
||||
<td class="paramname"><em>criticalSection</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Leave a critical section. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir">[in]</td><td class="paramname">criticalSection</td><td>The associated <a class="el" href="struct_vn_critical_section.html">VnCriticalSection</a> structure. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Any errors encountered. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
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|
||||
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Generated on Tue Jan 3 2017 18:26:58 for VectorNav C Library by  <a href="http://www.doxygen.org/index.html">
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|
||||
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