FaSTTUBe/INS-VN-200
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cleaned helper file

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This commit is contained in:
Richard Koeppe 2024-05-16 01:59:34 +02:00
parent 8fb9cbab60
commit 89f74e15cc
1 changed files with 8 additions and 15 deletions
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23
vn-interface/include/vn-interface/helper.h
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@ -1,5 +1,5 @@
#ifndef _VN200_
#define _VN200_
#ifndef _VN_HELPER_H_
#define _VN_HELPER_H_
#include <map>
#include <stdint.h>
@ -12,10 +12,10 @@ namespace vn {
const uint8_t ImuMeasurementsRegisterID = 54;
/* TODO */
/** \brief TODO */
union header_t {
struct request_t {
uint8_t Cmd = 0; /* Defined in VN200_SPI_READ - set in standard constructor */
uint8_t Cmd = 0; /* Defined in VN_SPI_READ */
uint8_t ID = 0; /* Register ID */
uint16_t Empty = 0; /* Spacer */
request_t(uint8_t ID, uint8_t Cmd) {
@ -25,37 +25,30 @@ union header_t {
};
struct response_t {
uint8_t Empty1 = 0; /* Spacer */
uint8_t Cmd = 0; /* Defined in VN200_SPI_READ - set in standard constructor */
uint8_t Cmd = 0; /* Defined in VN_SPI_READ */
uint8_t ID = 0; /* Register ID */
uint8_t Empty2 = 0; /* Spacer */
response_t(){};
response_t(uint8_t ID, uint8_t Cmd) {
this->ID = ID;
this->Cmd = Cmd;
};
};
};
/* Writes the desired payload into the specified register */
/** \brief Requests the specified register to write the payload into it */
template <typename payload_t> struct pkg_request_write_t {
struct header_t::request_t header;
payload_t payload;
/* TODO */
pkg_request_write_t(uint8_t ID) : header(ID, VN_SPI_WRITE){};
};
/* Writes the desired payload into the specified register */
/** \brief Requests the specified register to read from */
struct pkg_request_read_t {
struct header_t::request_t header;
/* TODO */
pkg_request_read_t(uint8_t ID) : header(ID, VN_SPI_READ){};
};
/* Writes the desired payload into the specified register */
/** \brief Response structure for the specified register */
template <typename payload_t> struct pkg_response_t {
struct header_t::response_t header;
payload_t payload;
/* TODO */
pkg_response_t() : header(){};
};