Saved working stuff

vn-interface/include/vn-interface/vn200.h

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+#ifndef _VN200_
+#define _VN200_
+
+#include <map>
+#include <stdint.h>
+#include <vector>
+
+#define VN200_SPI_READ 0x01
+#define VN200_SPI_WRITE 0x02
+
+namespace VN200 {
+namespace SPI {
+namespace BinaryGroups {
+typedef uint8_t bit_offset_t;
+namespace Group1 {
+// /* The bit offset of group 1 */
+// const bit_offset_t BitOffset = 0;
+// /* The output fields of group 1 */
+// enum OutputFields {
+//   TimeStartup = 0,
+//   TimeGps,
+//   TimeSyncIn,
+//   YawPitchRoll,
+//   Quaternion,
+//   AngularRate,
+//   Position,
+//   Velocity,
+//   Accel,
+//   Imu,
+//   MagPres,
+//   DeltaTheta,
+//   InsStatus,
+//   SyncInCnt,
+//   TimeGpsPps,
+//   EMPTY15
+// };
+
+// /* TODO */
+// const uint8_t payload_sizes[16] = {8, 8, 8, 12, 16, 12, 24, 12, 12, 24, 20, 28, 2, 4, 8, 0};
+} // namespace Group1
+} // namespace BinaryGroups
+
+// /* Abstract base class for all packages. */
+// struct binary_package_t {
+//   /* TODO */
+//   binary_package_t(){};
+//   /* TODO */
+//   virtual uint16_t size() = 0;
+//   /* TODO */
+//   virtual uint8_t *to_array() = 0;
+
+//   std::vector<uint8_t> v;
+// };
+
+/* TODO */
+union header_t {
+  struct request_t {
+    uint8_t Cmd = 0;    /* Defined in VN200_SPI_READ - set in standard constructor */
+    uint8_t ID = 0;     /* Register ID */
+    uint16_t Empty = 0; /* Spacer */
+    request_t(uint8_t ID, uint8_t Cmd) {
+      this->ID = ID;
+      this->Cmd = Cmd;
+    };
+  };
+  struct response_t {
+    uint8_t Empty1 = 0; /* Spacer */
+    uint8_t Cmd = 0;    /* Defined in VN200_SPI_READ - set in standard constructor */
+    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;
+    };
+  };
+};
+
+/* TODO */
+// struct configuration_t : binary_package_t {
+//   uint16_t AsyncMode;
+//   uint16_t RateDivisor;
+//   uint16_t OutputGroup;
+//   uint8_t NumOutputFields;
+//   uint16_t *OutputFields; /* Array with unknown size. Set in constructor. */
+//   /* TODO */
+//   configuration_t(uint8_t NumOutputFields = 1 /* TODO */) {
+//     OutputFields = new uint16_t[NumOutputFields];
+//     this->NumOutputFields = NumOutputFields;
+//   };
+//   /* TODO */
+//   ~configuration_t() {
+//     delete OutputFields;
+//     OutputFields = nullptr;
+//   }
+//   /* TODO */
+//   uint16_t size() override;
+//   /* TODO */
+//   uint8_t *to_array() override;
+//   /* TODO */
+//   void setBinaryGroups(std::vector<SPI::BinaryGroups::bit_offset_t> desired_groups);
+//   /* TODO */
+//   void setOutputFields(SPI::BinaryGroups::bit_offset_t group_bit_offset, std::vector<int> desired_output_fields);
+// };
+
+/* Writes the desired payload into the specified register */
+template <typename payload_t> struct pkg_request_write_t {
+  struct header_t::request_t header;
+  payload_t payload;
+  /* TODO */
+  pkg_request_write_t(uint8_t ID) : header(ID, VN200_SPI_WRITE){};
+};
+
+/* Writes the desired payload into the specified register */
+struct pkg_request_read_t {
+  struct header_t::request_t header;
+  /* TODO */
+  pkg_request_read_t(uint8_t ID) : header(ID, VN200_SPI_READ){};
+};
+
+/* Writes the desired payload into 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(){};
+};
+
+namespace IMU {
+const uint8_t ID = 54;
+struct imu_t {
+  float MagX = 0.0;
+  float MagY = 0.0;
+  float MagZ = 0.0;
+  float AccelX = 0.0;
+  float AccelY = 0.0;
+  float AccelZ = 0.0;
+  float GyroX = 0.0;
+  float GyroY = 0.0;
+  float GyroZ = 0.0;
+  float Pressure = 0.0;
+};
+} // namespace IMU
+namespace ATT {
+const uint8_t ID = 239;
+struct attitude_t {
+  float Yaw = 0.0;
+  float Pitch = 0.0;
+  float Roll = 0.0;
+  float BodyAccelX = 0.0;
+  float BodyAccelY = 0.0;
+  float BodyAccelZ = 0.0;
+  float GyroX = 0.0;
+  float GyroY = 0.0;
+  float GyroZ = 0.0;
+};
+} // namespace ATT
+namespace INS {
+namespace LLA {
+const uint8_t ID = 63;
+struct lla_t {
+  float Yaw = 0.0;
+  float Pitch = 0.0;
+  float Roll = 0.0;
+  double Lattitude = 0.0;
+  double Longitude = 0.0;
+  double Altitude = 0.0;
+  float VelocityX = 0.0;
+  float VelocityY = 0.0;
+  float VelocityZ = 0.0;
+  float AccelX = 0.0;
+  float AccelY = 0.0;
+  float AccelZ = 0.0;
+  float AngularRateX = 0.0;
+  float AngularRateY = 0.0;
+  float AngularRateZ = 0.0;
+};
+} // namespace LLA
+} // namespace INS
+namespace GPS {
+namespace LLA {
+const uint8_t ID = 58;
+struct lla_t {
+  double Time = 0.0;
+  uint16_t Week = 0;
+  uint8_t GpsFix = 0;
+  uint8_t NumSats = 0;
+  uint32_t PADDING = 0;
+  double Latitude = 0.0;
+  double Longitude = 0.0;
+  double Altitude = 0.0;
+  float NedVelX = 0.0;
+  float NedVelY = 0.0;
+  float NedVelZ = 0.0;
+  float NorthAcc = 0.0;
+  float EastAcc = 0.0;
+  float VertAcc = 0.0;
+  float SpeedAcc = 0.0;
+  float TimeAcc = 0.0;
+};
+} // namespace LLA
+} // namespace GPS
+} // namespace SPI
+} // namespace VN200
+
+#endif