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interface library

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This commit is contained in:
Richard Koeppe 2024-06-06 11:36:09 +02:00
parent c5f5e6fb98
commit c4d610a3a0
2 changed files with 19 additions and 11 deletions
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20
vn-interface/include/vn-interface/math/vector.h
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@ -1,5 +1,7 @@
#ifndef VN_VECTOR_H_INCLUDED #ifndef VN_VECTOR_H_INCLUDED
#define VN_VECTOR_H_INCLUDED #define VN_VECTOR_H_INCLUDED
#include <cstring>
#include <stdio.h>
/** \brief Various vector types and operations. */ /** \brief Various vector types and operations. */
@ -9,7 +11,7 @@ extern "C" {
/** \brief Represents a 3 component vector with an underlying data type of /** \brief Represents a 3 component vector with an underlying data type of
* <c>float</c>. */ * <c>float</c>. */
typedef union { typedef union vec3f {
float c[3]; /**< Indexable. */ float c[3]; /**< Indexable. */
struct { struct {
@ -23,12 +25,12 @@ typedef union {
float c1; /**< Component 1. */ float c1; /**< Component 1. */
float c2; /**< Component 2. */ float c2; /**< Component 2. */
}; };
vec3f() { std::memset(this, 0, sizeof(vec3f)); }
} vec3f; };
/** \brief Represents a 3 component vector with an underlying data type of /** \brief Represents a 3 component vector with an underlying data type of
* <c>double</c>. */ * <c>double</c>. */
typedef union { typedef union vec3d {
double c[3]; /**< Indexable. */ double c[3]; /**< Indexable. */
struct { struct {
@ -42,12 +44,12 @@ typedef union {
double c1; /**< Component 1. */ double c1; /**< Component 1. */
double c2; /**< Component 2. */ double c2; /**< Component 2. */
}; };
vec3d() { std::memset(this, 0, sizeof(vec3d)); }
} vec3d; };
/** \brief Represents a 4 component vector with an underlying data type of /** \brief Represents a 4 component vector with an underlying data type of
* <c>float</c>. */ * <c>float</c>. */
typedef union { typedef union vec4f {
float c[4]; /**< Indexable. */ float c[4]; /**< Indexable. */
struct { struct {
@ -63,8 +65,8 @@ typedef union {
float c2; /**< Component 2. */ float c2; /**< Component 2. */
float c3; /**< Component 2. */ float c3; /**< Component 2. */
}; };
vec4f() { std::memset(this, 0, sizeof(vec4f)); }
} vec4f; };
/** \brief Initializes a 3-dimensional float vector from an float array. /** \brief Initializes a 3-dimensional float vector from an float array.
* *

10
vn-interface/include/vn-interface/registers.h
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@ -402,7 +402,7 @@ typedef struct {
} VelocityCompensationStatusRegister; } VelocityCompensationStatusRegister;
/** \brief Structure representing the IMU Measurements register. */ /** \brief Structure representing the IMU Measurements register. */
typedef struct { typedef struct ImuMeasurementsRegister {
/** \brief The Mag field. */ /** \brief The Mag field. */
vec3f mag; vec3f mag;
@ -418,7 +418,11 @@ typedef struct {
/** \brief The Pressure field. */ /** \brief The Pressure field. */
float pressure; float pressure;
} ImuMeasurementsRegister; ImuMeasurementsRegister() {
temp = 0.0;
pressure = 0.0;
};
};
/** \brief Structure representing the GPS Configuration register. */ /** \brief Structure representing the GPS Configuration register. */
typedef struct { typedef struct {
@ -821,6 +825,8 @@ typedef struct {
} YawPitchRollTrueBodyAccelerationAndAngularRatesRegister; } YawPitchRollTrueBodyAccelerationAndAngularRatesRegister;
const uint16_t YawPitchRollTrueBodyAccelerationAndAngularRatesRegisterID = 239;
/** \brief Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. */ /** \brief Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. */
typedef struct { typedef struct {
/** \brief The YawPitchRoll field. */ /** \brief The YawPitchRoll field. */