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verified measurements from spi read for imu

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This commit is contained in:
Richard Koeppe
2024-06-22 15:38:23 +00:00
parent a0f16e99ea
commit e2baacbc92
10 changed files with 232 additions and 69 deletions
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116
Libs/vn-interface/include/vn-interface/frames.h
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@ -3,48 +3,88 @@
#include "registers.h"
extern "C"{
namespace vn{
typedef struct QuaternionMagneticAccelerationAndAngularRates{
static constexpr uint16_t ID = 8;
QuaternionMagneticAccelerationAndAngularRatesRegister Register;
QuaternionMagneticAccelerationAndAngularRates(){
memset(&Register, 0, sizeof(Register));
}
};
extern "C" {
namespace vn {
typedef struct QuaternionMagneticAccelerationAndAngularRates {
static constexpr uint16_t ID = 8;
QuaternionMagneticAccelerationAndAngularRatesRegister Register;
QuaternionMagneticAccelerationAndAngularRates() { memset(&Register, 0, sizeof(Register)); }
};
typedef struct InsSolutionLla{
static constexpr uint16_t ID = 63;
InsSolutionLlaRegister Register;
InsSolutionLla(){
memset(&Register, 0, sizeof(Register));
}
};
typedef struct InsSolutionLla {
static constexpr uint16_t ID = 63;
InsSolutionLlaRegister Register;
InsSolutionLla() { memset(&Register, 0, sizeof(Register)); }
};
typedef struct GpsSolutionLla{
static constexpr uint16_t ID = 58;
GpsSolutionLlaRegister Register;
GpsSolutionLla(){
memset(&Register, 0, sizeof(Register));
}
};
typedef struct GpsSolutionLla {
static constexpr uint16_t ID = 58;
GpsSolutionLlaRegister Register;
GpsSolutionLla() { memset(&Register, 0, sizeof(Register)); }
};
typedef struct YawPitchRollTrueBodyAccelerationAndAngularRates{
static constexpr uint16_t ID = 58;
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister Register;
YawPitchRollTrueBodyAccelerationAndAngularRates(){
memset(&Register, 0, sizeof(Register));
}
};
typedef struct YawPitchRollTrueBodyAccelerationAndAngularRates {
static constexpr uint16_t ID = 239;
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister Register;
YawPitchRollTrueBodyAccelerationAndAngularRates() { memset(&Register, 0, sizeof(Register)); }
};
typedef struct MagneticAccelerationAndAngularRates{
static constexpr uint16_t ID = 58;
MagneticAccelerationAndAngularRatesRegister Register;
MagneticAccelerationAndAngularRates(){
memset(&Register, 0, sizeof(Register));
}
};
}
typedef struct MagneticAccelerationAndAngularRates {
static constexpr uint16_t ID = 20;
MagneticAccelerationAndAngularRatesRegister Register;
MagneticAccelerationAndAngularRates() { memset(&Register, 0, sizeof(Register)); }
};
struct HardwareVersionRegister {
uint32_t version;
};
typedef struct HardwareVersion {
static constexpr uint16_t ID = 2;
struct HardwareVersionRegister Register;
HardwareVersion() { memset(&Register, 0, sizeof(Register)); }
};
struct FirmwareVersionRegister {
char version[20];
};
typedef struct FirmwareVersion {
static constexpr uint16_t ID = 4;
struct FirmwareVersionRegister Register;
FirmwareVersion() { memset(&Register, 0, 20); }
};
struct YawPitchRollRegister {
vec3f YawPitchRoll;
};
typedef struct YawPitchRoll {
static constexpr uint16_t ID = 8;
struct YawPitchRollRegister Register;
YawPitchRoll() { memset(&Register, 0, sizeof(Register)); }
};
struct ImuAccelerometerRegister {
vec3f Accel;
};
typedef struct ImuAccelerometer {
static constexpr uint16_t ID = 18;
struct ImuAccelerometerRegister Register;
ImuAccelerometer() { memset(&Register, 0, sizeof(Register)); }
};
struct ImuGyroRegister {
vec3f Gyro;
};
typedef struct ImuGyro {
static constexpr uint16_t ID = 19;
struct ImuGyroRegister Register;
ImuGyro() { memset(&Register, 0, sizeof(Register)); }
};
} // namespace vn
}
#endif /* _FRAMES_H_ */