59 lines
1.1 KiB
C
59 lines
1.1 KiB
C
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
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#include "gyroAdisHelpers.h"
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namespace acs {
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enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
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struct Adis1650XRequest {
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SimpleSensorMode mode;
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adis1650x::Type type;
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};
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struct Adis1650XConfig {
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uint16_t diagStat;
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uint16_t filterSetting;
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uint16_t rangMdl;
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uint16_t mscCtrlReg;
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uint16_t decRateReg;
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uint16_t prodId;
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};
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struct Adis1650XData {
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double sensitivity;
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// Angular velocities in all axes (X, Y and Z)
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int16_t angVelocities[3];
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double accelScaling;
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// Accelerations in all axes
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int16_t accelerations[3];
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int16_t temperatureRaw;
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};
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struct Adis1650XReply {
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bool cfgWasSet = false;
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Adis1650XConfig cfg;
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bool dataWasSet = false;
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Adis1650XData data;
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};
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struct GyroL3gRequest {
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SimpleSensorMode mode;
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uint8_t ctrlRegs[5];
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};
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struct GyroL3gReply {
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bool cfgWasSet;
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uint8_t statusReg;
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// Angular velocities in all axes (X, Y and Z)
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int16_t angVelocities[3];
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int8_t tempOffsetRaw;
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uint8_t ctrlRegs[5];
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float sensitivity;
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};
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} // namespace acs
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_ */
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