62 lines
1.4 KiB
C
62 lines
1.4 KiB
C
#ifndef IMUread_h_
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#define IMUread_h_
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <stdarg.h>
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#include <string.h>
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#include <termios.h>
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#include <unistd.h>
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#include <errno.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <sys/select.h>
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#include <GL/glut.h> // sudo apt-get install xorg-dev libglu1-mesa-dev freeglut3-dev
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#define PORT "/dev/ttyACM0"
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#define TIMEOUT_MSEC 40
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#define MAGBUFFSIZEX 14
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#define MAGBUFFSIZEY 28
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#define MAGBUFFSIZE (MAGBUFFSIZEX * MAGBUFFSIZEY)
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#ifdef __cplusplus
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extern "C"{
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#endif
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typedef struct {
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float x;
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float y;
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float z;
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int valid;
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} magdata_t;
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extern magdata_t caldata[MAGBUFFSIZE];
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extern magdata_t hard_iron;
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extern magdata_t current_position;
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typedef struct {
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float w;
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float x;
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float y;
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float z;
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} quat_t;
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extern quat_t current_orientation;
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extern void die(const char *format, ...) __attribute__ ((format (printf, 1, 2)));
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extern void *malloc_or_die(size_t size);
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extern void quad_to_rotation(const quat_t *quat, float *rmatrix);
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extern void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix);
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extern int open_port(const char *name);
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extern void read_serial_data(void);
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extern void close_port(void);
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void visualize_init(void);
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void display_callback(void);
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void resize_callback(int width, int height);
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void timer_callback(int val);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif
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