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