sbgEComBinaryLogImu.h

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#ifndef __SBG_ECOM_BINARY_LOG_IMU_H__
#define __SBG_ECOM_BINARY_LOG_IMU_H__
 
#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>
 
//----------------------------------------------------------------------//
//- Log Inertial Data definitions                                      -//
//----------------------------------------------------------------------//
 
#define SBG_ECOM_IMU_COM_OK                             (0x00000001u << 0)              
#define SBG_ECOM_IMU_STATUS_BIT                 (0x00000001u << 1)              
#define SBG_ECOM_IMU_ACCEL_X_BIT                (0x00000001u << 2)              
#define SBG_ECOM_IMU_ACCEL_Y_BIT                (0x00000001u << 3)              
#define SBG_ECOM_IMU_ACCEL_Z_BIT                (0x00000001u << 4)              
#define SBG_ECOM_IMU_GYRO_X_BIT                 (0x00000001u << 5)              
#define SBG_ECOM_IMU_GYRO_Y_BIT                 (0x00000001u << 6)              
#define SBG_ECOM_IMU_GYRO_Z_BIT                 (0x00000001u << 7)              
#define SBG_ECOM_IMU_ACCELS_IN_RANGE    (0x00000001u << 8)              
#define SBG_ECOM_IMU_GYROS_IN_RANGE             (0x00000001u << 9)              
//----------------------------------------------------------------------//
//- Log structure definitions                                          -//
//----------------------------------------------------------------------//
 
typedef struct _SbgLogImuData
{
        uint32_t        timeStamp;                                      
        uint16_t        status;                                         
        float   accelerometers[3];                      
        float   gyroscopes[3];                          
        float   temperature;                            
        float   deltaVelocity[3];                       
        float   deltaAngle[3];                          
} SbgLogImuData;
 
typedef struct _SbgLogImuShort
{
        uint32_t        timeStamp;                                      
        uint16_t        status;                                         
        int32_t deltaVelocity[3];                       
        int32_t deltaAngle[3];                          
        int16_t temperature;                            
} SbgLogImuShort;
 
typedef struct _SbgLogFastImuData
{
        uint32_t        timeStamp;                                      
        uint16_t        status;                                         
        float   accelerometers[3];                      
        float   gyroscopes[3];                          
} SbgLogFastImuData;
 
//----------------------------------------------------------------------//
//- Getter / helpers                                                   -//
//----------------------------------------------------------------------//
 
float sbgLogImuShortGetDeltaAngle(const SbgLogImuShort *pImuShort, size_t idx);
 
float sbgLogImuShortGetDeltaVelocity(const SbgLogImuShort *pImuShort, size_t idx);
 
float sbgLogImuShortGetTemperature(const SbgLogImuShort *pImuShort);
 
//----------------------------------------------------------------------//
//- Operations                                                         -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComBinaryLogParseImuData(SbgStreamBuffer *pInputStream, SbgLogImuData *pOutputData);
 
SbgErrorCode sbgEComBinaryLogWriteImuData(SbgStreamBuffer *pOutputStream, const SbgLogImuData *pInputData);
 
SbgErrorCode sbgEComBinaryLogParseImuShort(SbgStreamBuffer *pInputStream, SbgLogImuShort *pOutputData);
 
SbgErrorCode sbgEComBinaryLogWriteImuShort(SbgStreamBuffer *pOutputStream, const SbgLogImuShort *pInputData);
 
SbgErrorCode sbgEComBinaryLogParseFastImuData(SbgStreamBuffer *pInputStream, SbgLogFastImuData *pOutputData);
 
SbgErrorCode sbgEComBinaryLogWriteFastImuData(SbgStreamBuffer *pOutputStream, const SbgLogFastImuData *pInputData);
 
#endif