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00033 #ifndef _GX4_45_TEST_H
00034 #define _GX4_45_TEST_H
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00041
00042 #include "mip_sdk.h"
00043 #include "byteswap_utilities.h"
00044 #include "mip_gx4_imu.h"
00045 #include "mip_gx4_45.h"
00046 #include <stdio.h>
00047 #include <unistd.h>
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00055 #define MIP_SDK_GX4_45_IMU_STANDARD_MODE 0x01
00056 #define MIP_SDK_GX4_45_IMU_DIRECT_MODE 0x02
00057
00058 #define NUM_COMMAND_LINE_ARGUMENTS 3
00059
00060 #define DEFAULT_PACKET_TIMEOUT_MS 1000 //milliseconds
00061
00062
00063 #define Sleep(x) usleep(x*1000.0)
00064
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00071
00072 void print_header();
00073 void print_command_line_usage();
00074 void print_packet_stats();
00075
00076
00077 void filter_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);
00078 void ahrs_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);
00079 void gps_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);
00080
00081
00082 u16 mip_3dm_cmd_hw_specific_device_status(mip_interface *device_interface, u16 model_number, u8 status_selector, u8 *response_buffer);
00083 u16 mip_3dm_cmd_hw_specific_imu_device_status(mip_interface *device_interface, u16 model_number, u8 status_selector, u8 *response_buffer);
00084
00085 #endif