GX4-45_Test.h

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//
// GX4-45_Test.h
//
// Test program for the GX4-45
//
// Notes:  This program runs through most of the sdk functions supported
//         by the GX4-45.  It does not permanently alter any of the device
//         settings.
//
//
// Written By: Nathan Miller and Gregg Carpenter
//
//
//

//


#ifndef _GX4_45_TEST_H
#define _GX4_45_TEST_H

//
// Includes
//

#include "mip_sdk.h"
#include "byteswap_utilities.h"
#include "mip_gx4_imu.h"
#include "mip_gx4_45.h"
#include <stdio.h>
#include <unistd.h>

//
// Defines
//

#define MIP_SDK_GX4_45_IMU_STANDARD_MODE        0x01
#define MIP_SDK_GX4_45_IMU_DIRECT_MODE  0x02

#define NUM_COMMAND_LINE_ARGUMENTS 3

#define DEFAULT_PACKET_TIMEOUT_MS  1000 //milliseconds

//macro to cause Sleep call to behave as it does for windows
#define Sleep(x) usleep(x*1000.0)

//
// Function Prototypes
//

//Help Functions
void print_header();
void print_command_line_usage();
void print_packet_stats();

//MIP Parser Packet Callback Functions
void filter_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);
void ahrs_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);
void gps_packet_callback(void *user_ptr, u8 *packet, u16 packet_size, u8 callback_type);

//Hardware specific status functions
u16 mip_3dm_cmd_hw_specific_device_status(mip_interface *device_interface, u16 model_number, u8 status_selector, u8 *response_buffer);
u16 mip_3dm_cmd_hw_specific_imu_device_status(mip_interface *device_interface, u16 model_number, u8 status_selector, u8 *response_buffer);

#endif