33 lines
792 B
C
33 lines
792 B
C
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#ifndef _SENSOR_MEMS_H_
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#define _SENSOR_MEMS_H_
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#include <stdint.h>
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#define MEMS_FRAME_LENGTH 44
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typedef struct __attribute__((packed)){
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uint8_t header;
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uint8_t x_angle_delta[3];
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uint16_t x_mems_integral_Cnt;
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uint8_t y_angle_delta[3];
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uint16_t y_mems_integral_Cnt;
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uint8_t z_angle_delta[3];
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uint16_t z_mems_integral_Cnt;
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uint8_t x_acc_v_delta[3];
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uint16_t x_acc_integral_time;
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uint8_t y_acc_v_delta[3];
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uint16_t y_acc_integral_time;
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uint8_t z_acc_v_delta[3];
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uint16_t z_acc_integral_time;
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uint16_t x_gyro_temp;
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uint16_t y_gyro_temp;
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uint16_t z_gyro_temp;
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uint16_t x_acc_temp;
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uint16_t y_acc_temp;
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uint16_t z_acc_temp;
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uint8_t checksum;
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}MEMS_Frame;
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uint8_t generate_mems_frame(uint8_t *frame, double AttiVelECI[3]);
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#endif
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