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server
drivers
imu
nimu.h
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2006
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* Toby Collett
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <usb.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <arpa/inet.h>
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#define NIMU_VENDORID 0x10c4
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#define NIMU_PRODUCTID 0xEA61
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#define NIMU_DATA_SIZE 38
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typedef
unsigned
char
uint8_t;
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typedef
unsigned
short
uint16_t;
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class
nimu_data
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{
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public
:
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uint8_t DeviceID;
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uint8_t MessageID;
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uint16_t SampleTimer;
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short
GyroX;
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short
GyroY;
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short
GyroZ;
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short
AccelX;
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short
AccelY;
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short
AccelZ;
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short
MagX;
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short
MagY;
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short
MagZ;
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short
GyroTempX;
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short
GyroTempY;
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short
GyroTempZ;
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void
Print() {
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printf(
"%04X %04X %04X,%04X %04X %04X\n"
,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ);
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}
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};
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class
nimu
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{
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public
:
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nimu
();
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~nimu
();
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int
Open();
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int
Close();
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nimu_data
GetData();
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private
:
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usb_dev_handle * nimu_dev;
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};
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nimu_data
Definition
nimu.h:39
nimu
Definition
nimu.h:63
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