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82 lines
2.7 KiB
82 lines
2.7 KiB
3 years ago
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/*
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* UAVCAN data structure definition for libcanard.
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*
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* Autogenerated, do not edit.
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*
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* Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk\dsdl_compiler\pyuavcan\uavcan\dsdl_files\uavcan\CoarseOrientation.uavcan
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*/
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#ifndef __UAVCAN_COARSEORIENTATION
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#define __UAVCAN_COARSEORIENTATION
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#include <stdint.h>
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#include "canard.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/******************************* Source text **********************************
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#
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# Nested type.
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# Coarse, low-resolution 3D orientation represented as fixed axes in 16 bit.
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#
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# Roll, pitch, yaw angles in radians should be multiplied by
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# ANGLE_MULTIPLIER in order to convert them to the coarse representation.
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#
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# ANGLE_MULTIPLIER = NORM / PI
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#
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# Where NORM is 12, because it:
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# - Fits the maximum range of a signed 5 bit integer
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# - Allows to exactly represent the following angles:
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# 0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
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#
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float32 ANGLE_MULTIPLIER = 4.7746482927568605
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int5[3] fixed_axis_roll_pitch_yaw
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bool orientation_defined # False if the orientation is actually not defined
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******************************************************************************/
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/********************* DSDL signature source definition ***********************
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uavcan.CoarseOrientation
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saturated int5[3] fixed_axis_roll_pitch_yaw
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saturated bool orientation_defined
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******************************************************************************/
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#define UAVCAN_COARSEORIENTATION_NAME "uavcan.CoarseOrientation"
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#define UAVCAN_COARSEORIENTATION_SIGNATURE (0x271BA10B0DAC9E52ULL)
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#define UAVCAN_COARSEORIENTATION_MAX_SIZE ((16 + 7)/8)
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// Constants
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#define UAVCAN_COARSEORIENTATION_ANGLE_MULTIPLIER 4.7746482927568605 // 4.7746482927568605
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#define UAVCAN_COARSEORIENTATION_FIXED_AXIS_ROLL_PITCH_YAW_LENGTH 3
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typedef struct
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{
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// FieldTypes
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int8_t fixed_axis_roll_pitch_yaw[3]; // Static Array 5bit[3] max items
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bool orientation_defined; // bit len 1
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} uavcan_coarse_orientation_t;
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extern
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uint32_t uavcan_CoarseOrientation_encode(uavcan_coarse_orientation_t* source, void* msg_buf);
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extern
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int32_t uavcan_CoarseOrientation_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf);
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extern
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uint32_t uavcan_CoarseOrientation_encode_internal(uavcan_coarse_orientation_t* source, void* msg_buf, uint32_t offset, uint8_t root_item);
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extern
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int32_t uavcan_CoarseOrientation_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf, int32_t offset);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif // __UAVCAN_COARSEORIENTATION
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