29 lines
606 B
C
29 lines
606 B
C
#pragma once
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#include "rogue_enemy.h"
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#define IMU_MESSAGE_FLAGS_ACCEL 0x00000001U
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#define IMU_MESSAGE_FLAGS_ANGLVEL 0x00000002U
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typedef struct imu_message {
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struct timeval gyro_read_time;
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long gyro_x_raw;
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long gyro_y_raw;
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long gyro_z_raw;
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struct timeval accel_read_time;
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long accel_x_raw;
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long accel_y_raw;
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long accel_z_raw;
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int16_t temp_raw;
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double temp_in_k;
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double gyro_rad_s[3]; // | x, y, z| right-hand-rules -- in rad/s
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double accel_m2s[3]; // | x, y, z| positive: right, up, towards player -- in m/s^2
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uint32_t flags;
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} imu_message_t;
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