57 lines
969 B
C
57 lines
969 B
C
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#ifndef _SENSORIMPL_H_
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#define _SENSORIMPL_H_
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#include "quaternion.h"
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#ifdef __cplusplus
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extern "C"{
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Quaternion GetPoseQuat(void);
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void UnpackSensor(const UCHAR* buffer, long* x, long* y, long* z);
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void GetControllerSensor(unsigned char usb_input_buffer[]);
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/*
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD>ȡƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Yaw
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*/
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float DM_GetYaw(void);
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/*
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Pitch
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*/
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float DM_GetPitch(void);
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/*
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>Roll
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*/
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float DM_GetRoll(void);
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float invSqrt(float x) ;
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void ResetAHRS();
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void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz,char useMag,int Dtime);
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Vector3 GetMagData();
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int ResetHeading(void);
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}
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#else
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void UnpackSensor(const UCHAR* buffer, long* x, long* y, long* z);
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void GetControllerSensor(unsigned char usb_input_buffer[]);
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__declspec(dllexport) float GetLocX(void);
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__declspec(dllexport) float GetLocY(void);
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__declspec(dllexport) float GetLocZ(void);
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#endif
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#endif
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