Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
VN100.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2010 ENAC
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef VN100_H
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#define VN100_H
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#include "
std.h
"
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/* VN-100 Registers */
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#define VN100_REG_MODEL 1
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#define VN100_REG_HWREV 2
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#define VN100_REG_SN 3
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#define VN100_REG_FWVER 4
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#define VN100_REG_SBAUD 5
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#define VN100_REG_ADOR 6
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#define VN100_REG_ADOF 7
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#define VN100_REG_YPR 8
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#define VN100_REG_QTN 9
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#define VN100_REG_QTM 10
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#define VN100_REG_QTA 11
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#define VN100_REG_QTR 12
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#define VN100_REG_QMA 13
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#define VN100_REG_QAR 14
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#define VN100_REG_QMR 15
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#define VN100_REG_DCM 16
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#define VN100_REG_MAG 17
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#define VN100_REG_ACC 18
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#define VN100_REG_GYR 19
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#define VN100_REG_MAR 20
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#define VN100_REG_REF 21
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#define VN100_REG_SIG 22
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#define VN100_REG_HSI 23
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#define VN100_REG_ATP 24
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#define VN100_REG_ACT 25
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#define VN100_REG_RFR 26
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#define VN100_REG_YMR 27
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#define VN100_REG_ACG 28
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/* Data Size */
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#define VN100_REG_MODEL_SIZE 12
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#define VN100_REG_HWREV_SIZE 4
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#define VN100_REG_SN_SIZE 12
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#define VN100_REG_FWVER_SIZE 4
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#define VN100_REG_SBAUD_SIZE 4
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#define VN100_REG_ADOR_SIZE 4
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#define VN100_REG_ADOF_SIZE 4
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#define VN100_REG_YPR_SIZE (3*4)
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#define VN100_REG_QTN_SIZE (4*4)
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#define VN100_REG_QTM_SIZE (7*4)
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#define VN100_REG_QTA_SIZE (7*4)
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#define VN100_REG_QTR_SIZE (7*4)
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#define VN100_REG_QMA_SIZE (10*4)
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#define VN100_REG_QAR_SIZE (10*4)
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#define VN100_REG_QMR_SIZE (13*4)
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#define VN100_REG_DCM_SIZE (9*4)
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#define VN100_REG_MAG_SIZE (3*4)
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#define VN100_REG_ACC_SIZE (3*4)
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#define VN100_REG_GYR_SIZE (3*4)
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#define VN100_REG_MAR_SIZE (9*4)
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#define VN100_REG_REF_SIZE (6*4)
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#define VN100_REG_SIG_SIZE (10*4)
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#define VN100_REG_HSI_SIZE (12*4)
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#define VN100_REG_ATP_SIZE (4*4)
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#define VN100_REG_ACT_SIZE (12*4)
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#define VN100_REG_RFR_SIZE (9*4)
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#define VN100_REG_YMR_SIZE (12*4)
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#define VN100_REG_ACG_SIZE 4
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#define VN100_DataSizeOfReg(_r) (_r##_SIZE)
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/* Command IDs */
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#define VN100_CmdID_ReadRegister 0x01
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#define VN100_CmdID_WriteRegister 0x02
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#define VN100_CmdID_WriteSettings 0x03
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#define VN100_CmdID_RestoreFactorySettings 0x04
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#define VN100_CmdID_Tare 0x05
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#define VN100_CmdID_Reset 0x06
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/* System Error */
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#define VN100_Error_None 0
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#define VN100_Error_HardFaultException 1
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#define VN100_Error_InputBufferOverflow 2
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#define VN100_Error_InvalidChecksum 3
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#define VN100_Error_InvalidCommand 4
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#define VN100_Error_NotEnoughParameters 5
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#define VN100_Error_TooManyParameters 6
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#define VN100_Error_InvalidParameter 7
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#define VN100_Error_InvalidRegister 8
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#define VN100_Error_UnauthorizedAccess 9
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#define VN100_Error_WatchdogReset 10
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#define VN100_Error_OutputBufferOverflow 11
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#define VN100_Error_InsufficientBandwidth 12
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/* Asynchronous Data Output Register */
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#define VN100_ADOR_OFF 0
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#define VN100_ADOR_YPR 1
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#define VN100_ADOR_QTN 2
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#define VN100_ADOR_QTM 3
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#define VN100_ADOR_QTA 4
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#define VN100_ADOR_QTR 5
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#define VN100_ADOR_QMA 6
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#define VN100_ADOR_QAR 7
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#define VN100_ADOR_QMR 8
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#define VN100_ADOR_DCM 9
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#define VN100_ADOR_MAG 10
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#define VN100_ADOR_ACC 11
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#define VN100_ADOR_GYR 12
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#define VN100_ADOR_MAR 13
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#define VN100_ADOR_YMR 14
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#define VN100_ADOR_RAB 251
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#define VN100_ADOR_RAW 252
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#define VN100_ADOR_CMV 253
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#define VN100_ADOR_STV 254
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#define VN100_ADOR_COV 255
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/* Asynchronous Data Ouput Rate Register */
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#define VN100_ADOF_1HZ 1
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#define VN100_ADOF_2HZ 2
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#define VN100_ADOF_4HZ 4
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#define VN100_ADOF_5HZ 5
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#define VN100_ADOF_10HZ 10
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#define VN100_ADOF_20HZ 20
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#define VN100_ADOF_25HZ 25
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#define VN100_ADOF_40HZ 40
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#define VN100_ADOF_50HZ 50
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#define VN100_ADOF_100HZ 100
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#define VN100_ADOF_200HZ 200
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/* Serial Baud Rate Register */
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#define VN100_Baud_9600 9600
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#define VN100_Baud_19200 19200
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#define VN100_Baud_38400 38400
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#define VN100_Baud_57600 57600
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#define VN100_Baud_115200 115200
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#define VN100_Baud_128000 128000
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#define VN100_Baud_230400 230400
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#define VN100_Baud_460800 460800
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#define VN100_Baud_921600 921600
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/* Accelerometer Gain Type */
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#define VN100_AccGain_2G 0
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#define VN100_AccGain_6G 1
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/* 32-bit Parameter Type */
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typedef
union
{
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uint32_t
UInt
;
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float
Float
;
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}
VN100_Param
;
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/* SPI Buffer size */
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#define VN100_SPI_BUFFER_SIZE 48
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/* SPI Request Packet */
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typedef
struct
{
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uint8_t
CmdID
;
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uint8_t
RegID
;
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uint8_t
ZeroByte1
;
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uint8_t
ZeroByte2
;
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VN100_Param
Data[
VN100_SPI_BUFFER_SIZE
];
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}
VN100_Req_Packet
;
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/* SPI Response Packet */
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typedef
struct
{
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uint8_t
ZeroByte
;
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uint8_t
CmdID
;
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uint8_t
RegID
;
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uint8_t
ErrID
;
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VN100_Param
Data[
VN100_SPI_BUFFER_SIZE
];
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}
VN100_Res_Packet
;
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#define VN100_Packet_SetBaud(_b) { VN100_CmdID_WriteRegister, VN100_REG_SBAUD, 0, 0, { _b } }
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#define VN100_Packet_SetADOR(_r) { VN100_CmdID_WriteRegister, VN100_REG_ADOR, 0, 0, { _r } }
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#define VN100_Packet_SetaDOF(_f) { VN100_CmdID_WriteRegister, VN100_REG_ADOF, 0, 0, { _f } }
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#define VN100_BytesOfWord(_w) { (uint8_t)(_w & 0xFF), (uint8_t)((_w & (0xFF<<8))>>8), (uint8_t)((_w & (0xFF<<16))>>16), (uint8_t)((_w & (0xFF<<24))>>24) }
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#define VN100_WordOfBytes(_b) (((uint32_t)(_b[3])<<24)|((uint32_t)(_b[2])<<16)|((uint16_t)(_b[1])<<8)|(uint16_t)(_b[0]))
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#endif
VN100_Res_Packet::RegID
uint8_t RegID
Definition:
VN100.h:190
VN100_Req_Packet::ZeroByte2
uint8_t ZeroByte2
Definition:
VN100.h:182
VN100_Res_Packet::CmdID
uint8_t CmdID
Definition:
VN100.h:189
VN100_Res_Packet::ErrID
uint8_t ErrID
Definition:
VN100.h:191
VN100_Param::Float
float Float
Definition:
VN100.h:171
VN100_Req_Packet::CmdID
uint8_t CmdID
Definition:
VN100.h:179
VN100_Req_Packet::ZeroByte1
uint8_t ZeroByte1
Definition:
VN100.h:181
VN100_Res_Packet::ZeroByte
uint8_t ZeroByte
Definition:
VN100.h:188
VN100_SPI_BUFFER_SIZE
#define VN100_SPI_BUFFER_SIZE
Definition:
VN100.h:175
VN100_Param::UInt
uint32_t UInt
Definition:
VN100.h:170
VN100_Req_Packet::RegID
uint8_t RegID
Definition:
VN100.h:180
VN100_Req_Packet
Definition:
VN100.h:178
VN100_Res_Packet
Definition:
VN100.h:187
VN100_Param
Definition:
VN100.h:169
std.h
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition:
vl53l1_types.h:78
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition:
vl53l1_types.h:98
sw
airborne
modules
ins
VN100.h
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