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Add more IMU config values to package interface

This commit is contained in:
Lukáš Hrázký 2024-07-01 19:26:08 +02:00
parent 04958ed57b
commit b46196e347
2 changed files with 25 additions and 0 deletions
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8
lispBM/c_libs/vesc_c_if.h
View File

@ -277,6 +277,14 @@ typedef enum {
CFG_PARAM_IMU_rot_roll,
CFG_PARAM_IMU_rot_pitch,
CFG_PARAM_IMU_rot_yaw,
CFG_PARAM_IMU_ahrs_mode,
CFG_PARAM_IMU_sample_rate,
CFG_PARAM_IMU_accel_offset_x,
CFG_PARAM_IMU_accel_offset_y,
CFG_PARAM_IMU_accel_offset_z,
CFG_PARAM_IMU_gyro_offset_x,
CFG_PARAM_IMU_gyro_offset_y,
CFG_PARAM_IMU_gyro_offset_z,
} CFG_PARAM;
typedef struct {

17
lispBM/lispif_c_lib.c
View File

@ -451,6 +451,13 @@ static float lib_get_cfg_float(CFG_PARAM p) {
case CFG_PARAM_IMU_rot_roll: res = appconf->imu_conf.rot_roll; break;
case CFG_PARAM_IMU_rot_pitch: res = appconf->imu_conf.rot_pitch; break;
case CFG_PARAM_IMU_rot_yaw: res = appconf->imu_conf.rot_yaw; break;
case CFG_PARAM_IMU_accel_offset_x: res = appconf->imu_conf.accel_offsets[0]; break;
case CFG_PARAM_IMU_accel_offset_y: res = appconf->imu_conf.accel_offsets[1]; break;
case CFG_PARAM_IMU_accel_offset_z: res = appconf->imu_conf.accel_offsets[2]; break;
case CFG_PARAM_IMU_gyro_offset_x: res = appconf->imu_conf.gyro_offsets[0]; break;
case CFG_PARAM_IMU_gyro_offset_y: res = appconf->imu_conf.gyro_offsets[1]; break;
case CFG_PARAM_IMU_gyro_offset_z: res = appconf->imu_conf.gyro_offsets[2]; break;
default: break;
}
@ -465,6 +472,8 @@ static int lib_get_cfg_int(CFG_PARAM p) {
switch (p) {
case CFG_PARAM_app_can_mode: res = conf->can_mode; break;
case CFG_PARAM_app_can_baud_rate: res = conf->can_baud_rate; break;
case CFG_PARAM_IMU_ahrs_mode: res = conf->imu_conf.mode; break;
case CFG_PARAM_IMU_sample_rate: res = conf->imu_conf.sample_rate_hz; break;
default: break;
}
@ -514,6 +523,12 @@ static bool lib_set_cfg_float(CFG_PARAM p, float value) {
case CFG_PARAM_IMU_rot_roll: appconf->imu_conf.rot_roll = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_rot_pitch: appconf->imu_conf.rot_pitch = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_rot_yaw: appconf->imu_conf.rot_yaw = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_x: appconf->imu_conf.accel_offsets[0] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_y: appconf->imu_conf.accel_offsets[1] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_z: appconf->imu_conf.accel_offsets[2] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_x: appconf->imu_conf.gyro_offsets[0] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_y: appconf->imu_conf.gyro_offsets[1] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_z: appconf->imu_conf.gyro_offsets[2] = value; changed_app = 1; res = true; break;
default: break;
}
@ -539,6 +554,8 @@ static bool lib_set_cfg_int(CFG_PARAM p, int value) {
switch (p) {
case CFG_PARAM_app_can_mode: appconf->can_mode = value; res = true; break;
case CFG_PARAM_app_can_baud_rate: appconf->can_baud_rate = value; res = true; break;
case CFG_PARAM_IMU_ahrs_mode: appconf->imu_conf.mode = value; res = true; break;
case CFG_PARAM_IMU_sample_rate: appconf->imu_conf.sample_rate_hz = value; res = true; break;
default: break;
}