cmt2.h.svn-base

AVR单片机下

/*                ****ROBOCON 2009 | BUPT TEAM*******
 * ------------------------------------------------------------------------
 * FileName   : cmt2.h
 * Version    : 1.0
 * Brief      :
 * Code by    : leaf
 * Date       : Apr 11, 2009
 * Note       :
 *
 *
 * ------------------------------------------------------------------------
 */
#ifndef CMT2_H_INCLUDED
#define CMT2_H_INCLUDED
#include "lib_bupt/cmt.h"

typedef INT16 Angle;
typedef struct{
	Angle roll;   /* X轴旋转量(侧斜) */
	Angle pitch;  /* Y轴旋转量(倾斜) */
	Angle yaw;    /* Z轴旋转量(方向) */
}*pOrient, Orient;
typedef enum{
	CmtResetSave = 0,
	CmtResetHeading = 1,
	CmtResetObject  = 3,
	CmtResetAlignment = 4
}CmtResetType;

int getOrient( pCmtMsg msg, size_t idx, pOrient orient);
Angle adjustAngle(Angle a);
void cmtReset( Cmt *cmt, CmtResetType type);

#endif  /* CMT2_H_INCLUDED */