mirror of
https://github.com/wpilibsuite/allwpilib
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40 lines
1.0 KiB
C++
40 lines
1.0 KiB
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "IMUDataInternal.hpp"
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using namespace wpi::hal;
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namespace wpi::hal {
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namespace init {
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void InitializeIMUData() {
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static IMUData imu;
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::wpi::hal::SimIMUData = &imu;
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}
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} // namespace init
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IMUData* SimIMUData;
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} // namespace wpi::hal
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extern "C" {
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI_NOINDEX(TYPE, HALSIM, IMU##CAPINAME, \
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SimIMUData, LOWERNAME)
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DEFINE_CAPI(double, AngleX, angleX)
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DEFINE_CAPI(double, AngleY, angleY)
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DEFINE_CAPI(double, AngleZ, angleZ)
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DEFINE_CAPI(double, GyroRateX, gyroRateX)
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DEFINE_CAPI(double, GyroRateY, gyroRateY)
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DEFINE_CAPI(double, GyroRateZ, gyroRateZ)
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DEFINE_CAPI(double, AccelX, accelX)
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DEFINE_CAPI(double, AccelY, accelY)
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DEFINE_CAPI(double, AccelZ, accelZ)
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DEFINE_CAPI(double, Yaw, yaw)
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} // extern "C"
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