kopia lustrzana https://github.com/ogre/pizero_tracker
23 wiersze
704 B
C++
23 wiersze
704 B
C++
#pragma once
|
|
|
|
#include <cinttypes>
|
|
// #include <cstddef>
|
|
#include <vector>
|
|
#include <string>
|
|
|
|
#include <unistd.h> // write()
|
|
|
|
int uBLOX_i2c_open(const std::string i_device, const unsigned char addr); // "/dev/i2c-7", 0x42
|
|
|
|
// read char from file descriptor
|
|
// and returns a std:string message (anything between 255 or /n characters);
|
|
// sometimes returns just \n
|
|
// usec_sleep = sleep microseconds when uBLOX talks 255 -- 0.3 sec
|
|
std::vector<char> uBLOX_read_msg(int fd, int usec_sleep = 3e5);
|
|
|
|
// write message with ACK
|
|
// wait - how many return lines to check for ACK
|
|
bool uBLOX_write_msg_ack(int fd, uint8_t* p_msg, size_t msg_sz, const size_t wait = 10);
|
|
|
|
std::string vec2str(std::vector<char> v);
|