36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
 
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#pragma once
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// Internal interface between the hardware stand-ins (shim/, SimHardware.cpp)
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// and the exported API (HexapodSimApi.cpp). Not visible to robot/ code.
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#include <stdint.h>
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namespace simhw {
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// ---- Clock ----
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void advanceMicros(uint32_t us);
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uint64_t nowMicros();
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// ---- Serial ----
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void serialFeed(const char* bytes, int len); // Unity -> robot Serial.read()
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int serialDrain(char* out, int cap); // robot Serial.print() -> Unity
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// ---- Servos (indexed by pin) ----
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constexpr int MAX_PINS = 64;
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struct ServoPin {
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bool attached = false;
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int us = 1500; // Teensy Servo's default pulse after attach()
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uint32_t writes = 0; // writeMicroseconds() calls since start
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};
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const ServoPin& servoPin(int pin);
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// ---- MPU6050 ----
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void imuSetPresent(bool present);
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// Body-frame values as the chip would measure them: accel in g (reads +1 g
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// on the axis pointing up when at rest), gyro in deg/s.
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void imuSet(float ax, float ay, float az, float gx, float gy, float gz);
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// ---- Radio ----
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void radioSetPresent(bool present);
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// Puts one packet "on air" using the protocol's channel/address/data rate.
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void radioSend(const uint8_t* bytes, int len);
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} // namespace simhw
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