300TC 机载系统完整功能，（1）采集影像（2）采集和解析惯导数据（3）惯导磁场校正

2022-06-13 12:01:30 +08:00
commit 1452bcc2b9
21 changed files with 4316 additions and 0 deletions
--- a/Header_Files/sbgbuffer.h
+++ b/Header_Files/sbgbuffer.h
@ -0,0 +1,97 @@
+#ifndef SBGBUFFER_H
+#define SBGBUFFER_H
+
+#include "sbgerrorcodes.h"
+#include <QByteArray>
+
+namespace sbgtc
+{
+    #define SBG_ECOM_MAX_BUFFER_SIZE				(4096)					/*!< Maximum reception buffer size in bytes. */
+    #define SBG_ECOM_MAX_PAYLOAD_SIZE				(4086)					/*!< Maximum payload size in bytes. */
+    #define SBG_ECOM_SYNC_1							(0xFF)					/*!< First synchronization char of the frame. */
+    #define SBG_ECOM_SYNC_2							(0x5A)					/*!< Second synchronization char of the frame. */
+    #define SBG_ECOM_ETX							(0x33)					/*!< End of frame byte. */
+
+
+    /*!
+     * Windows x86 & x64 support both aligned and unaligned access
+     */
+    #define SBG_CONFIG_UNALIGNED_ACCESS_AUTH			(0)
+
+    /*!
+     * Windows is using little endianess
+     */
+    #define SBG_CONFIG_BIG_ENDIAN						(0)
+
+
+    /*!
+     * Union that allows type punning (access to a floating point number bits)
+     */
+    typedef union _FloatNint
+    {
+        float		valF;
+        int32_t		valI;
+        uint32_t	valU;
+    } FloatNint;
+
+    /*!
+     * Union that allows type punning (access to a double number bits)
+     */
+    typedef union _DoubleNint
+    {
+        double		valF;
+        uint64_t	valU;
+        int64_t		valI;
+    } DoubleNint;
+
+    typedef struct _rawBuffer
+    {
+        uint8_t * rxBuffer;
+        size_t rxBufferSize;
+    }rawBuffer;
+
+    typedef struct _SbgStreamBuffer
+    {
+        //SbgSBMode			 modes;				/*!< Defines the stream buffer modes (read/write). */
+        size_t				 bufferSize;		/*!< Size in bytes of the linked buffer. */
+        uint8_t				*pBufferPtr;		/*!< Pointer to the buffer linked with this stream. */
+        uint8_t				*pCurrentPtr;		/*!< Current pointer within the buffer. */
+        SbgErrorCode		 errorCode;			/*!< Current error code on stream buffer. */
+    } SbgStreamBuffer;
+
+    typedef enum _SbgSBSeekOrigin
+    {
+        SB_SEEK_SET,							/*!< The offset is referenced to the begining of the stream. */
+        SB_SEEK_CUR_INC,						/*!< The offset is referenced to the current cursor position and increment the current cursor. */
+        SB_SEEK_CUR_DEC,						/*!< The offset is referenced to the current cursor position and decrement the current cursor. */
+        SB_SEEK_END								/*!< The offset is referenced to the end of the stream. */
+    } SbgSBSeekOrigin;
+
+    rawBuffer initRawBuffer(QByteArray * sbgMessage);
+    SbgErrorCode sbgStreamBufferInitForRead(SbgStreamBuffer *pHandle, const void *pLinkedBuffer, size_t bufferSize);
+
+    SbgErrorCode sbgStreamBufferSeek(SbgStreamBuffer *pHandle, size_t offset, SbgSBSeekOrigin origin);
+    size_t sbgStreamBufferTell(SbgStreamBuffer *pHandle);
+    void *sbgStreamBufferGetCursor(SbgStreamBuffer *pHandle);
+    size_t sbgStreamBufferGetSize(SbgStreamBuffer *pHandle);
+    size_t sbgStreamBufferGetLength(SbgStreamBuffer *pHandle);
+    size_t sbgStreamBufferGetSpace(SbgStreamBuffer *pHandle);
+
+    void *sbgStreamBufferGetLinkedBuffer(SbgStreamBuffer *pHandle);
+
+    uint8_t sbgStreamBufferReadUint8LE(SbgStreamBuffer *pHandle);
+    uint16_t sbgStreamBufferReadUint16LE(SbgStreamBuffer *pHandle);
+    uint32_t sbgStreamBufferReadUint32LE(SbgStreamBuffer *pHandle);
+    uint64_t sbgStreamBufferReadUint64LE(SbgStreamBuffer *pHandle);
+
+    int8_t sbgStreamBufferReadInt8LE(SbgStreamBuffer *pHandle);
+    int32_t sbgStreamBufferReadInt32LE(SbgStreamBuffer *pHandle);
+
+    float sbgStreamBufferReadFloatLE(SbgStreamBuffer *pHandle);
+    double sbgStreamBufferReadDoubleLE(SbgStreamBuffer *pHandle);
+
+    SbgErrorCode sbgStreamBufferGetLastError(SbgStreamBuffer *pHandle);
+
+}
+
+#endif // SBGBUFFER_H