From 04e35fe98a20bbad148171ac03e6477a5d74dcdf Mon Sep 17 00:00:00 2001 From: jkerpe Date: Mon, 13 Nov 2023 13:28:48 +0100 Subject: [PATCH] Renamed 'unitless' into 'in digits' --- lib/HALInterfaces/IIMU.h | 26 +++++++++++++------------- lib/HALSim/IMU.h | 18 +++++++++--------- lib/HALTarget/IMU.h | 18 +++++++++--------- lib/HALTest/IMU.h | 18 +++++++++--------- lib/SensorFusion/SerialMuxChannels.h | 26 +++++++++++++------------- 5 files changed, 53 insertions(+), 53 deletions(-) diff --git a/lib/HALInterfaces/IIMU.h b/lib/HALInterfaces/IIMU.h index 8c54f656..0d7781e0 100644 --- a/lib/HALInterfaces/IIMU.h +++ b/lib/HALInterfaces/IIMU.h @@ -52,13 +52,13 @@ * Types and Classes *****************************************************************************/ -/** Struct of the raw, unitless and not yet converted IMU (=accelerometer, gyro or magnetometer) data in x, y and z +/** Struct of the raw and not yet converted IMU (=accelerometer, gyro or magnetometer) values in digits in x, y and z * direction. */ typedef struct _IMUData { - int16_t valueX; /* Raw sensor value in x direction (unitless) */ - int16_t valueY; /* Raw sensor value in y direction (unitless) */ - int16_t valueZ; /* Raw sensor value in z direction (unitless) */ + int16_t valueX; /* Raw sensor value in x direction in digits */ + int16_t valueY; /* Raw sensor value in y direction in digits */ + int16_t valueZ; /* Raw sensor value in z direction in digits */ } __attribute__((packed)) IMUData; /** The abstract IMU interface. @@ -128,29 +128,29 @@ class IIMU virtual bool magnetometerDataReady() = 0; /** - * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z. + * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] accelerationValues Pointer to IMUData struct where the raw, unitless acceleration values in + * @param[in] accelerationValues Pointer to IMUData struct where the raw acceleration values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + * multiplication with a sensitivity factor in mm/s^2/digit. */ virtual const void getAccelerationValues(IMUData* accelerationValues) = 0; /** - * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z. + * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] turnRates Pointer to IMUData struct where the raw, unitless turn Rates in x, y and z + * @param[in] turnRates Pointer to IMUData struct where the raw turn Rates in digits in x, y and z * direction will be written into. The values can be converted into physical values in mrad/s via the multiplication - * with a sensitivity factor in mrad/s/bit. + * with a sensitivity factor in mrad/s/digit. */ virtual const void getTurnRates(IMUData* turnRates) = 0; /** - * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z. + * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] magnetometerValues Pointer to IMUData struct where the raw, unitless magnetometer values in + * @param[in] magnetometerValues Pointer to IMUData struct where the raw magnetometer values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mgauss via the - * multiplication with a sensitivity factor in mgauss/bit. + * multiplication with a sensitivity factor in mgauss/digit. */ virtual const void getMagnetometerValues(IMUData* magnetometerValues) = 0; diff --git a/lib/HALSim/IMU.h b/lib/HALSim/IMU.h index 96fa0559..1c5d0dd7 100644 --- a/lib/HALSim/IMU.h +++ b/lib/HALSim/IMU.h @@ -158,29 +158,29 @@ class IMU : public IIMU } /** - * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z. + * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] accelerationValues Pointer to IMUData struct where the raw, unitless acceleration values in + * @param[in] accelerationValues Pointer to IMUData struct where the raw acceleration values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + * multiplication with a sensitivity factor in mm/s^2/digit. */ void const getAccelerationValues(IMUData* accelerationValues); /** - * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z. + * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] turnRates Pointer to IMUData struct where the raw, unitless turn Rates in x, y and z + * @param[in] turnRates Pointer to IMUData struct where the raw turn Rates in digits in x, y and z * direction will be written into. The values can be converted into physical values in mrad/s via the multiplication - * with a sensitivity factor in mrad/s/bit. + * with a sensitivity factor in mrad/s/digit. */ void const getTurnRates(IMUData* turnRates); /** - * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z. + * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] magnetometerValues Pointer to IMUData struct where the raw, unitless magnetometer values in + * @param[in] magnetometerValues Pointer to IMUData struct where the raw magnetometer values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mgauss via the - * multiplication with a sensitivity factor in mgauss/bit. + * multiplication with a sensitivity factor in mgauss/digit. */ void const getMagnetometerValues(IMUData* magnetometerValues); diff --git a/lib/HALTarget/IMU.h b/lib/HALTarget/IMU.h index 97e104b9..60f210a9 100644 --- a/lib/HALTarget/IMU.h +++ b/lib/HALTarget/IMU.h @@ -138,29 +138,29 @@ class IMU : public IIMU bool magnetometerDataReady(); /** - * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z. + * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] accelerationValues Pointer to IMUData struct where the raw, unitless acceleration values in + * @param[in] accelerationValues Pointer to IMUData struct where the raw acceleration values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + * multiplication with a sensitivity factor in mm/s^2/digit. */ const void getAccelerationValues(IMUData* accelerationValues); /** - * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z. + * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] turnRates Pointer to IMUData struct where the raw, unitless turn Rates in x, y and z + * @param[in] turnRates Pointer to IMUData struct where the raw turn Rates in digits in x, y and z * direction will be written into. The values can be converted into physical values in mrad/s via the multiplication - * with a sensitivity factor in mrad/s/bit. + * with a sensitivity factor in mrad/s/digit. */ const void getTurnRates(IMUData* turnRates); /** - * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z. + * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] magnetometerValues Pointer to IMUData struct where the raw, unitless magnetometer values in + * @param[in] magnetometerValues Pointer to IMUData struct where the raw magnetometer values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mgauss via the - * multiplication with a sensitivity factor in mgauss/bit. + * multiplication with a sensitivity factor in mgauss/digit. */ const void getMagnetometerValues(IMUData* magnetometerValues); diff --git a/lib/HALTest/IMU.h b/lib/HALTest/IMU.h index c7a536d4..3d2905ba 100644 --- a/lib/HALTest/IMU.h +++ b/lib/HALTest/IMU.h @@ -131,33 +131,33 @@ class IMU : public IIMU } /** - * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z. + * Get last raw Accelerometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] accelerationValues Pointer to IMUData struct where the raw, unitless acceleration values in + * @param[in] accelerationValues Pointer to IMUData struct where the raw acceleration values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + * multiplication with a sensitivity factor in mm/s^2/digit. */ const void getAccelerationValues(IMUData* accelerationValues) { } /** - * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z. + * Get last raw Gyroscope values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] turnRates Pointer to IMUData struct where the raw, unitless turn Rates in x, y and z + * @param[in] turnRates Pointer to IMUData struct where the raw turn Rates in digits in x, y and z * direction will be written into. The values can be converted into physical values in mrad/s via the multiplication - * with a sensitivity factor in mrad/s/bit. + * with a sensitivity factor in mrad/s/digit. */ const void getTurnRates(IMUData* turnRates) { } /** - * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z. + * Get last raw Magnetometer values as an IMUData struct containing values in x, y and z in digits. * - * @param[in] magnetometerValues Pointer to IMUData struct where the raw, unitless magnetometer values in + * @param[in] magnetometerValues Pointer to IMUData struct where the raw magnetometer values in digits in * x, y and z direction will be written into. The values can be converted into physical values in mgauss via the - * multiplication with a sensitivity factor in mgauss/bit. + * multiplication with a sensitivity factor in mgauss/digit. */ const void getMagnetometerValues(IMUData* magnetometerValues) { diff --git a/lib/SensorFusion/SerialMuxChannels.h b/lib/SensorFusion/SerialMuxChannels.h index 8a01a88f..fc068072 100644 --- a/lib/SensorFusion/SerialMuxChannels.h +++ b/lib/SensorFusion/SerialMuxChannels.h @@ -65,33 +65,33 @@ typedef struct _SensorData /** Orientation in mrad calculated by odometry. */ int32_t orientationOdometry; - /** Acceleration in x direction as a raw sensor value in bit. - * This is a unitless bit value. It can be converted into a physical acceleration value in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + /** Acceleration in x direction as a raw sensor value in digits. + * It can be converted into a physical acceleration value in mm/s^2 via the + * multiplication with a sensitivity factor in mm/s^2/digit. */ int16_t accelerationX; - /** Acceleration in y direction as a raw sensor value in bit. - * This is a unitless bit value. It can be converted into a physical acceleration value in mm/s^2 via the - * multiplication with a sensitivity factor in mm/s^2/bit. + /** Acceleration in y direction as a raw sensor value in digits. + * It can be converted into a physical acceleration value in mm/s^2 via the + * multiplication with a sensitivity factor in mm/s^2/digit. */ int16_t accelerationY; - /** Magnetometer value in x direction as a raw sensor value in bit. - * This is a unitless bit value. It does not require conversion into a physical magnetometer value since only the + /** Magnetometer value in x direction as a raw sensor value in digits. + * It does not require conversion into a physical magnetometer value since only the * ratio with the value in y direction is important. */ int16_t magnetometerValueX; - /** Magnetometer value in y direction as a raw sensor value in bit. - * This is a unitless bit value. It does not require conversion into a physical magnetometer value since only the + /** Magnetometer value in y direction as a raw sensor value in digits. + * It does not require conversion into a physical magnetometer value since only the * ratio with the value in x direction is important. */ int16_t magnetometerValueY; - /** Gyroscope value around z axis as a raw sensor value in bit. - * This is a unitless bit value. It can be converted into a physical turn rate in mrad/s via the multiplication - * with a sensitivity factor in mrad/s/bit. + /** Gyroscope value around z axis as a raw sensor value in digits. + * It can be converted into a physical turn rate in mrad/s via the multiplication + * with a sensitivity factor in mrad/s/digit. */ int16_t turnRate; } __attribute__((packed)) SensorData;