VectorNav C/C++ Library
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Data Structures | |
struct | Vn100 |
Holds connection information for accessing a VN-100 device. More... | |
struct | Vn100CompositeData |
Composite structure of the various asynchronous data the VN-100 device is capable of outputting. More... | |
Defines | |
#define | VNASYNC_OFF 0 |
#define | VNASYNC_VNYPR 1 |
#define | VNASYNC_VNQTN 2 |
#define | VNASYNC_VNQTM 3 |
#define | VNASYNC_VNQTA 4 |
#define | VNASYNC_VNQTR 5 |
#define | VNASYNC_VNQMA 6 |
#define | VNASYNC_VNQAR 7 |
#define | VNASYNC_VNQMR 8 |
#define | VNASYNC_VNDCM 9 |
#define | VNASYNC_VNMAG 10 |
#define | VNASYNC_VNACC 11 |
#define | VNASYNC_VNGYR 12 |
#define | VNASYNC_VNMAR 13 |
#define | VNASYNC_VNYMR 14 |
#define | VNASYNC_VNYCM 15 |
#define | VNASYNC_VNYBA 16 |
#define | VNASYNC_VNYIA 17 |
#define | VNASYNC_VNICM 18 |
#define | VNASYNC_VNRAW 252 |
#define | VNASYNC_VNCMV 253 |
#define | VNASYNC_VNSTV 254 |
#define | VNASYNC_VNCOV 255 |
Typedefs | |
typedef void(* | Vn100NewAsyncDataReceivedListener )(Vn100 *sender, Vn100CompositeData *newData) |
Fuction type used for receiving notifications of when new asynchronous data is received. | |
Functions | |
VN_ERROR_CODE | vn100_connect (Vn100 *newVn100, const char *portName, int baudrate) |
Connects to a VectorNav VN-100 device. | |
VN_ERROR_CODE | vn100_disconnect (Vn100 *vn100) |
Disconnects from the VN-100 device and disposes of any internal resources. | |
unsigned char | vn100_checksum_compute (const char *cmdToCheck) |
Computes the checksum for the provided command. | |
void | vn100_checksum_computeAndReturnAsHex (const char *cmdToCheck, char *checksum) |
Computes the checksum for the provided command and returns it as a two character string representing it in hexidecimal. | |
VN_ERROR_CODE | vn100_set_timeout (Vn100 *vn100, int timeout) |
Sets the timeout value for the reading values from the VN-100 sensor. | |
int | vn100_get_timeout (Vn100 *vn100) |
Retrieves the associated timeout value for the Vn100 object. | |
VN_ERROR_CODE | vn100_getCurrentAsyncData (Vn100 *vn100, Vn100CompositeData *curData) |
Retreives the most recently received asynchronous measurements received from the VN-100 device. | |
VN_ERROR_CODE | vn100_writeSettings (Vn100 *vn100, VN_BOOL waitForResponse) |
Commands the VN-100 unit to write its current register setting to non-volatile memory. | |
VN_ERROR_CODE | vn100_restoreFactorySettings (Vn100 *vn100, VN_BOOL waitForResponse) |
Commands the VN-100 unit to revert its settings to factory defaults. | |
VN_ERROR_CODE | vn100_tare (Vn100 *vn100, VN_BOOL waitForResponse) |
Commands the VN-100 module to zero out its current orientation. | |
VN_ERROR_CODE | vn100_reset (Vn100 *vn100) |
Commands the VN-100 module to reset itself. | |
VN_ERROR_CODE | vn100_knownMagneticDisturbance (Vn100 *vn100, VN_BOOL isDisturbancePresent, VN_BOOL waitForResponse) |
Notifies the VN-100 module if a known magnetic disturbance is present. | |
VN_ERROR_CODE | vn100_knownAccelerationDisturbance (Vn100 *vn100, VN_BOOL isDisturbancePresent, VN_BOOL waitForResponse) |
Notifies the VN-100 module if a known acceleration disturbance is present. | |
VN_ERROR_CODE | vn100_setGyroBias (Vn100 *vn100, VN_BOOL waitForResponse) |
Commands the VN-100 module to save the current gyro bias estimate to memory for use on the next module startup. | |
VN_ERROR_CODE | vn100_registerAsyncDataReceivedListener (Vn100 *vn100, Vn100NewAsyncDataReceivedListener listener) |
Allows registering a function which will be called whenever a new asynchronous data packet is received from the VN-100 module. | |
VN_ERROR_CODE | vn100_unregisterAsyncDataReceivedListener (Vn100 *vn100, Vn100NewAsyncDataReceivedListener listener) |
Unregisters an already registered function for recieving notifications of when new asynchronous data is received. | |
VN_ERROR_CODE | vn100_getUserTag (Vn100 *vn100, char *userTagBuffer, unsigned int userTagBufferLength) |
Gets the values in the User Tag register. | |
VN_ERROR_CODE | vn100_setUserTag (Vn100 *vn100, char *userTagData, unsigned int userTagDataLength, VN_BOOL waitForResponse) |
Sets the values of the User Tag register. | |
VN_ERROR_CODE | vn100_getModelNumber (Vn100 *vn100, char *modelBuffer, unsigned int modelBufferLength) |
Gets the values in the Model Number register. | |
VN_ERROR_CODE | vn100_getHardwareRevision (Vn100 *vn100, int *hardwareRevision) |
Gets the values in the Hardware Revision register. | |
VN_ERROR_CODE | vn100_getSerialNumber (Vn100 *vn100, char *serialNumberBuffer, unsigned int serialNumberBufferLength) |
Gets the values in the Serial Number register. | |
VN_ERROR_CODE | vn100_getFirmwareVersion (Vn100 *vn100, char *firmwareVersionBuffer, unsigned int firmwareVersionBufferLength) |
Gets the values in the Firmware Version register. | |
VN_ERROR_CODE | vn100_getSerialBaudRate (Vn100 *vn100, unsigned int *serialBaudrate) |
Gets the values in the Serial Baud Rate register. | |
VN_ERROR_CODE | vn100_setSerialBaudRate (Vn100 *vn100, unsigned int serialBaudrate, VN_BOOL waitForResponse) |
Sets the values of the Serial Baud Rate register. | |
VN_ERROR_CODE | vn100_getAsynchronousDataOutputType (Vn100 *vn100, unsigned int *asyncDataOutputType) |
Gets the values in the Asynchronous Data Output Type register. | |
VN_ERROR_CODE | vn100_setAsynchronousDataOutputType (Vn100 *vn100, unsigned int asyncDataOutputType, VN_BOOL waitForResponse) |
Sets the values of the Asynchronous Data Output Type register. | |
VN_ERROR_CODE | vn100_getAsynchronousDataOutputFrequency (Vn100 *vn100, unsigned int *asyncDataOutputFrequency) |
Gets the values in the Asynchronous Data Output Frequency register. | |
VN_ERROR_CODE | vn100_setAsynchronousDataOutputFrequency (Vn100 *vn100, unsigned int asyncDataOutputFrequency, VN_BOOL waitForResponse) |
Sets the values of the Asynchronous Data Output Frequency register. | |
VN_ERROR_CODE | vn100_getYawPitchRoll (Vn100 *vn100, VnYpr *attitude) |
Gets the values in the Attitude (Yaw, Pitch, Roll) register. | |
VN_ERROR_CODE | vn100_getQuaternion (Vn100 *vn100, VnQuaternion *attitude) |
Gets the values in the Attitude (Quaternion) register. | |
VN_ERROR_CODE | vn100_getQuaternionMagnetic (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *magnetic) |
Gets the values in the Quaternion and Magnetic register. | |
VN_ERROR_CODE | vn100_getQuaternionAcceleration (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *acceleration) |
Gets the values in the Quaternion and Acceleration register. | |
VN_ERROR_CODE | vn100_getQuaternionAngularRate (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *angularRate) |
Gets the values in the Quaternion and Angular Rates register. | |
VN_ERROR_CODE | vn100_getQuaternionMagneticAcceleration (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *magnetic, VnVector3 *acceleration) |
Gets the values in the Quaternion, Magnetic and Acceleration register. | |
VN_ERROR_CODE | vn100_getQuaternionAccelerationAngularRate (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *magnetic, VnVector3 *angularRate) |
Gets the values in the Quaternion, Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getQuaternionMagneticAcclerationAngularRate (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *magnetic, VnVector3 *acceleration, VnVector3 *angularRate) |
Gets the values in the Quaternion, Magnetic, Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getDirectionCosineMatrix (Vn100 *vn100, VnMatrix3x3 *attitude) |
Gets the values in the Attitude (Directional Cosine Matrix) register. | |
VN_ERROR_CODE | vn100_getMagnetic (Vn100 *vn100, VnVector3 *magnetic) |
Gets the values in the Magnetic Measurements register. | |
VN_ERROR_CODE | vn100_getAcceleration (Vn100 *vn100, VnVector3 *acceleration) |
Gets the values in the Acceleration Measurements register. | |
VN_ERROR_CODE | vn100_getAngularRate (Vn100 *vn100, VnVector3 *angularRate) |
Gets the values in the Angular Rate Measurements register. | |
VN_ERROR_CODE | vn100_getMagneticAccelerationAngularRate (Vn100 *vn100, VnVector3 *magnetic, VnVector3 *acceleration, VnVector3 *angularRate) |
Gets the values in the Magnetic, Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getMagneticGravityReferenceVectors (Vn100 *vn100, VnVector3 *magneticReference, VnVector3 *gravityReference) |
Gets the values in the Magnetic and Gravity Reference Vectors register. | |
VN_ERROR_CODE | vn100_setMagneticGravityReferenceVectors (Vn100 *vn100, VnVector3 magneticReference, VnVector3 gravityReference, VN_BOOL waitForResponse) |
Sets the values of the Magnetic and Gravity Reference Vectors register. | |
VN_ERROR_CODE | vn100_getFilterMeasurementVarianceParameters (Vn100 *vn100, double *angularWalkVariance, VnVector3 *angularRateVariance, VnVector3 *magneticVariance, VnVector3 *accelerationVariance) |
Gets the values in the Filter Measurement Variance Parameters register. | |
VN_ERROR_CODE | vn100_setFilterMeasurementVarianceParameters (Vn100 *vn100, double angularWalkVariance, VnVector3 angularRateVariance, VnVector3 magneticVariance, VnVector3 accelerationVariance, VN_BOOL waitForResponse) |
Sets the values of the Filter Measurement Variance Parameters register. | |
VN_ERROR_CODE | vn100_getMagneticHardSoftIronCompensationParameters (Vn100 *vn100, VnMatrix3x3 *c, VnVector3 *b) |
Gets the values in the Magnetic Hard/Soft Iron Compensation Parameters register. | |
VN_ERROR_CODE | vn100_setMagneticHardSoftIronCompensationParameters (Vn100 *vn100, VnMatrix3x3 c, VnVector3 b, VN_BOOL waitForResponse) |
Sets the values of the Magnetic Hard/Soft Iron Compensation Parameters register. | |
VN_ERROR_CODE | vn100_getFilterActiveTuningParameters (Vn100 *vn100, double *magneticGain, double *accelerationGain, double *magneticMemory, double *accelerationMemory) |
Gets the values in the Filter Active Tuning Parameters register. | |
VN_ERROR_CODE | vn100_setFilterActiveTuningParameters (Vn100 *vn100, double magneticGain, double accelerationGain, double magneticMemory, double accelerationMemory, VN_BOOL waitForResponse) |
Sets the values of the Filter Active Tuning Parameters register. | |
VN_ERROR_CODE | vn100_getAccelerometerCompensation (Vn100 *vn100, VnMatrix3x3 *c, VnVector3 *b) |
Gets the values in the Accelerometer Compensation register. | |
VN_ERROR_CODE | vn100_setAccelerometerCompensation (Vn100 *vn100, VnMatrix3x3 c, VnVector3 b, VN_BOOL waitForResponse) |
Sets the values of the Accelerometer Compensation register. | |
VN_ERROR_CODE | vn100_getReferenceFrameRotation (Vn100 *vn100, VnMatrix3x3 *c) |
Gets the values in the Reference Frame Rotation register. | |
VN_ERROR_CODE | vn100_setReferenceFrameRotation (Vn100 *vn100, VnMatrix3x3 c, VN_BOOL waitForResponse) |
Sets the values of the Reference Frame Rotation register. | |
VN_ERROR_CODE | vn100_getYawPitchRollMagneticAccelerationAngularRate (Vn100 *vn100, VnYpr *attitude, VnVector3 *magnetic, VnVector3 *acceleration, VnVector3 *angularRate) |
Gets the values in the Yaw,Pitch,Roll, Magnetic, Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getAccelerometerGain (Vn100 *vn100, unsigned int *accelerometerGain) |
Gets the values in the Accelerometer Gain register. | |
VN_ERROR_CODE | vn100_setAccelerometerGain (Vn100 *vn100, unsigned int accelerometerGain, VN_BOOL waitForResponse) |
Sets the values of the Accelerometer Gain register. | |
VN_ERROR_CODE | vn100_getYawPitchRollAndCalibratedMeasurements (Vn100 *vn100, VnYpr *attitude, VnVector3 *magnetic, VnVector3 *acceleration, VnVector3 *angularRate, double *temperature) |
Gets the values in the Yaw,Pitch,Roll, and Calibrated Measurements register. | |
VN_ERROR_CODE | vn100_getCommunicationProtocolControl (Vn100 *vn100, unsigned char *serialCount, unsigned char *serialStatus, unsigned char *spiCount, unsigned char *spiStatus, unsigned char *serialChecksum, unsigned char *spiChecksum, unsigned char *errorMode) |
Gets the values in the Communication Protocol Control register. | |
VN_ERROR_CODE | vn100_setCommunicationProtocolControl (Vn100 *vn100, unsigned char serialCount, unsigned char serialStatus, unsigned char spiCount, unsigned char spiStatus, unsigned char serialChecksum, unsigned char spiChecksum, unsigned char errorMode, VN_BOOL waitForResponse) |
Sets the values of the Communication Protocol Control register. | |
VN_ERROR_CODE | vn100_getCommunicationProtocolStatus (Vn100 *vn100, unsigned int *numOfParsedSerialMessages, unsigned int *numOfParsedSpiMessages, unsigned char *maxUsageSerialRxBuffer, unsigned char *maxUsageSerialTxBuffer, unsigned char *maxUsageSpiRxBuffer, unsigned char *maxUsageSpiTxBuffer, unsigned short *reserved0, unsigned short *reserved1, unsigned short *reserved2, unsigned short *reserved3, unsigned short *reserved4, unsigned short *reserved5, unsigned short *reserved6, unsigned short *reserved7, unsigned short *reserved8, unsigned short *reserved9, unsigned short *reserved10, unsigned short *reserved11, unsigned short *reserved12, unsigned short *reserved13, unsigned short *reserved14, unsigned short *reserved15) |
Gets the values in the Communication Protocol Status register. | |
VN_ERROR_CODE | vn100_setCommunicationProtocolStatus (Vn100 *vn100, unsigned int numOfParsedSerialMessages, unsigned int numOfParsedSpiMessages, unsigned char maxUsageSerialRxBuffer, unsigned char maxUsageSerialTxBuffer, unsigned char maxUsageSpiRxBuffer, unsigned char maxUsageSpiTxBuffer, unsigned short reserved0, unsigned short reserved1, unsigned short reserved2, unsigned short reserved3, unsigned short reserved4, unsigned short reserved5, unsigned short reserved6, unsigned short reserved7, unsigned short reserved8, unsigned short reserved9, unsigned short reserved10, unsigned short reserved11, unsigned short reserved12, unsigned short reserved13, unsigned short reserved14, unsigned short reserved15, VN_BOOL waitForResponse) |
Sets the values of the Communication Protocol Status register. | |
VN_ERROR_CODE | vn100_getSynchronizationControl (Vn100 *vn100, unsigned char *syncInMode, unsigned char *syncInEdge, unsigned short *syncInSkipFactor, unsigned int *reserved0, unsigned char *syncOutMode, unsigned char *syncOutPolarity, unsigned short *syncOutSkipFactor, unsigned int *syncOutPulseWidth, unsigned int *reserved1) |
Gets the values in the Synchronization Control register. | |
VN_ERROR_CODE | vn100_setSynchronizationControl (Vn100 *vn100, unsigned char syncInMode, unsigned char syncInEdge, unsigned short syncInSkipFactor, unsigned int reserved0, unsigned char syncOutMode, unsigned char syncOutPolarity, unsigned short syncOutSkipFactor, unsigned int syncOutPulseWidth, unsigned int reserved1, VN_BOOL waitForResponse) |
Sets the values of the Synchronization Control register. | |
VN_ERROR_CODE | vn100_getSynchronizationStatus (Vn100 *vn100, unsigned int *syncInCount, unsigned int *syncInTime, unsigned int *syncOutCount) |
Gets the values in the Synchronization Status register. | |
VN_ERROR_CODE | vn100_setSynchronizationStatus (Vn100 *vn100, unsigned int syncInCount, unsigned int syncInTime, unsigned int syncOutCount, VN_BOOL waitForResponse) |
Sets the values of the Synchronization Status register. | |
VN_ERROR_CODE | vn100_getAttitudeFilterControl (Vn100 *vn100, unsigned char *magneticMode, unsigned char *externalMagnetometerMode, unsigned char *externalAccelerometerMode, unsigned char *externalGyroscopeMode, VnVector3 *angularRateLimit) |
Gets the values in the Attitude Filter Control register. | |
VN_ERROR_CODE | vn100_setAttitudeFilterControl (Vn100 *vn100, unsigned char magneticMode, unsigned char externalMagnetometerMode, unsigned char externalAccelerometerMode, unsigned char externalGyroscopeMode, VnVector3 angularRateLimit, VN_BOOL waitForResponse) |
Sets the values of the Attitude Filter Control register. | |
VN_ERROR_CODE | vn100_getVpeControl (Vn100 *vn100, unsigned char *enable, unsigned char *headingMode, unsigned char *filteringMode, unsigned char *tuningMode) |
Gets the values in the VPE Control register. | |
VN_ERROR_CODE | vn100_setVpeControl (Vn100 *vn100, unsigned char enable, unsigned char headingMode, unsigned char filteringMode, unsigned char tuningMode, VN_BOOL waitForResponse) |
Sets the values of the VPE Control register. | |
VN_ERROR_CODE | vn100_getVpeMagnetometerBasicTuning (Vn100 *vn100, VnVector3 *baseTuning, VnVector3 *adaptiveTuning, VnVector3 *adaptiveFiltering) |
Gets the values in the VPE Magnetometer Basic Tuning register. | |
VN_ERROR_CODE | vn100_setVpeMagnetometerBasicTuning (Vn100 *vn100, VnVector3 baseTuning, VnVector3 adaptiveTuning, VnVector3 adaptiveFiltering, VN_BOOL waitForResponse) |
Sets the values of the VPE Magnetometer Basic Tuning register. | |
VN_ERROR_CODE | vn100_getVpeMagnetometerAdvancedTuning (Vn100 *vn100, VnVector3 *minimumFiltering, VnVector3 *maximumFiltering, double *maximumAdaptRate, double *disturbanceWindow, double *maximumTuning) |
Gets the values in the VPE Magnetometer Advanced Tuning register. | |
VN_ERROR_CODE | vn100_setVpeMagnetometerAdvancedTuning (Vn100 *vn100, VnVector3 minimumFiltering, VnVector3 maximumFiltering, double maximumAdaptRate, double disturbanceWindow, double maximumTuning, VN_BOOL waitForResponse) |
Sets the values of the VPE Magnetometer Advanced Tuning register. | |
VN_ERROR_CODE | vn100_getVpeAccelerometerBasicTuning (Vn100 *vn100, VnVector3 *baseTuning, VnVector3 *adaptiveTuning, VnVector3 *adaptiveFiltering) |
Gets the values in the VPE Accelerometer Basic Tuning register. | |
VN_ERROR_CODE | vn100_setVpeAccelerometerBasicTuning (Vn100 *vn100, VnVector3 baseTuning, VnVector3 adaptiveTuning, VnVector3 adaptiveFiltering, VN_BOOL waitForResponse) |
Sets the values of the VPE Accelerometer Basic Tuning register. | |
VN_ERROR_CODE | vn100_getVpeAccelerometerAdvancedTuning (Vn100 *vn100, VnVector3 *minimumFiltering, VnVector3 *maximumFiltering, double *maximumAdaptRate, double *disturbanceWindow, double *maximumTuning) |
Gets the values in the VPE Accelerometer Advanced Tuning register. | |
VN_ERROR_CODE | vn100_setVpeAccelerometerAdvancedTuning (Vn100 *vn100, VnVector3 minimumFiltering, VnVector3 maximumFiltering, double maximumAdaptRate, double disturbanceWindow, double maximumTuning, VN_BOOL waitForResponse) |
Sets the values of the VPE Accelerometer Advanced Tuning register. | |
VN_ERROR_CODE | vn100_getVpeGyroBasicTuning (Vn100 *vn100, VnVector3 *baseTuning, VnVector3 *adaptiveTuning, VnVector3 *adaptiveFiltering) |
Gets the values in the VPE Gyro Basic Tuning register. | |
VN_ERROR_CODE | vn100_setVpeGyroBasicTuning (Vn100 *vn100, VnVector3 baseTuning, VnVector3 adaptiveTuning, VnVector3 adaptiveFiltering, VN_BOOL waitForResponse) |
Sets the values of the VPE Gyro Basic Tuning register. | |
VN_ERROR_CODE | vn100_getFilterStatus (Vn100 *vn100, unsigned short *solutionStatus, double *yawUncertainty, double *pitchUncertainty, double *rollUncertainty, double *gyroBiasUncertainty, double *magUncertainty, double *accelUncertainty) |
Gets the values in the Filter Status register. | |
VN_ERROR_CODE | vn100_getFilterStartupGyroBias (Vn100 *vn100, VnVector3 *gyroBias) |
Gets the values in the Filter Startup Gyro Bias register. | |
VN_ERROR_CODE | vn100_setFilterStartupGyroBias (Vn100 *vn100, VnVector3 gyroBias, VN_BOOL waitForResponse) |
Sets the values of the Filter Startup Gyro Bias register. | |
VN_ERROR_CODE | vn100_getMagnetometerBasicCalibrationControl (Vn100 *vn100, unsigned char *hsiMode, unsigned char *hsiOutput, unsigned char *convergeRate) |
Gets the values in the Magnetometer Basic Calibration Control register. | |
VN_ERROR_CODE | vn100_setMagnetometerBasicCalibrationControl (Vn100 *vn100, unsigned char hsiMode, unsigned char hsiOutput, unsigned char convergeRate, VN_BOOL waitForResponse) |
Sets the values of the Magnetometer Basic Calibration Control register. | |
VN_ERROR_CODE | vn100_getMagnetometerCalibrationStatus (Vn100 *vn100, unsigned char *lastBin, unsigned short *numOfMeasurements, double *avgResidual, VnVector3 *lastMeasurement, unsigned char *bin0, unsigned char *bin1, unsigned char *bin2, unsigned char *bin3, unsigned char *bin4, unsigned char *bin5, unsigned char *bin6, unsigned char *bin7) |
Gets the values in the Magnetometer Calibration Status register. | |
VN_ERROR_CODE | vn100_getCalculatedMagnetometerCalibration (Vn100 *vn100, VnMatrix3x3 *c, VnVector3 *b) |
Gets the values in the Calculated Magnetometer Calibration register. | |
VN_ERROR_CODE | vn100_getIndoorHeadingModeControl (Vn100 *vn100, double *maxRateError, double *reserved) |
Gets the values in the Indoor Heading Mode Control register. | |
VN_ERROR_CODE | vn100_setIndoorHeadingModeControl (Vn100 *vn100, double maxRateError, double reserved, VN_BOOL waitForResponse) |
Sets the values of the Indoor Heading Mode Control register. | |
VN_ERROR_CODE | vn100_getYawPitchRollTrueBodyAccelerationAngularRate (Vn100 *vn100, VnYpr *attitude, VnVector3 *bodyAcceleration, VnVector3 *angularRate) |
Gets the values in the Yaw,Pitch,Roll, True Body Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getYawPitchRollTrueInertialAcclerationAngularRate (Vn100 *vn100, VnYpr *attitude, VnVector3 *inertialAcceleration, VnVector3 *angularRate) |
Gets the values in the Yaw,Pitch,Roll, True Inertial Acceleration and Angular Rates register. | |
VN_ERROR_CODE | vn100_getYawPitchRollInertialCalibratedMeasurements (Vn100 *vn100, VnYpr *attitude, VnVector3 *inertialMagnetic, VnVector3 *inertialAcceleration, VnVector3 *angularRate) |
Gets the values in the Yaw,Pitch,Roll and Inertial Calibrated Measurements register. | |
VN_ERROR_CODE | vn100_getRawVoltageMeasurements (Vn100 *vn100, VnVector3 *magnetometer, VnVector3 *accelerometer, VnVector3 *gyroscope, double *temperature) |
Gets the values in the Raw Voltage Measurements register. | |
VN_ERROR_CODE | vn100_getCalibratedImuMeasurements (Vn100 *vn100, VnVector3 *magnetic, VnVector3 *acceleration, VnVector3 *angularRate, double *temperature) |
Gets the values in the Calibrated IMU Measurements register. | |
VN_ERROR_CODE | vn100_getKalmanFilterStateVector (Vn100 *vn100, VnQuaternion *attitude, VnVector3 *gyroscopeBias) |
Gets the values in the Kalman Filter State Vector register. |
MIT License (MIT)
Copyright (c) 2011 VectorNav Technologies, LLC
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
This header file provides access to devices based on VectorNav's VN-100 family of orientation sensors.
#define VNASYNC_OFF 0 |
Asynchronous output is turned off.
#define VNASYNC_VNACC 11 |
Asynchronous output type is Acceleration Measurements.
#define VNASYNC_VNCMV 253 |
Asynchronous output type is Calibrated Measurements.
#define VNASYNC_VNCOV 255 |
Asynchronous output type is Kalman Filter Covariance Matrix Diagonal.
#define VNASYNC_VNDCM 9 |
Asynchronous output type is Directional Cosine Orientation Matrix.
#define VNASYNC_VNGYR 12 |
Asynchronous output type is Angular Rate Measurements.
#define VNASYNC_VNICM 18 |
Asynchronous output type is Yaw, Pitch, Roll, Inertial Magnetic/Acceleration, and Angular Rate Measurements.
#define VNASYNC_VNMAG 10 |
Asynchronous output type is Magnetic Measurements.
#define VNASYNC_VNMAR 13 |
Asynchronous output type is Magnetic, Acceleration, and Angular Rate Measurements.
#define VNASYNC_VNQAR 7 |
Asynchronous output type is Quaternion, Acceleration and Angular Rates.
#define VNASYNC_VNQMA 6 |
Asynchronous output type is Quaternion, Magnetic and Acceleration.
#define VNASYNC_VNQMR 8 |
Asynchronous output type is Quaternion, Magnetic, Acceleration and Angular Rates.
#define VNASYNC_VNQTA 4 |
Asynchronous output type is Quaternion and Acceleration.
#define VNASYNC_VNQTM 3 |
Asynchronous output type is Quaternion and Magnetic.
#define VNASYNC_VNQTN 2 |
Asynchronous output type is Quaternion.
#define VNASYNC_VNQTR 5 |
Asynchronous output type is Quaternion and Angular Rates.
#define VNASYNC_VNRAW 252 |
Asynchronous output type is Raw Voltage Measurements.
#define VNASYNC_VNSTV 254 |
Asynchronous output type is Kalman Filter State Vector.
#define VNASYNC_VNYBA 16 |
Asynchronous output type is Yaw, Pitch, Roll, Body True Acceleration.
#define VNASYNC_VNYCM 15 |
Asynchronous output type is Yaw, Pitch, Roll, and Calibrated Measurements.
#define VNASYNC_VNYIA 17 |
Asynchronous output type is Yaw, Pitch, Roll, Inertial True Acceleration.
#define VNASYNC_VNYMR 14 |
Asynchronous output type is Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rate Measurements.
#define VNASYNC_VNYPR 1 |
Asynchronous output type is Yaw, Pitch, Roll.
typedef void(* Vn100NewAsyncDataReceivedListener)(Vn100 *sender, Vn100CompositeData *newData) |
Fuction type used for receiving notifications of when new asynchronous data is received.
[in] | sender | The device that sent the notification. |
[in] | newData | Pointer to the new data. |
unsigned char vn100_checksum_compute | ( | const char * | cmdToCheck | ) |
Computes the checksum for the provided command.
[in] | cmdToCheck | Null-terminated string of the form "VNRRG,1". |
void vn100_checksum_computeAndReturnAsHex | ( | const char * | cmdToCheck, |
char * | checksum | ||
) |
Computes the checksum for the provided command and returns it as a two character string representing it in hexidecimal.
[in] | cmdToCheck | Null-terminated string of the form "VNRRG,1". |
[out] | checksum | A character array of length 2 which the computed checksum will be placed. |
VN_ERROR_CODE vn100_connect | ( | Vn100 * | newVn100, |
const char * | portName, | ||
int | baudrate | ||
) |
Connects to a VectorNav VN-100 device.
[out] | newVn100 | An uninitialized Vn100 control object should be passed in. |
[in] | portName | The name of the COM port to connect to. |
[in] | baudrate | The baudrate to connect at. |
VN_ERROR_CODE vn100_disconnect | ( | Vn100 * | vn100 | ) |
Disconnects from the VN-100 device and disposes of any internal resources.
vn100 | Pointer to the Vn100 control object. |
int vn100_get_timeout | ( | Vn100 * | vn100 | ) |
VN_ERROR_CODE vn100_getAcceleration | ( | Vn100 * | vn100, |
VnVector3 * | acceleration | ||
) |
Gets the values in the Acceleration Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
VN_ERROR_CODE vn100_getAccelerometerCompensation | ( | Vn100 * | vn100, |
VnMatrix3x3 * | c, | ||
VnVector3 * | b | ||
) |
Gets the values in the Accelerometer Compensation register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | c | The current sensor C matrix values. |
[out] | b | The current sensor B vector values. |
VN_ERROR_CODE vn100_getAccelerometerGain | ( | Vn100 * | vn100, |
unsigned int * | accelerometerGain | ||
) |
Gets the values in the Accelerometer Gain register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | accelerometerGain | The accelerometer gain mode value of the sensor. |
VN_ERROR_CODE vn100_getAngularRate | ( | Vn100 * | vn100, |
VnVector3 * | angularRate | ||
) |
Gets the values in the Angular Rate Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getAsynchronousDataOutputFrequency | ( | Vn100 * | vn100, |
unsigned int * | asyncDataOutputFrequency | ||
) |
Gets the values in the Asynchronous Data Output Frequency register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | asyncDataOutputFrequency | The asynchronous data output frequency value of the sensor. |
VN_ERROR_CODE vn100_getAsynchronousDataOutputType | ( | Vn100 * | vn100, |
unsigned int * | asyncDataOutputType | ||
) |
Gets the values in the Asynchronous Data Output Type register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | asyncDataOutputType | The asynchronous data output type value of the sensor. |
VN_ERROR_CODE vn100_getAttitudeFilterControl | ( | Vn100 * | vn100, |
unsigned char * | magneticMode, | ||
unsigned char * | externalMagnetometerMode, | ||
unsigned char * | externalAccelerometerMode, | ||
unsigned char * | externalGyroscopeMode, | ||
VnVector3 * | angularRateLimit | ||
) |
Gets the values in the Attitude Filter Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magneticMode | The magnetic mode value of the sensor. |
[out] | externalMagnetometerMode | The external magnetometer mode value of the sensor. |
[out] | externalAccelerometerMode | The external accelerometer mode value of the sensor. |
[out] | externalGyroscopeMode | The external gyroscope mode value of the sensor. |
[out] | angularRateLimit | The current sensor angular rate saturation liimit (X,Y,Z) values. |
VN_ERROR_CODE vn100_getCalculatedMagnetometerCalibration | ( | Vn100 * | vn100, |
VnMatrix3x3 * | c, | ||
VnVector3 * | b | ||
) |
Gets the values in the Calculated Magnetometer Calibration register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | c | The current sensor C matrix values. |
[out] | b | The current sensor B vector values. |
VN_ERROR_CODE vn100_getCalibratedImuMeasurements | ( | Vn100 * | vn100, |
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration, | ||
VnVector3 * | angularRate, | ||
double * | temperature | ||
) |
Gets the values in the Calibrated IMU Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magnetic | The current sensor calibrated magnetic measurements (X,Y,Z) values. |
[out] | acceleration | The current sensor calibrated acceleration measurements (X,Y,Z) values. |
[out] | angularRate | The current sensor calibrated angular rate measurements (X,Y,Z) values. |
[out] | temperature | The temperature value of the sensor. |
VN_ERROR_CODE vn100_getCommunicationProtocolControl | ( | Vn100 * | vn100, |
unsigned char * | serialCount, | ||
unsigned char * | serialStatus, | ||
unsigned char * | spiCount, | ||
unsigned char * | spiStatus, | ||
unsigned char * | serialChecksum, | ||
unsigned char * | spiChecksum, | ||
unsigned char * | errorMode | ||
) |
Gets the values in the Communication Protocol Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | serialCount | The serial count value of the sensor. |
[out] | serialStatus | The serial status value of the sensor. |
[out] | spiCount | The SPI count value of the sensor. |
[out] | spiStatus | The SPI status value of the sensor. |
[out] | serialChecksum | The serial checksum value of the sensor. |
[out] | spiChecksum | The SPI checksum value of the sensor. |
[out] | errorMode | The error mode value of the sensor. |
VN_ERROR_CODE vn100_getCommunicationProtocolStatus | ( | Vn100 * | vn100, |
unsigned int * | numOfParsedSerialMessages, | ||
unsigned int * | numOfParsedSpiMessages, | ||
unsigned char * | maxUsageSerialRxBuffer, | ||
unsigned char * | maxUsageSerialTxBuffer, | ||
unsigned char * | maxUsageSpiRxBuffer, | ||
unsigned char * | maxUsageSpiTxBuffer, | ||
unsigned short * | reserved0, | ||
unsigned short * | reserved1, | ||
unsigned short * | reserved2, | ||
unsigned short * | reserved3, | ||
unsigned short * | reserved4, | ||
unsigned short * | reserved5, | ||
unsigned short * | reserved6, | ||
unsigned short * | reserved7, | ||
unsigned short * | reserved8, | ||
unsigned short * | reserved9, | ||
unsigned short * | reserved10, | ||
unsigned short * | reserved11, | ||
unsigned short * | reserved12, | ||
unsigned short * | reserved13, | ||
unsigned short * | reserved14, | ||
unsigned short * | reserved15 | ||
) |
Gets the values in the Communication Protocol Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | numOfParsedSerialMessages | The number of successfully parsed serial messages received value of the sensor. |
[out] | numOfParsedSpiMessages | The number of successfully parsed SPI messages received value of the sensor. |
[out] | maxUsageSerialRxBuffer | The maximum percent usage of serial incoming buffer value of the sensor. |
[out] | maxUsageSerialTxBuffer | The maximum percent usage of serial outgoing buffer value of the sensor. |
[out] | maxUsageSpiRxBuffer | The maximum percent usage of SPI incoming buffer value of the sensor. |
[out] | maxUsageSpiTxBuffer | The maximum percent usage of SPI outgoing buffer value of the sensor. |
[out] | reserved0 | The reserved 0 value of the sensor. |
[out] | reserved1 | The reserved 1 value of the sensor. |
[out] | reserved2 | The reserved 2 value of the sensor. |
[out] | reserved3 | The reserved 3 value of the sensor. |
[out] | reserved4 | The reserved 4 value of the sensor. |
[out] | reserved5 | The reserved 5 value of the sensor. |
[out] | reserved6 | The reserved 6 value of the sensor. |
[out] | reserved7 | The reserved 7 value of the sensor. |
[out] | reserved8 | The reserved 8 value of the sensor. |
[out] | reserved9 | The reserved 9 value of the sensor. |
[out] | reserved10 | The reserved 10 value of the sensor. |
[out] | reserved11 | The reserved 11 value of the sensor. |
[out] | reserved12 | The reserved 12 value of the sensor. |
[out] | reserved13 | The reserved 13 value of the sensor. |
[out] | reserved14 | The reserved 14 value of the sensor. |
[out] | reserved15 | The reserved 15 value of the sensor. |
VN_ERROR_CODE vn100_getCurrentAsyncData | ( | Vn100 * | vn100, |
Vn100CompositeData * | curData | ||
) |
Retreives the most recently received asynchronous measurements received from the VN-100 device.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | curData | Composite of the last currently received data from the device. If there was no data received for certain fields, they will be zeroed out. |
VN_ERROR_CODE vn100_getDirectionCosineMatrix | ( | Vn100 * | vn100, |
VnMatrix3x3 * | attitude | ||
) |
Gets the values in the Attitude (Directional Cosine Matrix) register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor attitude (DCM) values. |
VN_ERROR_CODE vn100_getFilterActiveTuningParameters | ( | Vn100 * | vn100, |
double * | magneticGain, | ||
double * | accelerationGain, | ||
double * | magneticMemory, | ||
double * | accelerationMemory | ||
) |
Gets the values in the Filter Active Tuning Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magneticGain | The magnetic disturbance gain value of the sensor. |
[out] | accelerationGain | The acceleration disturbance gain value of the sensor. |
[out] | magneticMemory | The magnetic disturbance memory value of the sensor. |
[out] | accelerationMemory | The acceleration disturbance memory value of the sensor. |
VN_ERROR_CODE vn100_getFilterMeasurementVarianceParameters | ( | Vn100 * | vn100, |
double * | angularWalkVariance, | ||
VnVector3 * | angularRateVariance, | ||
VnVector3 * | magneticVariance, | ||
VnVector3 * | accelerationVariance | ||
) |
Gets the values in the Filter Measurement Variance Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | angularWalkVariance | The angular walk variance value of the sensor. |
[out] | angularRateVariance | The current sensor angular rate variance (X,Y,Z) values. |
[out] | magneticVariance | The current sensor magnetic variance (X,Y,Z) values. |
[out] | accelerationVariance | The current sensor acceleration variance (X,Y,Z) values. |
VN_ERROR_CODE vn100_getFilterStartupGyroBias | ( | Vn100 * | vn100, |
VnVector3 * | gyroBias | ||
) |
Gets the values in the Filter Startup Gyro Bias register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | gyroBias | The current sensor gyroscope startup bias (X,Y,Z) values. |
VN_ERROR_CODE vn100_getFilterStatus | ( | Vn100 * | vn100, |
unsigned short * | solutionStatus, | ||
double * | yawUncertainty, | ||
double * | pitchUncertainty, | ||
double * | rollUncertainty, | ||
double * | gyroBiasUncertainty, | ||
double * | magUncertainty, | ||
double * | accelUncertainty | ||
) |
Gets the values in the Filter Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | solutionStatus | The solution status bitfield value of the sensor. |
[out] | yawUncertainty | The YawUncertainty value of the sensor. |
[out] | pitchUncertainty | The PitchUncertainty value of the sensor. |
[out] | rollUncertainty | The RollUncertainty value of the sensor. |
[out] | gyroBiasUncertainty | The GyroBiasUncertainty value of the sensor. |
[out] | magUncertainty | The MagUncertainty value of the sensor. |
[out] | accelUncertainty | The AccelUncertainty value of the sensor. |
VN_ERROR_CODE vn100_getFirmwareVersion | ( | Vn100 * | vn100, |
char * | firmwareVersionBuffer, | ||
unsigned int | firmwareVersionBufferLength | ||
) |
Gets the values in the Firmware Version register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | firmwareVersionBuffer | Buffer to store the response. Must have a length of at least 16 characters. |
[in] | firmwareVersionBufferLength | Length of the provided firmwareVersionBuffer buffer. |
VN_ERROR_CODE vn100_getHardwareRevision | ( | Vn100 * | vn100, |
int * | hardwareRevision | ||
) |
Gets the values in the Hardware Revision register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | hardwareRevision | The hardware revision value of the sensor. |
VN_ERROR_CODE vn100_getIndoorHeadingModeControl | ( | Vn100 * | vn100, |
double * | maxRateError, | ||
double * | reserved | ||
) |
Gets the values in the Indoor Heading Mode Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | maxRateError | The MaxRateError value of the sensor. |
[out] | reserved | The reserved value of the sensor. |
VN_ERROR_CODE vn100_getKalmanFilterStateVector | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | gyroscopeBias | ||
) |
Gets the values in the Kalman Filter State Vector register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | gyroscopeBias | The current sensor gyroscope bias (X,Y,Z) values. |
VN_ERROR_CODE vn100_getMagnetic | ( | Vn100 * | vn100, |
VnVector3 * | magnetic | ||
) |
Gets the values in the Magnetic Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
VN_ERROR_CODE vn100_getMagneticAccelerationAngularRate | ( | Vn100 * | vn100, |
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Magnetic, Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getMagneticGravityReferenceVectors | ( | Vn100 * | vn100, |
VnVector3 * | magneticReference, | ||
VnVector3 * | gravityReference | ||
) |
Gets the values in the Magnetic and Gravity Reference Vectors register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magneticReference | The current sensor magnetic reference vector (X,Y,Z) values. |
[out] | gravityReference | The current sensor gravity reference vector (X,Y,Z) values. |
VN_ERROR_CODE vn100_getMagneticHardSoftIronCompensationParameters | ( | Vn100 * | vn100, |
VnMatrix3x3 * | c, | ||
VnVector3 * | b | ||
) |
Gets the values in the Magnetic Hard/Soft Iron Compensation Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | c | The current sensor C matrix values. |
[out] | b | The current sensor B vector values. |
VN_ERROR_CODE vn100_getMagnetometerBasicCalibrationControl | ( | Vn100 * | vn100, |
unsigned char * | hsiMode, | ||
unsigned char * | hsiOutput, | ||
unsigned char * | convergeRate | ||
) |
Gets the values in the Magnetometer Basic Calibration Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | hsiMode | The HSIMode value of the sensor. |
[out] | hsiOutput | The HSIOutput value of the sensor. |
[out] | convergeRate | The ConvergeRate value of the sensor. |
VN_ERROR_CODE vn100_getMagnetometerCalibrationStatus | ( | Vn100 * | vn100, |
unsigned char * | lastBin, | ||
unsigned short * | numOfMeasurements, | ||
double * | avgResidual, | ||
VnVector3 * | lastMeasurement, | ||
unsigned char * | bin0, | ||
unsigned char * | bin1, | ||
unsigned char * | bin2, | ||
unsigned char * | bin3, | ||
unsigned char * | bin4, | ||
unsigned char * | bin5, | ||
unsigned char * | bin6, | ||
unsigned char * | bin7 | ||
) |
Gets the values in the Magnetometer Calibration Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | lastBin | The LastBin value of the sensor. |
[out] | numOfMeasurements | The NumMeas value of the sensor. |
[out] | avgResidual | The AvgResidual value of the sensor. |
[out] | lastMeasurement | The current sensor last measurement (X,Y,Z) values. |
[out] | bin0 | The number of measurements in bin 1 value of the sensor. |
[out] | bin1 | The number of measurements in bin 2 value of the sensor. |
[out] | bin2 | The number of measurements in bin 3 value of the sensor. |
[out] | bin3 | The number of measurements in bin 4 value of the sensor. |
[out] | bin4 | The number of measurements in bin 5 value of the sensor. |
[out] | bin5 | The number of measurements in bin 6 value of the sensor. |
[out] | bin6 | The number of measurements in bin 7 value of the sensor. |
[out] | bin7 | The number of measurements in bin 8 value of the sensor. |
VN_ERROR_CODE vn100_getModelNumber | ( | Vn100 * | vn100, |
char * | modelBuffer, | ||
unsigned int | modelBufferLength | ||
) |
Gets the values in the Model Number register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | modelBuffer | Buffer to store the response. Must have a length of at least 25 characters. |
[in] | modelBufferLength | Length of the provided modelBuffer buffer. |
VN_ERROR_CODE vn100_getQuaternion | ( | Vn100 * | vn100, |
VnQuaternion * | attitude | ||
) |
Gets the values in the Attitude (Quaternion) register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
VN_ERROR_CODE vn100_getQuaternionAcceleration | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | acceleration | ||
) |
Gets the values in the Quaternion and Acceleration register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
VN_ERROR_CODE vn100_getQuaternionAccelerationAngularRate | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | magnetic, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Quaternion, Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getQuaternionAngularRate | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Quaternion and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getQuaternionMagnetic | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | magnetic | ||
) |
Gets the values in the Quaternion and Magnetic register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
VN_ERROR_CODE vn100_getQuaternionMagneticAcceleration | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration | ||
) |
Gets the values in the Quaternion, Magnetic and Acceleration register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
VN_ERROR_CODE vn100_getQuaternionMagneticAcclerationAngularRate | ( | Vn100 * | vn100, |
VnQuaternion * | attitude, | ||
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Quaternion, Magnetic, Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor Quaterion values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getRawVoltageMeasurements | ( | Vn100 * | vn100, |
VnVector3 * | magnetometer, | ||
VnVector3 * | accelerometer, | ||
VnVector3 * | gyroscope, | ||
double * | temperature | ||
) |
Gets the values in the Raw Voltage Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | magnetometer | The current sensor magnetometer raw voltages (X,Y,Z) values. |
[out] | accelerometer | The current sensor accelerometer raw voltages (X,Y,Z) values. |
[out] | gyroscope | The current sensor gyroscope raw voltages (X,Y,Z) values. |
[out] | temperature | The temperature raw voltages value of the sensor. |
VN_ERROR_CODE vn100_getReferenceFrameRotation | ( | Vn100 * | vn100, |
VnMatrix3x3 * | c | ||
) |
Gets the values in the Reference Frame Rotation register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | c | The current sensor C matrix values. |
VN_ERROR_CODE vn100_getSerialBaudRate | ( | Vn100 * | vn100, |
unsigned int * | serialBaudrate | ||
) |
Gets the values in the Serial Baud Rate register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | serialBaudrate | The serial baudrate value of the sensor. |
VN_ERROR_CODE vn100_getSerialNumber | ( | Vn100 * | vn100, |
char * | serialNumberBuffer, | ||
unsigned int | serialNumberBufferLength | ||
) |
Gets the values in the Serial Number register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | serialNumberBuffer | Buffer to store the response. Must have a length of at least 25 characters. |
[in] | serialNumberBufferLength | Length of the provided serialNumberBuffer buffer. |
VN_ERROR_CODE vn100_getSynchronizationControl | ( | Vn100 * | vn100, |
unsigned char * | syncInMode, | ||
unsigned char * | syncInEdge, | ||
unsigned short * | syncInSkipFactor, | ||
unsigned int * | reserved0, | ||
unsigned char * | syncOutMode, | ||
unsigned char * | syncOutPolarity, | ||
unsigned short * | syncOutSkipFactor, | ||
unsigned int * | syncOutPulseWidth, | ||
unsigned int * | reserved1 | ||
) |
Gets the values in the Synchronization Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | syncInMode | The input signal synchronization mode value of the sensor. |
[out] | syncInEdge | The input signal synchronization edge selection value of the sensor. |
[out] | syncInSkipFactor | The input signal trigger skip factor value of the sensor. |
[out] | reserved0 | The reserved value of the sensor. |
[out] | syncOutMode | The output signal synchronization mode value of the sensor. |
[out] | syncOutPolarity | The output signal synchronization polarity value of the sensor. |
[out] | syncOutSkipFactor | The output synchronization signal skip factor value of the sensor. |
[out] | syncOutPulseWidth | The output synchronization signal pulse width value of the sensor. |
[out] | reserved1 | The reserved value of the sensor. |
VN_ERROR_CODE vn100_getSynchronizationStatus | ( | Vn100 * | vn100, |
unsigned int * | syncInCount, | ||
unsigned int * | syncInTime, | ||
unsigned int * | syncOutCount | ||
) |
Gets the values in the Synchronization Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | syncInCount | The synchronization in count value of the sensor. |
[out] | syncInTime | The synchronization in time value of the sensor. |
[out] | syncOutCount | The synchronization out count value of the sensor. |
VN_ERROR_CODE vn100_getUserTag | ( | Vn100 * | vn100, |
char * | userTagBuffer, | ||
unsigned int | userTagBufferLength | ||
) |
Gets the values in the User Tag register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | userTagBuffer | Buffer to store the response. Must have a length of at least 21 characters. |
[in] | userTagBufferLength | Length of the provided userTagBuffer buffer. |
VN_ERROR_CODE vn100_getVpeAccelerometerAdvancedTuning | ( | Vn100 * | vn100, |
VnVector3 * | minimumFiltering, | ||
VnVector3 * | maximumFiltering, | ||
double * | maximumAdaptRate, | ||
double * | disturbanceWindow, | ||
double * | maximumTuning | ||
) |
Gets the values in the VPE Accelerometer Advanced Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | minimumFiltering | The current sensor minimum allowed level of filtering (X,Y,Z) values. |
[out] | maximumFiltering | The current sensor maximum allowed level of filtering (X,Y,Z) values. |
[out] | maximumAdaptRate | The MaxAdaptRate value of the sensor. |
[out] | disturbanceWindow | The DisturbanceWindow value of the sensor. |
[out] | maximumTuning | The MaxTuning value of the sensor. |
VN_ERROR_CODE vn100_getVpeAccelerometerBasicTuning | ( | Vn100 * | vn100, |
VnVector3 * | baseTuning, | ||
VnVector3 * | adaptiveTuning, | ||
VnVector3 * | adaptiveFiltering | ||
) |
Gets the values in the VPE Accelerometer Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | baseTuning | The current sensor accelerometer base tuning (X,Y,Z) values. |
[out] | adaptiveTuning | The current sensor accelerometer adaptive tuning (X,Y,Z) values. |
[out] | adaptiveFiltering | The current sensor accelerometer adaptive filtering (X,Y,Z) values. |
VN_ERROR_CODE vn100_getVpeControl | ( | Vn100 * | vn100, |
unsigned char * | enable, | ||
unsigned char * | headingMode, | ||
unsigned char * | filteringMode, | ||
unsigned char * | tuningMode | ||
) |
Gets the values in the VPE Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | enable | The enable/disable value of the sensor. |
[out] | headingMode | The heading mode value of the sensor. |
[out] | filteringMode | The filtering mode value of the sensor. |
[out] | tuningMode | The tuning mode value of the sensor. |
VN_ERROR_CODE vn100_getVpeGyroBasicTuning | ( | Vn100 * | vn100, |
VnVector3 * | baseTuning, | ||
VnVector3 * | adaptiveTuning, | ||
VnVector3 * | adaptiveFiltering | ||
) |
Gets the values in the VPE Gyro Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | baseTuning | The current sensor gyroscope base tuning (X,Y,Z) values. |
[out] | adaptiveTuning | The current sensor gyroscope adaptive tuning (X,Y,Z) values. |
[out] | adaptiveFiltering | The current sensor gyroscope adaptive filtering (X,Y,Z) values. |
VN_ERROR_CODE vn100_getVpeMagnetometerAdvancedTuning | ( | Vn100 * | vn100, |
VnVector3 * | minimumFiltering, | ||
VnVector3 * | maximumFiltering, | ||
double * | maximumAdaptRate, | ||
double * | disturbanceWindow, | ||
double * | maximumTuning | ||
) |
Gets the values in the VPE Magnetometer Advanced Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | minimumFiltering | The current sensor minimum allowed level of filtering (X,Y,Z) values. |
[out] | maximumFiltering | The current sensor maximum allowed level of filtering (X,Y,Z) values. |
[out] | maximumAdaptRate | The MaxAdaptRate value of the sensor. |
[out] | disturbanceWindow | The DisturbanceWindow value of the sensor. |
[out] | maximumTuning | The MaxTuning value of the sensor. |
VN_ERROR_CODE vn100_getVpeMagnetometerBasicTuning | ( | Vn100 * | vn100, |
VnVector3 * | baseTuning, | ||
VnVector3 * | adaptiveTuning, | ||
VnVector3 * | adaptiveFiltering | ||
) |
Gets the values in the VPE Magnetometer Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | baseTuning | The current sensor magnetometer base tuning (X,Y,Z) values. |
[out] | adaptiveTuning | The current sensor magnetometer adaptive tuning (X,Y,Z) values. |
[out] | adaptiveFiltering | The current sensor magnetometer adaptive filtering (X,Y,Z) values. |
VN_ERROR_CODE vn100_getYawPitchRoll | ( | Vn100 * | vn100, |
VnYpr * | attitude | ||
) |
Gets the values in the Attitude (Yaw, Pitch, Roll) register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
VN_ERROR_CODE vn100_getYawPitchRollAndCalibratedMeasurements | ( | Vn100 * | vn100, |
VnYpr * | attitude, | ||
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration, | ||
VnVector3 * | angularRate, | ||
double * | temperature | ||
) |
Gets the values in the Yaw,Pitch,Roll, and Calibrated Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor uncompensated angular rate (X,Y,Z) values. |
[out] | temperature | The temperature value of the sensor. |
VN_ERROR_CODE vn100_getYawPitchRollInertialCalibratedMeasurements | ( | Vn100 * | vn100, |
VnYpr * | attitude, | ||
VnVector3 * | inertialMagnetic, | ||
VnVector3 * | inertialAcceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Yaw,Pitch,Roll and Inertial Calibrated Measurements register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
[out] | inertialMagnetic | The current sensor inertial magnetic (X,Y,Z) values. |
[out] | inertialAcceleration | The current sensor inertial acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getYawPitchRollMagneticAccelerationAngularRate | ( | Vn100 * | vn100, |
VnYpr * | attitude, | ||
VnVector3 * | magnetic, | ||
VnVector3 * | acceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Yaw,Pitch,Roll, Magnetic, Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
[out] | magnetic | The current sensor magnetic (X,Y,Z) values. |
[out] | acceleration | The current sensor acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getYawPitchRollTrueBodyAccelerationAngularRate | ( | Vn100 * | vn100, |
VnYpr * | attitude, | ||
VnVector3 * | bodyAcceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Yaw,Pitch,Roll, True Body Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
[out] | bodyAcceleration | The current sensor body acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_getYawPitchRollTrueInertialAcclerationAngularRate | ( | Vn100 * | vn100, |
VnYpr * | attitude, | ||
VnVector3 * | inertialAcceleration, | ||
VnVector3 * | angularRate | ||
) |
Gets the values in the Yaw,Pitch,Roll, True Inertial Acceleration and Angular Rates register.
[in] | vn100 | Pointer to the Vn100 control object. |
[out] | attitude | The current sensor YawPitchRoll values. |
[out] | inertialAcceleration | The current sensor inertial acceleration (X,Y,Z) values. |
[out] | angularRate | The current sensor angular rate (X,Y,Z) values. |
VN_ERROR_CODE vn100_knownAccelerationDisturbance | ( | Vn100 * | vn100, |
VN_BOOL | isDisturbancePresent, | ||
VN_BOOL | waitForResponse | ||
) |
Notifies the VN-100 module if a known acceleration disturbance is present.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | isDisturbancePresent | True if a known acceleration disturbance is present. False if not. |
VN_ERROR_CODE vn100_knownMagneticDisturbance | ( | Vn100 * | vn100, |
VN_BOOL | isDisturbancePresent, | ||
VN_BOOL | waitForResponse | ||
) |
Notifies the VN-100 module if a known magnetic disturbance is present.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | isDisturbancePresent | True if a known magnetic disturbance is present. False if not. |
VN_ERROR_CODE vn100_registerAsyncDataReceivedListener | ( | Vn100 * | vn100, |
Vn100NewAsyncDataReceivedListener | listener | ||
) |
Allows registering a function which will be called whenever a new asynchronous data packet is received from the VN-100 module.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_reset | ( | Vn100 * | vn100 | ) |
Commands the VN-100 module to reset itself.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_restoreFactorySettings | ( | Vn100 * | vn100, |
VN_BOOL | waitForResponse | ||
) |
Commands the VN-100 unit to revert its settings to factory defaults.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_set_timeout | ( | Vn100 * | vn100, |
int | timeout | ||
) |
Sets the timeout value for the reading values from the VN-100 sensor.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | timeout | The timeout value in milliseconds. Specify -1 to not use any timeouts. |
VN_ERROR_CODE vn100_setAccelerometerCompensation | ( | Vn100 * | vn100, |
VnMatrix3x3 | c, | ||
VnVector3 | b, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Accelerometer Compensation register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | c | The C matrix values to write to the sensor. |
[in] | b | The B vector values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setAccelerometerGain | ( | Vn100 * | vn100, |
unsigned int | accelerometerGain, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Accelerometer Gain register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | accelerometerGain | Value for the accelerometer gain mode field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setAsynchronousDataOutputFrequency | ( | Vn100 * | vn100, |
unsigned int | asyncDataOutputFrequency, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Asynchronous Data Output Frequency register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | asyncDataOutputFrequency | Value for the asynchronous data output frequency field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setAsynchronousDataOutputType | ( | Vn100 * | vn100, |
unsigned int | asyncDataOutputType, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Asynchronous Data Output Type register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | asyncDataOutputType | Value for the asynchronous data output type field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setAttitudeFilterControl | ( | Vn100 * | vn100, |
unsigned char | magneticMode, | ||
unsigned char | externalMagnetometerMode, | ||
unsigned char | externalAccelerometerMode, | ||
unsigned char | externalGyroscopeMode, | ||
VnVector3 | angularRateLimit, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Attitude Filter Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | magneticMode | Value for the magnetic mode field. |
[in] | externalMagnetometerMode | Value for the external magnetometer mode field. |
[in] | externalAccelerometerMode | Value for the external accelerometer mode field. |
[in] | externalGyroscopeMode | Value for the external gyroscope mode field. |
[in] | angularRateLimit | The angular rate saturation liimit (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setCommunicationProtocolControl | ( | Vn100 * | vn100, |
unsigned char | serialCount, | ||
unsigned char | serialStatus, | ||
unsigned char | spiCount, | ||
unsigned char | spiStatus, | ||
unsigned char | serialChecksum, | ||
unsigned char | spiChecksum, | ||
unsigned char | errorMode, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Communication Protocol Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | serialCount | Value for the serial count field. |
[in] | serialStatus | Value for the serial status field. |
[in] | spiCount | Value for the SPI count field. |
[in] | spiStatus | Value for the SPI status field. |
[in] | serialChecksum | Value for the serial checksum field. |
[in] | spiChecksum | Value for the SPI checksum field. |
[in] | errorMode | Value for the error mode field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setCommunicationProtocolStatus | ( | Vn100 * | vn100, |
unsigned int | numOfParsedSerialMessages, | ||
unsigned int | numOfParsedSpiMessages, | ||
unsigned char | maxUsageSerialRxBuffer, | ||
unsigned char | maxUsageSerialTxBuffer, | ||
unsigned char | maxUsageSpiRxBuffer, | ||
unsigned char | maxUsageSpiTxBuffer, | ||
unsigned short | reserved0, | ||
unsigned short | reserved1, | ||
unsigned short | reserved2, | ||
unsigned short | reserved3, | ||
unsigned short | reserved4, | ||
unsigned short | reserved5, | ||
unsigned short | reserved6, | ||
unsigned short | reserved7, | ||
unsigned short | reserved8, | ||
unsigned short | reserved9, | ||
unsigned short | reserved10, | ||
unsigned short | reserved11, | ||
unsigned short | reserved12, | ||
unsigned short | reserved13, | ||
unsigned short | reserved14, | ||
unsigned short | reserved15, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Communication Protocol Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | numOfParsedSerialMessages | Value for the number of successfully parsed serial messages received field. |
[in] | numOfParsedSpiMessages | Value for the number of successfully parsed SPI messages received field. |
[in] | maxUsageSerialRxBuffer | Value for the maximum percent usage of serial incoming buffer field. |
[in] | maxUsageSerialTxBuffer | Value for the maximum percent usage of serial outgoing buffer field. |
[in] | maxUsageSpiRxBuffer | Value for the maximum percent usage of SPI incoming buffer field. |
[in] | maxUsageSpiTxBuffer | Value for the maximum percent usage of SPI outgoing buffer field. |
[in] | reserved0 | Value for the reserved 0 field. |
[in] | reserved1 | Value for the reserved 1 field. |
[in] | reserved2 | Value for the reserved 2 field. |
[in] | reserved3 | Value for the reserved 3 field. |
[in] | reserved4 | Value for the reserved 4 field. |
[in] | reserved5 | Value for the reserved 5 field. |
[in] | reserved6 | Value for the reserved 6 field. |
[in] | reserved7 | Value for the reserved 7 field. |
[in] | reserved8 | Value for the reserved 8 field. |
[in] | reserved9 | Value for the reserved 9 field. |
[in] | reserved10 | Value for the reserved 10 field. |
[in] | reserved11 | Value for the reserved 11 field. |
[in] | reserved12 | Value for the reserved 12 field. |
[in] | reserved13 | Value for the reserved 13 field. |
[in] | reserved14 | Value for the reserved 14 field. |
[in] | reserved15 | Value for the reserved 15 field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setFilterActiveTuningParameters | ( | Vn100 * | vn100, |
double | magneticGain, | ||
double | accelerationGain, | ||
double | magneticMemory, | ||
double | accelerationMemory, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Filter Active Tuning Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | magneticGain | Value for the magnetic disturbance gain field. |
[in] | accelerationGain | Value for the acceleration disturbance gain field. |
[in] | magneticMemory | Value for the magnetic disturbance memory field. |
[in] | accelerationMemory | Value for the acceleration disturbance memory field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setFilterMeasurementVarianceParameters | ( | Vn100 * | vn100, |
double | angularWalkVariance, | ||
VnVector3 | angularRateVariance, | ||
VnVector3 | magneticVariance, | ||
VnVector3 | accelerationVariance, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Filter Measurement Variance Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | angularWalkVariance | Value for the angular walk variance field. |
[in] | angularRateVariance | The angular rate variance (X,Y,Z) values to write to the sensor. |
[in] | magneticVariance | The magnetic variance (X,Y,Z) values to write to the sensor. |
[in] | accelerationVariance | The acceleration variance (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setFilterStartupGyroBias | ( | Vn100 * | vn100, |
VnVector3 | gyroBias, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Filter Startup Gyro Bias register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | gyroBias | The gyroscope startup bias (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setGyroBias | ( | Vn100 * | vn100, |
VN_BOOL | waitForResponse | ||
) |
Commands the VN-100 module to save the current gyro bias estimate to memory for use on the next module startup.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_setIndoorHeadingModeControl | ( | Vn100 * | vn100, |
double | maxRateError, | ||
double | reserved, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Indoor Heading Mode Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | maxRateError | Value for the MaxRateError field. |
[in] | reserved | Value for the reserved field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setMagneticGravityReferenceVectors | ( | Vn100 * | vn100, |
VnVector3 | magneticReference, | ||
VnVector3 | gravityReference, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Magnetic and Gravity Reference Vectors register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | magneticReference | The magnetic reference vector (X,Y,Z) values to write to the sensor. |
[in] | gravityReference | The gravity reference vector (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setMagneticHardSoftIronCompensationParameters | ( | Vn100 * | vn100, |
VnMatrix3x3 | c, | ||
VnVector3 | b, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Magnetic Hard/Soft Iron Compensation Parameters register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | c | The C matrix values to write to the sensor. |
[in] | b | The B vector values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setMagnetometerBasicCalibrationControl | ( | Vn100 * | vn100, |
unsigned char | hsiMode, | ||
unsigned char | hsiOutput, | ||
unsigned char | convergeRate, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Magnetometer Basic Calibration Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | hsiMode | Value for the HSIMode field. |
[in] | hsiOutput | Value for the HSIOutput field. |
[in] | convergeRate | Value for the ConvergeRate field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setReferenceFrameRotation | ( | Vn100 * | vn100, |
VnMatrix3x3 | c, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Reference Frame Rotation register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | c | The C matrix values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setSerialBaudRate | ( | Vn100 * | vn100, |
unsigned int | serialBaudrate, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Serial Baud Rate register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | serialBaudrate | Value for the serial baudrate field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setSynchronizationControl | ( | Vn100 * | vn100, |
unsigned char | syncInMode, | ||
unsigned char | syncInEdge, | ||
unsigned short | syncInSkipFactor, | ||
unsigned int | reserved0, | ||
unsigned char | syncOutMode, | ||
unsigned char | syncOutPolarity, | ||
unsigned short | syncOutSkipFactor, | ||
unsigned int | syncOutPulseWidth, | ||
unsigned int | reserved1, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Synchronization Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | syncInMode | Value for the input signal synchronization mode field. |
[in] | syncInEdge | Value for the input signal synchronization edge selection field. |
[in] | syncInSkipFactor | Value for the input signal trigger skip factor field. |
[in] | reserved0 | Value for the reserved field. |
[in] | syncOutMode | Value for the output signal synchronization mode field. |
[in] | syncOutPolarity | Value for the output signal synchronization polarity field. |
[in] | syncOutSkipFactor | Value for the output synchronization signal skip factor field. |
[in] | syncOutPulseWidth | Value for the output synchronization signal pulse width field. |
[in] | reserved1 | Value for the reserved field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setSynchronizationStatus | ( | Vn100 * | vn100, |
unsigned int | syncInCount, | ||
unsigned int | syncInTime, | ||
unsigned int | syncOutCount, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the Synchronization Status register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | syncInCount | Value for the synchronization in count field. |
[in] | syncInTime | Value for the synchronization in time field. |
[in] | syncOutCount | Value for the synchronization out count field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setUserTag | ( | Vn100 * | vn100, |
char * | userTagData, | ||
unsigned int | userTagDataLength, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the User Tag register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | userTagData | Array containg the data to send. Length must be equal to or less than 20 characters. |
[in] | userTagDataLength | Length of the data to send in the userTagData array. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeAccelerometerAdvancedTuning | ( | Vn100 * | vn100, |
VnVector3 | minimumFiltering, | ||
VnVector3 | maximumFiltering, | ||
double | maximumAdaptRate, | ||
double | disturbanceWindow, | ||
double | maximumTuning, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Accelerometer Advanced Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | minimumFiltering | The minimum allowed level of filtering (X,Y,Z) values to write to the sensor. |
[in] | maximumFiltering | The maximum allowed level of filtering (X,Y,Z) values to write to the sensor. |
[in] | maximumAdaptRate | Value for the MaxAdaptRate field. |
[in] | disturbanceWindow | Value for the DisturbanceWindow field. |
[in] | maximumTuning | Value for the MaxTuning field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeAccelerometerBasicTuning | ( | Vn100 * | vn100, |
VnVector3 | baseTuning, | ||
VnVector3 | adaptiveTuning, | ||
VnVector3 | adaptiveFiltering, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Accelerometer Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | baseTuning | The accelerometer base tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveTuning | The accelerometer adaptive tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveFiltering | The accelerometer adaptive filtering (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeControl | ( | Vn100 * | vn100, |
unsigned char | enable, | ||
unsigned char | headingMode, | ||
unsigned char | filteringMode, | ||
unsigned char | tuningMode, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Control register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | enable | Value for the enable/disable field. |
[in] | headingMode | Value for the heading mode field. |
[in] | filteringMode | Value for the filtering mode field. |
[in] | tuningMode | Value for the tuning mode field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeGyroBasicTuning | ( | Vn100 * | vn100, |
VnVector3 | baseTuning, | ||
VnVector3 | adaptiveTuning, | ||
VnVector3 | adaptiveFiltering, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Gyro Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | baseTuning | The gyroscope base tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveTuning | The gyroscope adaptive tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveFiltering | The gyroscope adaptive filtering (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeMagnetometerAdvancedTuning | ( | Vn100 * | vn100, |
VnVector3 | minimumFiltering, | ||
VnVector3 | maximumFiltering, | ||
double | maximumAdaptRate, | ||
double | disturbanceWindow, | ||
double | maximumTuning, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Magnetometer Advanced Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | minimumFiltering | The minimum allowed level of filtering (X,Y,Z) values to write to the sensor. |
[in] | maximumFiltering | The maximum allowed level of filtering (X,Y,Z) values to write to the sensor. |
[in] | maximumAdaptRate | Value for the MaxAdaptRate field. |
[in] | disturbanceWindow | Value for the DisturbanceWindow field. |
[in] | maximumTuning | Value for the MaxTuning field. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_setVpeMagnetometerBasicTuning | ( | Vn100 * | vn100, |
VnVector3 | baseTuning, | ||
VnVector3 | adaptiveTuning, | ||
VnVector3 | adaptiveFiltering, | ||
VN_BOOL | waitForResponse | ||
) |
Sets the values of the VPE Magnetometer Basic Tuning register.
[in] | vn100 | Pointer to the Vn100 control object. |
[in] | baseTuning | The magnetometer base tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveTuning | The magnetometer adaptive tuning (X,Y,Z) values to write to the sensor. |
[in] | adaptiveFiltering | The magnetometer adaptive filtering (X,Y,Z) values to write to the sensor. |
[in] | waitForResponse | Signals if the function should block until a response is received from the sensor. TRUE to block for a response; FALSE to immediately return after sending out the command. |
VN_ERROR_CODE vn100_tare | ( | Vn100 * | vn100, |
VN_BOOL | waitForResponse | ||
) |
Commands the VN-100 module to zero out its current orientation.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_unregisterAsyncDataReceivedListener | ( | Vn100 * | vn100, |
Vn100NewAsyncDataReceivedListener | listener | ||
) |
Unregisters an already registered function for recieving notifications of when new asynchronous data is received.
[in] | vn100 | Pointer to the Vn100 control object. |
VN_ERROR_CODE vn100_writeSettings | ( | Vn100 * | vn100, |
VN_BOOL | waitForResponse | ||
) |
Commands the VN-100 unit to write its current register setting to non-volatile memory.
[in] | vn100 | Pointer to the Vn100 control object. |