C MIP-SDK
Defines | Functions
mip_sdk_3dm.h File Reference
#include "mip.h"
#include "mip_sdk_interface.h"
#include "mip_sdk_config.h"
#include "mip_sdk_gps.h"
#include "mip_sdk_ahrs.h"

Go to the source code of this file.

Defines

#define MIP_3DM_COMMAND_SET   0x0C
#define MIP_3DM_CMD_POLL_AHRS_MESSAGE   0x01
#define MIP_3DM_CMD_POLL_GPS_MESSAGE   0x02
#define MIP_3DM_CMD_POLL_NAV_MESSAGE   0x03
#define MIP_3DM_CMD_GET_AHRS_BASE_RATE   0x06
#define MIP_3DM_CMD_GET_GPS_BASE_RATE   0x07
#define MIP_3DM_CMD_AHRS_MESSAGE_FORMAT   0x08
#define MIP_3DM_CMD_GPS_MESSAGE_FORMAT   0x09
#define MIP_3DM_CMD_NAV_MESSAGE_FORMAT   0x0A
#define MIP_3DM_CMD_GET_NAV_BASE_RATE   0x0B
#define MIP_3DM_CMD_CONTROL_DATA_STREAM   0x11
#define MIP_3DM_CMD_RAW_RTCM_2_3_MESSAGE   0x20
#define MIP_3DM_CMD_SAVE_DEVICE_SETTINGS   0x30
#define MIP_3DM_CMD_SET_GPS_DYNAMICS_MODE   0x34
#define MIP_3DM_CMD_SET_AHRS_SIGNAL_COND   0x35
#define MIP_3DM_CMD_SET_AHRS_TIMESTAMP   0x36
#define MIP_3DM_CMD_ACCEL_BIAS   0x37
#define MIP_3DM_CMD_GYRO_BIAS   0x38
#define MIP_3DM_CMD_CAPTURE_GYRO_BIAS   0x39
#define MIP_3DM_CMD_HARD_IRON_VECTOR   0x3A
#define MIP_3DM_CMD_SOFT_IRON_MATRIX   0x3B
#define MIP_3DM_CDM_CONING_AND_SCULLING_ENABLE   0x3E
#define MIP_3DM_CDM_SENSOR2VEHICLE_TRANSFORMATION   0x3F
#define MIP_3DM_CMD_UART_BAUDRATE   0x40
#define MIP_3DM_CMD_LOW_PASS_FILTER_SETTINGS   0x50
#define MIP_3DM_CMD_COMPLEMENTARY_FILTER   0x51
#define MIP_3DM_CMD_DATASTREAM_FORMAT   0x60
#define MIP_3DM_CMD_DEVICE_POWER_STATE   0x61
#define MIP_3DM_CMD_SAVE_RESTORE_GPS_SETTINGS   0x62
#define MIP_3DM_CMD_DEVICE_SETTINGS   0x63
#define MIP_3DM_CMD_DEVICE_STATUS   0x64
#define MIP_3DM_REPLY_AHRS_MESSAGE_FORMAT   0x80
#define MIP_3DM_REPLY_GPS_MESSAGE_FORMAT   0x81
#define MIP_3DM_REPLY_NAV_MESSAGE_FORMAT   0x82
#define MIP_3DM_REPLY_AHRS_BASE_RATE   0x83
#define MIP_3DM_REPLY_GPS_BASE_RATE   0x84
#define MIP_3DM_REPLY_DATASTREAM_ENABLE   0x85
#define MIP_3DM_REPLY_AHRS_SIGNAL_SETTINGS   0x86
#define MIP_3DM_REPLY_UART_BAUDRATE   0x87
#define MIP_3DM_REPLY_DATASTREAM_FORMAT   0x88
#define MIP_3DM_REPLY_POWER_STATE   0x89
#define MIP_3DM_REPLY_NAV_BASE_RATE   0x8A
#define MIP_3DM_REPLY_ADVANCED_DATA_FILTER   0x8B
#define MIP_3DM_REPLY_DEVICE_STATUS   0x90
#define MIP_3DM_REPLY_COMMUNICATIONS_MODE   0x91
#define MIP_3DM_REPLY_GPS_DYNAMICS_MODE   0x92
#define MIP_3DM_REPLY_AHRS_TIMESTAMP_VALUE   0x93
#define MIP_3DM_REPLY_COMPLEMENTARY_FILTER   0x97
#define MIP_3DM_REPLY_ACCEL_BIAS_VECTOR   0x9A
#define MIP_3DM_REPLY_GYRO_BIAS_VECTOR   0x9B
#define MIP_3DM_REPLY_HARD_IRON_VECTOR   0x9C
#define MIP_3DM_REPLY_SOFT_IRON_MATRIX   0x9D
#define MIP_3DM_REPLY_CONING_AND_SCULLING_ENABLE   0x9E
#define MIP_3DM_REPLY_SENSOR2VEHICLE_TRANSFORMATION   0x9F
#define MIP_3DM_POLLING_ENABLE_ACK_NACK   0x00
#define MIP_3DM_POLLING_SUPPRESS_ACK_NACK   0x01
#define MIP_3DM_POWER_STATE_DEVICE_AHRS   0x01
#define MIP_3DM_POWER_STATE_DEVICE_GPS   0x02
#define MIP_3DM_POWER_STATE_ON   0x01
#define MIP_3DM_POWER_STATE_LOW_POWER   0x02
#define MIP_3DM_POWER_STATE_SLEEP   0x03
#define MIP_3DM_POWER_STATE_OFF   0x04
#define MIP_3DM_AHRS_STREAM_ENABLED_FLAG   0x00000001
#define MIP_3DM_AHRS_STREAM_RAW_FORMAT_FLAG   0x00000002
#define MIP_3DM_GPS_STREAM_ENABLED_FLAG   0x00000100
#define MIP_3DM_GPS_STREAM_RAW_FORMAT_FLAG   0x00000200
#define MIP_3DM_NAV_STREAM_ENABLED_FLAG   0x00010000
#define MIP_3DM_AHRS_DATASTREAM   0x01
#define MIP_3DM_GPS_DATASTREAM   0x02
#define MIP_3DM_INS_DATASTREAM   0x03
#define MIP_3DM_DATASTREAM_NATIVE_MIP_FORMAT   0x01
#define MIP_3DM_DATASTREAM_WRAPPED_RAW_FORMAT   0x02
#define MIP_3DM_GPS_DYNAMICS_MODE_PORTABLE   0x00
#define MIP_3DM_GPS_DYNAMICS_MODE_FIXED   0x01
#define MIP_3DM_GPS_DYNAMICS_MODE_STATIONARY   0x02
#define MIP_3DM_GPS_DYNAMICS_MODE_PEDESTRIAN   0x03
#define MIP_3DM_GPS_DYNAMICS_MODE_AUTOMOTIVE   0x04
#define MIP_3DM_GPS_DYNAMICS_MODE_SEA   0x05
#define MIP_3DM_GPS_DYNAMICS_MODE_AIRBORNE_1G   0x06
#define MIP_3DM_GPS_DYNAMICS_MODE_AIRBORNE_2G   0x07
#define MIP_3DM_GPS_DYNAMICS_MODE_AIRBORNE_4G   0x08
#define MIP_3DM_AHRS_LPF_DISABLED   0x00
#define MIP_3DM_AHRS_LPF_IIR_SINGLE_POLE   0x01
#define MIP_3DM_AHRS_LPF_MAX_FILTER   MIP_3DM_AHRS_LPF_IIR_SINGLE_POLE
#define MIP_3DM_AHRS_LPF_CUTOFF_MANUAL   0x01
#define MIP_3DM_AHRS_LPF_CUTOFF_AUTOMATIC   0x00
#define MIP_3DM_CONING_AND_SCULLING_DISABLE   0x00
#define MIP_3DM_CONING_AND_SCULLING_ENABLE   0x01

Functions

u16 mip_3dm_cmd_poll_ahrs (mip_interface *device_interface, u8 option_selector, u8 num_descriptors, u8 *descriptor_list)
u16 mip_3dm_cmd_poll_gps (mip_interface *device_interface, u8 option_selector, u8 num_descriptors, u8 *descriptor_list)
u16 mip_3dm_cmd_poll_filter (mip_interface *device_interface, u8 option_selector, u8 num_descriptors, u8 *descriptor_list)
u16 mip_3dm_cmd_get_ahrs_base_rate (mip_interface *device_interface, u16 *base_rate)
u16 mip_3dm_cmd_get_gps_base_rate (mip_interface *device_interface, u16 *base_rate)
u16 mip_3dm_cmd_get_filter_base_rate (mip_interface *device_interface, u16 *base_rate)
u16 mip_3dm_cmd_ahrs_message_format (mip_interface *device_interface, u8 function_selector, u8 *num_entries, u8 *descriptors, u16 *decimation)
u16 mip_3dm_cmd_gps_message_format (mip_interface *device_interface, u8 function_selector, u8 *num_entries, u8 *descriptors, u16 *decimation)
u16 mip_3dm_cmd_filter_message_format (mip_interface *device_interface, u8 function_selector, u8 *num_entries, u8 *descriptors, u16 *decimation)
u16 mip_3dm_cmd_continuous_data_stream (mip_interface *device_interface, u8 function_selector, u8 device_selector, u8 *enable)
u16 mip_3dm_cmd_startup_settings (mip_interface *device_interface, u8 function_selector)
u16 mip_3dm_cmd_gps_dynamics_mode (mip_interface *device_interface, u8 function_selector, u8 *dynamics_mode)
u16 mip_3dm_cmd_gps_advanced_settings (mip_interface *device_interface, u8 function_selector)
u16 mip_3dm_cmd_ahrs_signal_conditioning (mip_interface *device_interface, u8 function_selector, mip_ahrs_signal_settings *settings)
u16 mip_3dm_cmd_ahrs_timestamp (mip_interface *device_interface, u8 function_selector, u8 *time_selector, u32 *time)
u16 mip_3dm_cmd_uart_baudrate (mip_interface *device_interface, u8 function_selector, u32 *baudrate)
u16 mip_3dm_cmd_datastream_format (mip_interface *device_interface, u8 function_selector, u8 device_selector, u8 *format)
u16 mip_3dm_cmd_power_state (mip_interface *device_interface, u8 function_selector, u8 device_selector, u8 *power_state)
u16 mip_3dm_cmd_device_status (mip_interface *device_interface, u16 model_number, u8 status_selector, u8 *response_buffer, u16 *response_size)
u16 mip_3dm_cmd_low_pass_filter_settings (mip_interface *device_interface, u8 function_selector, mip_low_pass_filter_settings *filter_settings)
u16 mip_3dm_cmd_accel_bias (mip_interface *device_interface, u8 function_selector, float *bias_vector)
u16 mip_3dm_cmd_gyro_bias (mip_interface *device_interface, u8 function_selector, float *bias_vector)
u16 mip_3dm_cmd_coning_sculling_compensation (mip_interface *device_interface, u8 function_selector, u8 *enable)
u16 mip_3dm_cmd_capture_gyro_bias (mip_interface *device_interface, u16 duration_ms, float *bias_vector)
u16 mip_3dm_cmd_hard_iron (mip_interface *device_interface, u8 function_selector, float *vector)
u16 mip_3dm_cmd_soft_iron (mip_interface *device_interface, u8 function_selector, float *matrix)
u16 mip_3dm_sensor2vehicle_tranformation (mip_interface *device_interface, u8 function_selector, float euler_angles[3])
u16 mip_3dm_cmd_complementary_filter_settings (mip_interface *device_interface, u8 function_selector, mip_complementary_filter_settings *settings)
u16 mip_3dm_cmd_rtcm_23_message (mip_interface *device_interface, u8 *raw_data, u16 num_bytes)

Detailed Description

Author:
Nathan Miller
Version:
1.1

Function Documentation

u16 mip_3dm_cmd_accel_bias ( mip_interface device_interface,
u8  function_selector,
float *  bias_vector 
)

DESCRIPTION

Get or set Accelerometer x, y, z bias vector.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*bias_vector - pointer to array containing input bias vector on write commands or to contain output bias vector on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_ahrs_message_format ( mip_interface device_interface,
u8  function_selector,
u8 *  num_entries,
u8 *  descriptors,
u16 *  decimation 
)

DESCRIPTION

Set or read the current AHRS message format.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*num_entries - The number of descriptors provided or the number read back from the device. (used to set or get depending on function_selector)
[in,out]u8*descriptors - A descriptor list containing num_descriptors descriptor values. (used to set or get depending on function_selector)
[in,out]u8*decimation - A decimation list containing num_descriptors decimation values. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the AHRS packet using the callback function for the AHRS data class.

Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

num_entries may be 0, descriptors = NULL, and decimation = NULL for the following function_selector values:

  • 0x01 - Use New Settings (will clear the current format)
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings
u16 mip_3dm_cmd_ahrs_signal_conditioning ( mip_interface device_interface,
u8  function_selector,
mip_ahrs_signal_settings settings 
)

DESCRIPTION

Set or read the AHRS signal conditioning settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]mip_ahrs_signal_settings*settings - The AHRS signal conditioning settings structure. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

This function only affects inertial and orientation values on the AHRS datastream. If the NAV datastream is available, the values remain unaffected. Please reference the device DCP for further information.

u16 mip_3dm_cmd_ahrs_timestamp ( mip_interface device_interface,
u8  function_selector,
u8 *  time_selector,
u32 *  time 
)

DESCRIPTION

Set or read the AHRS signal conditioning settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*time_selector - The selection for the format of the time value.
[in,out]u32*time - The current time value. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings


Possible time_selector values:

  • 0x01 - Beacon Timestamp (Seconds)
  • 0x02 - Beacon Timestamp (Nanoseconds)
  • 0x02 - AHRS Internal Tick Counter
u16 mip_3dm_cmd_capture_gyro_bias ( mip_interface device_interface,
u16  duration_ms,
float *  bias_vector 
)

DESCRIPTION

Get or set Accelerometer x, y, z bias vector.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*bias_vector - Pointer to array containing input bias vector on write commands or to contain output bias vector on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_complementary_filter_settings ( mip_interface device_interface,
u8  function_selector,
mip_complementary_filter_settings settings 
)

DESCRIPTION

Get or set complementary filter settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]mip_complementary_filter_settings*settings - structure for the complementary filter parameters.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_coning_sculling_compensation ( mip_interface device_interface,
u8  function_selector,
u8 *  enable 
)

DESCRIPTION

Set or read setting of coning and sculling compensation enable.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*enable - the enable/disable flag. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

enable may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings


Possible enable values:

  • 0x00 - Disable Coning and Sculling compensation
  • 0x01 - Enable Coning and Sculling compensation
u16 mip_3dm_cmd_continuous_data_stream ( mip_interface device_interface,
u8  function_selector,
u8  device_selector,
u8 *  enable 
)

DESCRIPTION

Control the streaming of AHRS, GPS, and NAV data packets.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in]u8device_selector - Selects which device is affected.
[in,out]u8*enable - the enable/disable flag. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

enable may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings


Possible device_selector values:

  • 0x01 - AHRS
  • 0x02 - GPS
  • 0x03 - NAV


Possible enable values:

  • 0x00 - Disable the datastream
  • 0x01 - Enable the datastream
u16 mip_3dm_cmd_datastream_format ( mip_interface device_interface,
u8  function_selector,
u8  device_selector,
u8 *  format 
)

DESCRIPTION

Set or read the datastream format on a particular datastream. Valid on the GX3-35 only.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in]u8device_selector - Selects which device is affected.
[in,out]u8*format - The selected format of the data. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

format may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Possible device_selector values:

  • 0x01 - AHRS
  • 0x02 - GPS

Possible format values:

  • 0x01 - Standard MIP (default)
  • 0x02 - Wrapped Raw (MIP wrapper around raw sensor data)
u16 mip_3dm_cmd_device_status ( mip_interface device_interface,
u16  model_number,
u8  status_selector,
u8 *  response_buffer,
u16 *  response_size 
)

DESCRIPTION

Get the current device status.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u16model_number - The model number of the device.
[in]u8status_selector - The type of status desired.
[out]u8*response_buffer - A buffer to hold the response.
[in,out]u16*response_size - On entry, the size of the buffer. On exit, the size of the returned status message.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Due to the variable response from the device, this function DOES NOT byteswap the output. This is the responsibility of the developer.


Possible status_selector values:

  • 0x01 - Basic Status
  • 0x02 - Diagnostic Status

Please see the device DCP for valid status selector values and the format of the returned status message.

u16 mip_3dm_cmd_filter_message_format ( mip_interface device_interface,
u8  function_selector,
u8 *  num_entries,
u8 *  descriptors,
u16 *  decimation 
)

DESCRIPTION

Set or read the current NAV message format.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*num_entries - The number of descriptors provided or the number read back from the device. (used to set or get depending on function_selector)
[in,out]u8*descriptors - A descriptor list containing num_descriptors descriptor values. (used to set or get depending on function_selector)
[in,out]u8*decimation - A decimation list containing num_descriptors decimation values. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the NAV packet using the callback function for the NAV data class.


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

num_entries may be 0, descriptors = NULL, and decimation = NULL for the following function_selector values:

  • 0x01 - Use New Settings (will clear the current format)
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings
u16 mip_3dm_cmd_get_ahrs_base_rate ( mip_interface device_interface,
u16 *  base_rate 
)

DESCRIPTION

Request the base rate of the AHRS data.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[out]u16*base_rate - buffer for the returned base rate.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Rate is reported in Hz.

u16 mip_3dm_cmd_get_filter_base_rate ( mip_interface device_interface,
u16 *  base_rate 
)

DESCRIPTION

Request the base rate of the NAV data.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[out]u16*base_rate - buffer for the returned base rate.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Rate is reported in Hz.

u16 mip_3dm_cmd_get_gps_base_rate ( mip_interface device_interface,
u16 *  base_rate 
)

DESCRIPTION

Request the base rate of the GPS data.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[out]u16*base_rate - buffer for the returned base rate.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Rate is reported in Hz.

u16 mip_3dm_cmd_gps_advanced_settings ( mip_interface device_interface,
u8  function_selector 
)

DESCRIPTION

Save, Load, or Restore the advanced GPS settings on the GX3-35.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings
u16 mip_3dm_cmd_gps_dynamics_mode ( mip_interface device_interface,
u8  function_selector,
u8 *  dynamics_mode 
)

DESCRIPTION

Set or read the GPS Dynamics Mode on the GX3-35.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*dynamics_mode - The dynamics mode. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

dynamics_mode may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings


Possible dynamics_mode values:

  • 0x00 - Portable
  • 0x02 - Stationary
  • 0x03 - Pedestrian
  • 0x04 - Automotive
  • 0x05 - Sea
  • 0x06 - Airborne < 1G
  • 0x07 - Airborne < 2G
  • 0x08 - Airborne < 4G
u16 mip_3dm_cmd_gps_message_format ( mip_interface device_interface,
u8  function_selector,
u8 *  num_entries,
u8 *  descriptors,
u16 *  decimation 
)

DESCRIPTION

Set or read the current GPS message format.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*num_entries - The number of descriptors provided/available or the number read back from the device. (used to set or get depending on function_selector)
[in,out]u8*descriptors - A descriptor list containing num_descriptors descriptor values. (used to set or get depending on function_selector)
[in,out]u8*decimation - A decimation list containing num_descriptors decimation values. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the GPS packet using the callback function for the GPS data class.

Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

num_entries may be 0, descriptors = NULL, and decimation = NULL for the following function_selector values:

  • 0x01 - Use New Settings (will clear the current format)
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings
u16 mip_3dm_cmd_gyro_bias ( mip_interface device_interface,
u8  function_selector,
float *  bias_vector 
)

DESCRIPTION

Get or set Accelerometer x, y, z bias vector.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*bias_vector - pointer to array containing input bias vector on write commands or to contain output bias vector on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_hard_iron ( mip_interface device_interface,
u8  function_selector,
float *  vector 
)

DESCRIPTION

Get or set the Hard Iron x, y, z vector.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*vector - Pointer to array containing input hard iron vector on write commands or to contain output hard iron vector on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_low_pass_filter_settings ( mip_interface device_interface,
u8  function_selector,
mip_low_pass_filter_settings filter_settings 
)

DESCRIPTION

Get or set low pass filter settings for scaled data quantities.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]mip_low_pass_filter_settings*filter_settings - structure specifying the data type to be filtered and the filter parameters.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_poll_ahrs ( mip_interface device_interface,
u8  option_selector,
u8  num_descriptors,
u8 *  descriptor_list 
)

DESCRIPTION

Poll for an AHRS data packet given the provided descriptor format. If no format is provided (i.e. num_descriptors = 0 and descriptor_list = NULL) the device will output the AHRS packet given the current format stored in the device.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8option_selector - ACK/NACK packet generation option.
[in]u8num_descriptors - The number of descriptors provided.
[in]u8*descriptor_list - A descriptor list containing num_descriptors descriptor values.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the AHRS packet using the callback function for the AHRS data class.

Possible option_selector values:

  • 0x00 - normal ACK/NACK reply
  • 0x01 - Suppress the ACK/NACK reply

u16 mip_3dm_cmd_poll_filter ( mip_interface device_interface,
u8  option_selector,
u8  num_descriptors,
u8 *  descriptor_list 
)

DESCRIPTION

Poll for a NAV data packet given the provided descriptor format. If no format is provided (i.e. num_descriptors = 0 and descriptor_list = NULL) the device will output the NAV packet given the current format stored in the device.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8option_selector - ACK/NACK packet generation option.
[in]u8num_descriptors - The number of descriptors provided.
[in]u8*descriptor_list - A descriptor list containing num_descriptors descriptor values.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the NAV packet using the callback function for the NAV data class.

Possible option_selector values:

  • 0x00 - normal ACK/NACK reply
  • 0x01 - Suppress the ACK/NACK reply

u16 mip_3dm_cmd_poll_gps ( mip_interface device_interface,
u8  option_selector,
u8  num_descriptors,
u8 *  descriptor_list 
)

DESCRIPTION

Poll for a GPS data packet given the provided descriptor format. If no format is provided (i.e. num_descriptors = 0 and descriptor_list = NULL) the device will output the AHRS packet given the current format stored in the device.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8option_selector - ACK/NACK packet generation option.
[in]u8num_descriptors - The number of descriptors provided.
[in]u8*descriptor_list - A descriptor list containing num_descriptors descriptor values.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The user receives the GPS packet using the callback function for the GPS data class.

Possible option_selector values:

  • 0x00 - normal ACK/NACK reply
  • 0x01 - Suppress the ACK/NACK reply

u16 mip_3dm_cmd_power_state ( mip_interface device_interface,
u8  function_selector,
u8  device_selector,
u8 *  power_state 
)

DESCRIPTION

Set or read the power state on a particular datastream. Valid on the GX3-25 and GX3-35 only.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in]u8device_selector - Selects which device is affected.
[in,out]u8*power_state - The selected power state. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

power_state may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Possible device_selector values:

  • 0x01 - AHRS
  • 0x02 - GPS

Possible format values:

  • 0x01 - On (full performance)
  • 0x02 - On (low power mode)
  • 0x03 - Sleep (very low power, fast startup)
  • 0x04 - Off/Deep Sleep

Please see the device DCP for valid parameter combinations.

u16 mip_3dm_cmd_rtcm_23_message ( mip_interface device_interface,
u8 *  raw_data,
u16  num_bytes 
)

DESCRIPTION

Send a raw RTCM 2.3 Message to the device

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8*raw_data - Buffer containing "num_bytes" of a RTCM 2.3 message.
[in]u16num_bytes - Size of the RTCM message.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

This function will send multiple commands when the number of bytes in "raw_data"
is larger than MIP_MAX_PAYLOAD_DATA_SIZE.

u16 mip_3dm_cmd_soft_iron ( mip_interface device_interface,
u8  function_selector,
float *  matrix 
)

DESCRIPTION

Get or set the Soft Iron 3x3 matrix.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*vector - Pointer to array containing input soft iron 3x3 matrix on write commands or to contain output soft iron 3x3 matrix on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

u16 mip_3dm_cmd_startup_settings ( mip_interface device_interface,
u8  function_selector 
)

DESCRIPTION

Set or read the device startup settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The affected startup settings are listed in each device's DCP.

u16 mip_3dm_cmd_uart_baudrate ( mip_interface device_interface,
u8  function_selector,
u32 *  baudrate 
)

DESCRIPTION

Set or read the primary com port baudrate.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u32*baudrate - The baudrate value. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

baudrate may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The valid baudrates are listed in each device's DCP.

u16 mip_3dm_sensor2vehicle_tranformation ( mip_interface device_interface,
u8  function_selector,
float  euler_angles[3] 
)

DESCRIPTION

Get or set the sensor-to-vehicle transformation in Euler angle format.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - The model number of the device.
[in,out]float*vector - Pointer to array containing input Euler angles on write commands or to contain output Euler angles on read commands.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Please see the device DCP for valid status selector values and the format of the returned message.

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