C MIP-SDK
|
#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) |
u16 mip_3dm_cmd_accel_bias | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
float * | bias_vector | ||
) |
Get or set Accelerometer x, y, z bias vector.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Set or read the current AHRS message format.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the AHRS packet using the callback function for the AHRS data class.
Possible function_selector
values:
num_entries
may be 0, descriptors = NULL, and decimation = NULL for the following function_selector
values:
u16 mip_3dm_cmd_ahrs_signal_conditioning | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
mip_ahrs_signal_settings * | settings | ||
) |
Set or read the AHRS signal conditioning settings.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
settings
may be NULL for the following function_selector
values:
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 | ||
) |
Set or read the AHRS signal conditioning settings.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
Possible time_selector
values:
u16 mip_3dm_cmd_capture_gyro_bias | ( | mip_interface * | device_interface, |
u16 | duration_ms, | ||
float * | bias_vector | ||
) |
Get or set Accelerometer x, y, z bias vector.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Get or set complementary filter settings.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - The model number of the device. |
[in,out] | mip_complementary_filter_settings | *settings - structure for the complementary filter parameters. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Set or read setting of coning and sculling compensation enable.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in,out] | u8 | *enable - the enable/disable flag. (used to set or get depending on function_selector ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
enable
may be NULL for the following function_selector
values:
Possible enable
values:
u16 mip_3dm_cmd_continuous_data_stream | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
u8 | device_selector, | ||
u8 * | enable | ||
) |
Control the streaming of AHRS, GPS, and NAV data packets.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in] | u8 | device_selector - Selects which device is affected. |
[in,out] | u8 | *enable - the enable/disable flag. (used to set or get depending on function_selector ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
enable
may be NULL for the following function_selector
values:
Possible device_selector
values:
Possible enable
values:
u16 mip_3dm_cmd_datastream_format | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
u8 | device_selector, | ||
u8 * | format | ||
) |
Set or read the datastream format on a particular datastream. Valid on the GX3-35 only.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in] | u8 | device_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
format
may be NULL for the following function_selector
values:
Possible
device_selector
values:
Possible
format
values:
u16 mip_3dm_cmd_device_status | ( | mip_interface * | device_interface, |
u16 | model_number, | ||
u8 | status_selector, | ||
u8 * | response_buffer, | ||
u16 * | response_size | ||
) |
Get the current device status.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u16 | model_number - The model number of the device. |
[in] | u8 | status_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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:
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 | ||
) |
Set or read the current NAV message format.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the NAV packet using the callback function for the NAV data class.
Possible function_selector
values:
num_entries
may be 0, descriptors = NULL, and decimation = NULL for the following function_selector
values:
u16 mip_3dm_cmd_get_ahrs_base_rate | ( | mip_interface * | device_interface, |
u16 * | base_rate | ||
) |
Request the base rate of the AHRS data.
[in] | mip_interface | *device_interface - The device interface. |
[out] | u16 | *base_rate - buffer for the returned base rate. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Rate is reported in Hz.
u16 mip_3dm_cmd_get_filter_base_rate | ( | mip_interface * | device_interface, |
u16 * | base_rate | ||
) |
Request the base rate of the NAV data.
[in] | mip_interface | *device_interface - The device interface. |
[out] | u16 | *base_rate - buffer for the returned base rate. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Rate is reported in Hz.
u16 mip_3dm_cmd_get_gps_base_rate | ( | mip_interface * | device_interface, |
u16 * | base_rate | ||
) |
Request the base rate of the GPS data.
[in] | mip_interface | *device_interface - The device interface. |
[out] | u16 | *base_rate - buffer for the returned base rate. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Rate is reported in Hz.
u16 mip_3dm_cmd_gps_advanced_settings | ( | mip_interface * | device_interface, |
u8 | function_selector | ||
) |
Save, Load, or Restore the advanced GPS settings on the GX3-35.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
u16 mip_3dm_cmd_gps_dynamics_mode | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
u8 * | dynamics_mode | ||
) |
Set or read the GPS Dynamics Mode on the GX3-35.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in,out] | u8 | *dynamics_mode - The dynamics mode. (used to set or get depending on function_selector ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
dynamics_mode
may be NULL for the following function_selector
values:
Possible dynamics_mode
values:
u16 mip_3dm_cmd_gps_message_format | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
u8 * | num_entries, | ||
u8 * | descriptors, | ||
u16 * | decimation | ||
) |
Set or read the current GPS message format.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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 ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the GPS packet using the callback function for the GPS data class.
Possible function_selector
values:
num_entries
may be 0, descriptors = NULL, and decimation = NULL for the following function_selector
values:
u16 mip_3dm_cmd_gyro_bias | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
float * | bias_vector | ||
) |
Get or set Accelerometer x, y, z bias vector.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Get or set the Hard Iron x, y, z vector.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Get or set low pass filter settings for scaled data quantities.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
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.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | option_selector - ACK/NACK packet generation option. |
[in] | u8 | num_descriptors - The number of descriptors provided. |
[in] | u8 | *descriptor_list - A descriptor list containing num_descriptors descriptor values. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the AHRS packet using the callback function for the AHRS data class.
Possible option_selector
values:
u16 mip_3dm_cmd_poll_filter | ( | mip_interface * | device_interface, |
u8 | option_selector, | ||
u8 | num_descriptors, | ||
u8 * | descriptor_list | ||
) |
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.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | option_selector - ACK/NACK packet generation option. |
[in] | u8 | num_descriptors - The number of descriptors provided. |
[in] | u8 | *descriptor_list - A descriptor list containing num_descriptors descriptor values. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the NAV packet using the callback function for the NAV data class.
Possible option_selector
values:
u16 mip_3dm_cmd_poll_gps | ( | mip_interface * | device_interface, |
u8 | option_selector, | ||
u8 | num_descriptors, | ||
u8 * | descriptor_list | ||
) |
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.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | option_selector - ACK/NACK packet generation option. |
[in] | u8 | num_descriptors - The number of descriptors provided. |
[in] | u8 | *descriptor_list - A descriptor list containing num_descriptors descriptor values. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
The user receives the GPS packet using the callback function for the GPS data class.
Possible option_selector
values:
u16 mip_3dm_cmd_power_state | ( | mip_interface * | device_interface, |
u8 | function_selector, | ||
u8 | device_selector, | ||
u8 * | power_state | ||
) |
Set or read the power state on a particular datastream. Valid on the GX3-25 and GX3-35 only.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in] | u8 | device_selector - Selects which device is affected. |
[in,out] | u8 | *power_state - The selected power state. (used to set or get depending on function_selector ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
power_state
may be NULL for the following function_selector
values:
Possible
device_selector
values:
Possible
format
values:
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 | ||
) |
Send a raw RTCM 2.3 Message to the device
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8* | raw_data - Buffer containing "num_bytes" of a RTCM 2.3 message. |
[in] | u16 | num_bytes - Size of the RTCM message. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Get or set the Soft Iron 3x3 matrix.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
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 | ||
) |
Set or read the device startup settings.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
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 | ||
) |
Set or read the primary com port baudrate.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_selector - Selects which function to perform. |
[in,out] | u32 | *baudrate - The baudrate value. (used to set or get depending on function_selector ) |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Possible function_selector
values:
baudrate
may be NULL for the following function_selector
values:
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] | ||
) |
Get or set the sensor-to-vehicle transformation in Euler angle format.
[in] | mip_interface | *device_interface - The device interface. |
[in] | u8 | function_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. |
MIP_INTERFACE_ERROR | When there is a problem with the command format or the the device communications failed. |
MIP_INTERFACE_OK | The command was successful. |
Please see the device DCP for valid status selector values and the format of the returned message.