8 #include "vn/math/vector.h"
9 #include "vn/math/matrix.h"
25 VnError VnSpi_genWriteSettings(
29 size_t* responseSize);
41 VnError VnSpi_genRestorFactorySettings(
45 size_t* responseSize);
57 VnError VnSpi_genTare(
61 size_t* responseSize);
73 VnError VnSpi_genReset(
77 size_t* responseSize);
89 VnError VnSpi_genRead(
93 size_t desiredLength);
101 VnError VnSpi_parseUserTag(
102 const char* response,
112 VnError VnSpi_parseModelNumber(
113 const char* response,
115 size_t productNameLength);
122 VnError VnSpi_parseHardwareRevision(
123 const char* response,
131 VnError VnSpi_parseSerialNumber(
132 const char* response,
133 uint32_t* serialNum);
141 VnError VnSpi_parseFirmwareVersion(
142 const char* response,
143 char* firmwareVersion,
144 size_t firmwareVersionLength);
151 VnError VnSpi_parseSerialBaudRate(
152 const char* response,
160 VnError VnSpi_parseAsyncDataOutputType(
161 const char* response,
169 VnError VnSpi_parseAsyncDataOutputFrequency(
170 const char* response,
178 VnError VnSpi_parseYawPitchRoll(
179 const char* response,
180 vec3f* yawPitchRoll);
187 VnError VnSpi_parseAttitudeQuaternion(
188 const char* response,
199 VnError VnSpi_parseQuaternionMagneticAccelerationAndAngularRates(
200 const char* response,
211 VnError VnSpi_parseMagneticMeasurements(
212 const char* response,
220 VnError VnSpi_parseAccelerationMeasurements(
221 const char* response,
229 VnError VnSpi_parseAngularRateMeasurements(
230 const char* response,
240 VnError VnSpi_parseMagneticAccelerationAndAngularRates(
241 const char* response,
252 VnError VnSpi_parseMagneticAndGravityReferenceVectors(
253 const char* response,
265 VnError VnSpi_parseFilterMeasurementsVarianceParameters(
266 const char* response,
267 float* angularWalkVariance,
268 vec3f* angularRateVariance,
269 vec3f* magneticVariance,
270 vec3f* accelerationVariance);
278 VnError VnSpi_parseMagnetometerCompensation(
279 const char* response,
291 VnError VnSpi_parseFilterActiveTuningParameters(
292 const char* response,
293 float* magneticDisturbanceGain,
294 float* accelerationDisturbanceGain,
295 float* magneticDisturbanceMemory,
296 float* accelerationDisturbanceMemory);
304 VnError VnSpi_parseAccelerationCompensation(
305 const char* response,
314 VnError VnSpi_parseReferenceFrameRotation(
315 const char* response,
326 VnError VnSpi_parseYawPitchRollMagneticAccelerationAndAngularRates(
327 const char* response,
344 VnError VnSpi_parseCommunicationProtocolControl(
345 const char* response,
346 uint8_t* serialCount,
347 uint8_t* serialStatus,
350 uint8_t* serialChecksum,
351 uint8_t* spiChecksum,
367 VnError VnSpi_parseSynchronizationControl(
368 const char* response,
371 uint16_t* syncInSkipFactor,
373 uint8_t* syncOutMode,
374 uint8_t* syncOutPolarity,
375 uint16_t* syncOutSkipFactor,
376 uint32_t* syncOutPulseWidth,
377 uint32_t* reserved2);
386 VnError VnSpi_parseSynchronizationStatus(
387 const char* response,
388 uint32_t* syncInCount,
389 uint32_t* syncInTime,
390 uint32_t* syncOutCount);
401 VnError VnSpi_parseFilterBasicControl(
402 const char* response,
406 uint8_t* extGyroMode,
417 VnError VnSpi_parseVpeBasicControl(
418 const char* response,
420 uint8_t* headingMode,
421 uint8_t* filteringMode,
422 uint8_t* tuningMode);
431 VnError VnSpi_parseVpeMagnetometerBasicTuning(
432 const char* response,
434 vec3f* adaptiveTuning,
435 vec3f* adaptiveFiltering);
446 VnError VnSpi_parseVpeMagnetometerAdvancedTuning(
447 const char* response,
451 float* disturbanceWindow,
461 VnError VnSpi_parseVpeAccelerometerBasicTuning(
462 const char* response,
464 vec3f* adaptiveTuning,
465 vec3f* adaptiveFiltering);
476 VnError VnSpi_parseVpeAccelerometerAdvancedTuning(
477 const char* response,
481 float* disturbanceWindow,
491 VnError VnSpi_parseVpeGyroBasicTuning(
492 const char* response,
493 vec3f* angularWalkVariance,
495 vec3f* adaptiveTuning);
502 VnError VnSpi_parseFilterStartupGyroBias(
503 const char* response,
513 VnError VnSpi_parseMagnetometerCalibrationControl(
514 const char* response,
517 uint8_t* convergeRate);
525 VnError VnSpi_parseCalculatedMagnetometerCalibration(
526 const char* response,
536 VnError VnSpi_parseIndoorHeadingModeControl(
537 const char* response,
546 VnError VnSpi_parseVelocityCompensationMeasurement(
547 const char* response,
557 VnError VnSpi_parseVelocityCompensationControl(
558 const char* response,
560 float* velocityTuning,
571 VnError VnSpi_parseVelocityCompensationStatus(
572 const char* response,
587 VnError VnSpi_parseImuMeasurements(
588 const char* response,
604 VnError VnSpi_parseGpsConfiguration(
605 const char* response,
617 VnError VnSpi_parseGpsAntennaOffset(
618 const char* response,
634 VnError VnSpi_parseGpsSolutionLla(
635 const char* response,
659 VnError VnSpi_parseGpsSolutionEcef(
660 const char* response,
684 VnError VnSpi_parseInsSolutionLla(
685 const char* response,
692 float* attUncertainty,
693 float* posUncertainty,
694 float* velUncertainty);
709 VnError VnSpi_parseInsSolutionEcef(
710 const char* response,
717 float* attUncertainty,
718 float* posUncertainty,
719 float* velUncertainty);
729 VnError VnSpi_parseInsBasicConfiguration(
730 const char* response,
733 uint8_t* estBaseline,
755 VnError VnSpi_parseInsAdvancedConfiguration(
756 const char* response,
768 float* deltaLimitPos,
769 float* deltaLimitVel,
770 float* minPosUncertainty,
771 float* minVelUncertainty);
782 VnError VnSpi_parseInsStateLla(
783 const char* response,
799 VnError VnSpi_parseInsStateEcef(
800 const char* response,
814 VnError VnSpi_parseStartupFilterBiasEstimate(
815 const char* response,
818 float* pressureBias);
827 VnError VnSpi_parseDeltaThetaAndDeltaVelocity(
828 const char* response,
831 vec3f* deltaVelocity);
842 VnError VnSpi_parseDeltaThetaAndDeltaVelocityConfiguration(
843 const char* response,
844 uint8_t* integrationFrame,
845 uint8_t* gyroCompensation,
846 uint8_t* accelCompensation,
848 uint16_t* reserved2);
861 VnError VnSpi_parseReferenceVectorConfiguration(
862 const char* response,
863 uint8_t* useMagModel,
864 uint8_t* useGravityModel,
867 uint32_t* recalcThreshold,
877 VnError VnSpi_parseGyroCompensation(
878 const char* response,
896 VnError VnSpi_parseImuFilteringConfiguration(
897 const char* response,
898 uint16_t* magWindowSize,
899 uint16_t* accelWindowSize,
900 uint16_t* gyroWindowSize,
901 uint16_t* tempWindowSize,
902 uint16_t* presWindowSize,
903 uint8_t* magFilterMode,
904 uint8_t* accelFilterMode,
905 uint8_t* gyroFilterMode,
906 uint8_t* tempFilterMode,
907 uint8_t* presFilterMode);
915 VnError VnSpi_parseGpsCompassBaseline(
916 const char* response,
929 VnError VnSpi_parseGpsCompassEstimatedBaseline(
930 const char* response,
931 uint8_t* estBaselineUsed,
945 VnError VnSpi_parseImuRateConfiguration(
946 const char* response,
948 uint16_t* navDivisor,
949 float* filterTargetRate,
950 float* filterMinRate);
959 VnError VnSpi_parseYawPitchRollTrueBodyAccelerationAndAngularRates(
960 const char* response,
972 VnError VnSpi_parseYawPitchRollTrueInertialAccelerationAndAngularRates(
973 const char* response,
975 vec3f* inertialAccel,
1007 size_t desiredLength,
1008 size_t* responseSize);
1023 size_t desiredLength,
1024 size_t* responseSize);
1039 size_t desiredLength,
1040 size_t* responseSize);
1055 size_t desiredLength,
1056 size_t* responseSize);
1071 size_t desiredLength,
1072 size_t* responseSize);
1087 size_t desiredLength,
1088 size_t* responseSize);
1103 size_t desiredLength,
1104 size_t* responseSize);
1119 size_t desiredLength,
1120 size_t* responseSize);
1135 size_t desiredLength,
1136 size_t* responseSize);
1151 size_t desiredLength,
1152 size_t* responseSize);
1167 size_t desiredLength,
1168 size_t* responseSize);
1183 size_t desiredLength,
1184 size_t* responseSize);
1199 size_t desiredLength,
1200 size_t* responseSize);
1215 size_t desiredLength,
1216 size_t* responseSize);
1231 size_t desiredLength,
1232 size_t* responseSize);
1247 size_t desiredLength,
1248 size_t* responseSize);
1263 size_t desiredLength,
1264 size_t* responseSize);
1279 size_t desiredLength,
1280 size_t* responseSize);
1295 size_t desiredLength,
1296 size_t* responseSize);
1311 size_t desiredLength,
1312 size_t* responseSize);
1327 size_t desiredLength,
1328 size_t* responseSize);
1343 size_t desiredLength,
1344 size_t* responseSize);
1359 size_t desiredLength,
1360 size_t* responseSize);
1375 size_t desiredLength,
1376 size_t* responseSize);
1391 size_t desiredLength,
1392 size_t* responseSize);
1407 size_t desiredLength,
1408 size_t* responseSize);
1423 size_t desiredLength,
1424 size_t* responseSize);
1439 size_t desiredLength,
1440 size_t* responseSize);
1455 size_t desiredLength,
1456 size_t* responseSize);
1471 size_t desiredLength,
1472 size_t* responseSize);
1487 size_t desiredLength,
1488 size_t* responseSize);
1503 size_t desiredLength,
1504 size_t* responseSize);
1519 size_t desiredLength,
1520 size_t* responseSize);
1535 size_t desiredLength,
1536 size_t* responseSize);
1551 size_t desiredLength,
1552 size_t* responseSize);
1567 size_t desiredLength,
1568 size_t* responseSize);
1583 size_t desiredLength,
1584 size_t* responseSize);
1599 size_t desiredLength,
1600 size_t* responseSize);
1615 size_t desiredLength,
1616 size_t* responseSize);
1631 size_t desiredLength,
1632 size_t* responseSize);
1647 size_t desiredLength,
1648 size_t* responseSize);
1663 size_t desiredLength,
1664 size_t* responseSize);
1679 size_t desiredLength,
1680 size_t* responseSize);
1695 size_t desiredLength,
1696 size_t* responseSize);
1711 size_t desiredLength,
1712 size_t* responseSize);
1727 size_t desiredLength,
1728 size_t* responseSize);
1743 size_t desiredLength,
1744 size_t* responseSize);
1759 size_t desiredLength,
1760 size_t* responseSize);
1775 size_t desiredLength,
1776 size_t* responseSize);
1791 size_t desiredLength,
1792 size_t* responseSize);
1807 size_t desiredLength,
1808 size_t* responseSize);
1849 size_t desiredLength,
1850 size_t* responseSize,
1867 size_t desiredLength,
1868 size_t* responseSize,
1885 size_t desiredLength,
1886 size_t* responseSize,
1903 size_t desiredLength,
1904 size_t* responseSize,
1921 size_t desiredLength,
1922 size_t* responseSize,
1939 size_t desiredLength,
1940 size_t* responseSize,
1957 size_t desiredLength,
1958 size_t* responseSize,
1976 size_t desiredLength,
1977 size_t* responseSize,
1996 size_t desiredLength,
1997 size_t* responseSize,
2016 size_t desiredLength,
2017 size_t* responseSize,
2035 size_t desiredLength,
2036 size_t* responseSize,
2059 size_t desiredLength,
2060 size_t* responseSize,
2061 uint8_t serialCount,
2062 uint8_t serialStatus,
2065 uint8_t serialChecksum,
2066 uint8_t spiChecksum,
2091 size_t desiredLength,
2092 size_t* responseSize,
2095 uint16_t syncInSkipFactor,
2097 uint8_t syncOutMode,
2098 uint8_t syncOutPolarity,
2099 uint16_t syncOutSkipFactor,
2100 uint32_t syncOutPulseWidth,
2101 uint32_t reserved2);
2119 size_t desiredLength,
2120 size_t* responseSize,
2121 uint32_t syncInCount,
2122 uint32_t syncInTime,
2123 uint32_t syncOutCount);
2142 size_t desiredLength,
2143 size_t* responseSize,
2145 uint8_t headingMode,
2146 uint8_t filteringMode,
2147 uint8_t tuningMode);
2165 size_t desiredLength,
2166 size_t* responseSize,
2168 vec3f adaptiveTuning,
2169 vec3f adaptiveFiltering);
2187 size_t desiredLength,
2188 size_t* responseSize,
2190 vec3f adaptiveTuning,
2191 vec3f adaptiveFiltering);
2209 size_t desiredLength,
2210 size_t* responseSize,
2213 uint8_t convergeRate);
2229 size_t desiredLength,
2230 size_t* responseSize,
2249 size_t desiredLength,
2250 size_t* responseSize,
2252 float velocityTuning,
2273 size_t desiredLength,
2274 size_t* responseSize,
2295 size_t desiredLength,
2296 size_t* responseSize,
2316 size_t desiredLength,
2317 size_t* responseSize,
2320 uint8_t estBaseline,
2339 size_t desiredLength,
2340 size_t* responseSize,
2343 float pressureBias);
2363 size_t desiredLength,
2364 size_t* responseSize,
2365 uint8_t integrationFrame,
2366 uint8_t gyroCompensation,
2367 uint8_t accelCompensation,
2369 uint16_t reserved2);
2391 size_t desiredLength,
2392 size_t* responseSize,
2393 uint8_t useMagModel,
2394 uint8_t useGravityModel,
2397 uint32_t recalcThreshold,
2416 size_t desiredLength,
2417 size_t* responseSize,
2444 size_t desiredLength,
2445 size_t* responseSize,
2446 uint16_t magWindowSize,
2447 uint16_t accelWindowSize,
2448 uint16_t gyroWindowSize,
2449 uint16_t tempWindowSize,
2450 uint16_t presWindowSize,
2451 uint8_t magFilterMode,
2452 uint8_t accelFilterMode,
2453 uint8_t gyroFilterMode,
2454 uint8_t tempFilterMode,
2455 uint8_t presFilterMode);
2472 size_t desiredLength,
2473 size_t* responseSize,
VnError VnSpi_genReadAccelerationMeasurements(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Acceleration Measurements register on a VectorNav sensor...
VnError VnSpi_genReadReferenceFrameRotation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Reference Frame Rotation register on a VectorNav sensor.
VnError VnSpi_genWriteAsyncDataOutputFrequency(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t adof)
Generates a command to write the Async Data Output Frequency register on a VectorNav sensor...
VnError VnSpi_genReadAngularRateMeasurements(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Angular Rate Measurements register on a VectorNav sensor...
VnError VnSpi_genReadDeltaThetaAndDeltaVelocityConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Delta Theta and Delta Velocity Configuration register on a VectorNav ...
VnError VnSpi_genReadGpsCompassBaseline(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Compass Baseline register on a VectorNav sensor.
VnError VnSpi_genReadInsStateLla(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the INS State - LLA register on a VectorNav sensor.
VnError VnSpi_genReadGpsConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Configuration register on a VectorNav sensor. ...
VnError VnSpi_genWriteMagnetometerCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, mat3f c, vec3f b)
Generates a command to write the Magnetometer Compensation register on a VectorNav sensor...
VnError VnSpi_genReadMagneticAndGravityReferenceVectors(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Magnetic and Gravity Reference Vectors register on a VectorNav sensor...
VnError VnSpi_genWriteDeltaThetaAndDeltaVelocityConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t integrationFrame, uint8_t gyroCompensation, uint8_t accelCompensation, uint8_t reserved1, uint16_t reserved2)
Generates a command to write the Delta Theta and Delta Velocity Configuration register on a VectorNav...
VnError VnSpi_genReadImuMeasurements(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the IMU Measurements register on a VectorNav sensor.
VnError VnSpi_genWriteVelocityCompensationMeasurement(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f velocity)
Generates a command to write the Velocity Compensation Measurement register on a VectorNav sensor...
VnError VnSpi_genReadSerialNumber(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Serial Number register on a VectorNav sensor.
VnError VnSpi_genWriteCommunicationProtocolControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t serialCount, uint8_t serialStatus, uint8_t spiCount, uint8_t spiStatus, uint8_t serialChecksum, uint8_t spiChecksum, uint8_t errorMode)
Generates a command to write the Communication Protocol Control register on a VectorNav sensor...
VnError VnSpi_genWriteVpeBasicControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t enable, uint8_t headingMode, uint8_t filteringMode, uint8_t tuningMode)
Generates a command to write the VPE Basic Control register on a VectorNav sensor.
VnError VnSpi_genReadYawPitchRollMagneticAccelerationAndAngularRates(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register o...
VnError VnSpi_genWriteGpsAntennaOffset(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f position)
Generates a command to write the GPS Antenna Offset register on a VectorNav sensor.
VnError VnSpi_genWriteUserTag(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, char *tag)
Generates a command to write the User Tag register on a VectorNav sensor.
VnError VnSpi_genReadGpsSolutionLla(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Solution - LLA register on a VectorNav sensor.
VnError VnSpi_genReadVpeAccelerometerBasicTuning(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the VPE Accelerometer Basic Tuning register on a VectorNav sensor...
VnError VnSpi_genReadGpsSolutionEcef(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Solution - ECEF register on a VectorNav sensor.
VnError VnSpi_genWriteMagnetometerCalibrationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t hsiMode, uint8_t hsiOutput, uint8_t convergeRate)
Generates a command to write the Magnetometer Calibration Control register on a VectorNav sensor...
VnError VnSpi_genReadInsSolutionLla(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the INS Solution - LLA register on a VectorNav sensor.
VnError VnSpi_genReadImuFilteringConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the IMU Filtering Configuration register on a VectorNav sensor...
VnError VnSpi_genWriteReferenceFrameRotation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, mat3f c)
Generates a command to write the Reference Frame Rotation register on a VectorNav sensor...
VnError VnSpi_genReadAsyncDataOutputType(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Async Data Output Type register on a VectorNav sensor.
VnError VnSpi_genReadInsStateEcef(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the INS State - ECEF register on a VectorNav sensor.
VnError VnSpi_genReadStartupFilterBiasEstimate(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Startup Filter Bias Estimate register on a VectorNav sensor...
VnError VnSpi_genWriteAccelerationCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, mat3f c, vec3f b)
Generates a command to write the Acceleration Compensation register on a VectorNav sensor...
Represents a 4 component vector with an underlying data type of float.
Definition: vector.h:68
VnError VnSpi_genReadUserTag(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the User Tag register on a VectorNav sensor.
VnError VnSpi_genWriteVpeAccelerometerBasicTuning(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f baseTuning, vec3f adaptiveTuning, vec3f adaptiveFiltering)
Generates a command to write the VPE Accelerometer Basic Tuning register on a VectorNav sensor...
Represents a 3 component vector with an underlying data type of double.
Definition: vector.h:41
VnError VnSpi_genReadInsBasicConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the INS Basic Configuration register on a VectorNav sensor.
VnError VnSpi_genReadAsyncDataOutputFrequency(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Async Data Output Frequency register on a VectorNav sensor...
VnError VnSpi_genReadVelocityCompensationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Velocity Compensation Control register on a VectorNav sensor...
VnError VnSpi_genReadAccelerationCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Acceleration Compensation register on a VectorNav sensor...
VnError VnSpi_genWriteInsBasicConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t scenario, uint8_t ahrsAiding, uint8_t estBaseline, uint8_t resv2)
Generates a command to write the INS Basic Configuration register on a VectorNav sensor.
VnError VnSpi_genReadMagneticAccelerationAndAngularRates(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Magnetic, Acceleration and Angular Rates register on a VectorNav sens...
VnError VnSpi_genWriteGpsConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t mode, uint8_t ppsSource, uint8_t reserved1, uint8_t reserved2, uint8_t reserved3)
Generates a command to write the GPS Configuration register on a VectorNav sensor.
VnError VnSpi_genWriteAsyncDataOutputType(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t ador)
Generates a command to write the Async Data Output Type register on a VectorNav sensor.
VnError VnSpi_genReadSynchronizationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Synchronization Control register on a VectorNav sensor.
VnError VnSpi_genReadYawPitchRollTrueInertialAccelerationAndAngularRates(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates regist...
VnError VnSpi_genWriteSerialBaudRateWithOptions(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t baudrate)
Generates a command to write the Serial Baud Rate register on a VectorNav sensor. ...
VnError VnSpi_genReadQuaternionMagneticAccelerationAndAngularRates(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Quaternion, Magnetic, Acceleration and Angular Rates register on a Ve...
VnError VnSpi_genReadSynchronizationStatus(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Synchronization Status register on a VectorNav sensor.
VnError VnSpi_genReadVpeMagnetometerBasicTuning(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the VPE Magnetometer Basic Tuning register on a VectorNav sensor...
VnError VnSpi_genReadYawPitchRollTrueBodyAccelerationAndAngularRates(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register o...
VnError VnSpi_genReadFirmwareVersion(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Firmware Version register on a VectorNav sensor.
VnError VnSpi_genReadSerialBaudRate(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Serial Baud Rate register on a VectorNav sensor.
VnError VnSpi_genWriteStartupFilterBiasEstimate(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f gyroBias, vec3f accelBias, float pressureBias)
Generates a command to write the Startup Filter Bias Estimate register on a VectorNav sensor...
VnError VnSpi_genWriteSerialBaudRate(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t baudrate)
Generates a command to write the Serial Baud Rate register on a VectorNav sensor. ...
VnError VnSpi_genReadYawPitchRoll(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Yaw Pitch Roll register on a VectorNav sensor.
VnError VnSpi_genWriteImuFilteringConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint16_t magWindowSize, uint16_t accelWindowSize, uint16_t gyroWindowSize, uint16_t tempWindowSize, uint16_t presWindowSize, uint8_t magFilterMode, uint8_t accelFilterMode, uint8_t gyroFilterMode, uint8_t tempFilterMode, uint8_t presFilterMode)
Generates a command to write the IMU Filtering Configuration register on a VectorNav sensor...
VnError VnSpi_genReadDeltaThetaAndDeltaVelocity(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Delta Theta and Delta Velocity register on a VectorNav sensor...
VnError VnSpi_genWriteSynchronizationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t syncInMode, uint8_t syncInEdge, uint16_t syncInSkipFactor, uint32_t reserved1, uint8_t syncOutMode, uint8_t syncOutPolarity, uint16_t syncOutSkipFactor, uint32_t syncOutPulseWidth, uint32_t reserved2)
Generates a command to write the Synchronization Control register on a VectorNav sensor.
VnError VnSpi_genWriteSynchronizationStatus(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t syncInCount, uint32_t syncInTime, uint32_t syncOutCount)
Generates a command to write the Synchronization Status register on a VectorNav sensor.
VnError VnSpi_genWriteAsyncDataOutputFrequencyWithOptions(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t adof)
Generates a command to write the Async Data Output Frequency register on a VectorNav sensor...
VnError VnSpi_genReadGpsAntennaOffset(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Antenna Offset register on a VectorNav sensor.
VnError VnSpi_genReadCommunicationProtocolControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Communication Protocol Control register on a VectorNav sensor...
VnError VnSpi_genReadReferenceVectorConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Reference Vector Configuration register on a VectorNav sensor...
Represents a 3x3 matrix with an underlying data type of float.
Definition: matrix.h:11
VnError VnSpi_genReadVpeBasicControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the VPE Basic Control register on a VectorNav sensor. ...
VnError VnSpi_genWriteAsyncDataOutputTypeWithOptions(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint32_t ador)
Generates a command to write the Async Data Output Type register on a VectorNav sensor.
VnError VnSpi_genReadMagnetometerCalibrationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Magnetometer Calibration Control register on a VectorNav sensor...
VnError VnSpi_genWriteReferenceVectorConfiguration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t useMagModel, uint8_t useGravityModel, uint8_t resv1, uint8_t resv2, uint32_t recalcThreshold, float year, vec3d position)
Generates a command to write the Reference Vector Configuration register on a VectorNav sensor...
VnError VnSpi_genReadGpsCompassEstimatedBaseline(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the GPS Compass Estimated Baseline register on a VectorNav sensor...
VnError VnSpi_genWriteGyroCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, mat3f c, vec3f b)
Generates a command to write the Gyro Compensation register on a VectorNav sensor.
VnError VnSpi_genReadCalculatedMagnetometerCalibration(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Calculated Magnetometer Calibration register on a VectorNav sensor...
VnError VnSpi_genReadHardwareRevision(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Hardware Revision register on a VectorNav sensor. ...
VnError VnSpi_genReadMagneticMeasurements(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Magnetic Measurements register on a VectorNav sensor.
VnError VnSpi_genReadGyroCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Gyro Compensation register on a VectorNav sensor. ...
Various vector types and operations.
Definition: vector.h:14
VnError VnSpi_genReadVelocityCompensationMeasurement(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Velocity Compensation Measurement register on a VectorNav sensor...
VnError VnSpi_genReadModelNumber(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Model Number register on a VectorNav sensor.
VnError VnSpi_genWriteVelocityCompensationControl(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, uint8_t mode, float velocityTuning, float rateTuning)
Generates a command to write the Velocity Compensation Control register on a VectorNav sensor...
VnError VnSpi_genReadInsSolutionEcef(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the INS Solution - ECEF register on a VectorNav sensor.
VnError VnSpi_genReadMagnetometerCompensation(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Magnetometer Compensation register on a VectorNav sensor...
VnError VnSpi_genWriteMagneticAndGravityReferenceVectors(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f magRef, vec3f accRef)
Generates a command to write the Magnetic and Gravity Reference Vectors register on a VectorNav senso...
VnError VnSpi_genReadAttitudeQuaternion(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize)
Generates a command to read the Attitude Quaternion register on a VectorNav sensor.
VnError VnSpi_genWriteVpeMagnetometerBasicTuning(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f baseTuning, vec3f adaptiveTuning, vec3f adaptiveFiltering)
Generates a command to write the VPE Magnetometer Basic Tuning register on a VectorNav sensor...
VnError VnSpi_genWriteGpsCompassBaseline(char *buffer, size_t *size, size_t desiredLength, size_t *responseSize, vec3f position, vec3f uncertainty)
Generates a command to write the GPS Compass Baseline register on a VectorNav sensor.