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VectorNav C Library
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This set of functions will generate command strings for writing to registers on VectorNav sensors using the SPI protocol. More...
Functions | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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 sensor. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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 sensor. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
This set of functions will generate command strings for writing to registers on VectorNav sensors using the SPI protocol.
These functions take the form shown below. XXX
is replaced by the name of the register, buffer
is provided by the user to be filled with the generated command, size
is the number of bytes available in the provided buffer and will contain the number of bytes of the command to send, desiredLength
is the total number of bytes to pad with 0x00 should the total constructed length of the command be less than the desired length, and [Variable argument list]
varies with the specified register being written to.
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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 sensor.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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 sensor.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |
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.
[in] | buffer | Caller provided buffer to place the generated command. |