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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef _VNSENSORS_SENSORS_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define _VNSENSORS_SENSORS_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#if PYTHON</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor"> #include &quot;boostpython.h&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;</div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;</div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="int_8h.html">int.h</a>&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="nocopy_8h.html">nocopy.h</a>&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &quot;packetfinder.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#include &quot;export.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &quot;registers.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#if PYTHON</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor"> #include &quot;vn/event.h&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacevn.html">vn</a> {</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacexplat.html">xplat</a> {</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keyword">class </span>IPort;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;}</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">namespace </span>sensors {</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;</div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structvn_1_1sensors_1_1sensor__error.html"> 29</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a> : <span class="keyword">public</span> std::exception</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;{</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <span class="keyword">explicit</span> <a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a>(protocol::uart::SensorError e);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a>(<span class="keyword">const</span> <a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a>&amp; e);</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; ~<a class="code" href="structvn_1_1sensors_1_1sensor__error.html">sensor_error</a>() <span class="keywordflow">throw</span>();</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keywordtype">char</span> <span class="keyword">const</span>* <a class="code" href="structvn_1_1sensors_1_1sensor__error.html#a611745215da79a4d5feb589d7579746f">what</a>() <span class="keyword">const</span> <span class="keywordflow">throw</span>();</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structvn_1_1sensors_1_1sensor__error.html#a32c1d2fed5ffd0977fd089c7d5f93b9c"> 51</a></span>&#160; protocol::uart::SensorError <a class="code" href="structvn_1_1sensors_1_1sensor__error.html#a32c1d2fed5ffd0977fd089c7d5f93b9c">error</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordtype">char</span> *_errorMessage;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;};</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html"> 58</a></span>&#160;<span class="keyword">class </span>vn_proglib_DLLEXPORT <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html">VnSensor</a> : <span class="keyword">private</span> <a class="code" href="classvn_1_1util_1_1_no_copy.html">util::NoCopy</a></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753"> 63</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753">Family</a></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; {</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753acb7269f7d3a750a2924703dbde6197e2"> 65</a></span>&#160; <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753acb7269f7d3a750a2924703dbde6197e2">VnSensor_Family_Unknown</a>, </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753aa677af889b239e10543035ce6327fff4"> 66</a></span>&#160; <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753aa677af889b239e10543035ce6327fff4">VnSensor_Family_Vn100</a>, </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753ac9836d12dd267888a6dc72d33d07421b"> 67</a></span>&#160; <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753ac9836d12dd267888a6dc72d33d07421b">VnSensor_Family_Vn200</a>, </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753adc6d3b23c15785e10247a317d0da8fcc"> 68</a></span>&#160; VnSensor_Family_Vn300 </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; };</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="preprocessor"> #if PYTHON</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keyword">typedef</span> Event&lt;protocol::uart::Packet&amp;, size_t, xplat::TimeStamp&gt; AsyncPacketReceivedEvent;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a1cec2f70a83ffb32280f0718bc45ab08"> 83</a></span>&#160; <span class="keyword">typedef</span> void(*RawDataReceivedHandler)(<span class="keywordtype">void</span>* userData, <span class="keyword">const</span> <span class="keywordtype">char</span>* rawData, <span class="keywordtype">size_t</span> length, <span class="keywordtype">size_t</span> runningIndex);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#af6a415de9810d4dab42fd5b73bb16068"> 93</a></span>&#160; <span class="keyword">typedef</span> void(*PossiblePacketFoundHandler)(<span class="keywordtype">void</span>* userData, <a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html">protocol::uart::Packet</a>&amp; possiblePacket, <span class="keywordtype">size_t</span> packetStartRunningIndex);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#a6dacf10c3d177638a4c29462e33a769f"> 107</a></span>&#160; <span class="keyword">typedef</span> void(*AsyncPacketReceivedHandler)(<span class="keywordtype">void</span>* userData, <a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html">protocol::uart::Packet</a>&amp; asyncPacket, <span class="keywordtype">size_t</span> packetStartRunningIndex);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classvn_1_1sensors_1_1_vn_sensor.html#ae48786d2b6a025d03803fb0c6c96d39c"> 120</a></span>&#160; <span class="keyword">typedef</span> void(*ErrorPacketReceivedHandler)(<span class="keywordtype">void</span>* userData, <a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html">protocol::uart::Packet</a>&amp; errorPacket, <span class="keywordtype">size_t</span> packetStartRunningIndex);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160; <span class="keyword">static</span> std::vector&lt;uint32_t&gt; supportedBaudrates();</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html">VnSensor</a>();</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160;</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; ~<a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html">VnSensor</a>();</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160;</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160; uint32_t baudrate();</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160; std::string port();</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; protocol::uart::ErrorDetectionMode sendErrorDetectionMode();</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160; <span class="keywordtype">void</span> setSendErrorDetectionMode(protocol::uart::ErrorDetectionMode mode);</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; <span class="keywordtype">bool</span> isConnected();</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; uint16_t responseTimeoutMs();</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; <span class="keywordtype">void</span> setResponseTimeoutMs(uint16_t <a class="code" href="classvn_1_1timeout.html">timeout</a>);</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; uint16_t retransmitDelayMs();</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; <span class="keywordtype">void</span> setRetransmitDelayMs(uint16_t delay);</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; <span class="keywordtype">bool</span> verifySensorConnectivity();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160; <span class="keywordtype">void</span> connect(<span class="keyword">const</span> std::string &amp;portName, uint32_t baudrate);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160; <span class="keywordtype">void</span> connect(<a class="code" href="classvn_1_1xplat_1_1_i_port.html">xplat::IPort</a>* port);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>&#160; <span class="keywordtype">void</span> disconnect();</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160; std::string transaction(std::string toSend);</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160; std::string send(</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>&#160; std::string toSend,</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160; protocol::uart::ErrorDetectionMode errorDetectionMode = protocol::uart::ERRORDETECTIONMODE_CHECKSUM);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>&#160; <span class="keywordtype">void</span> tare(<span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>&#160;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160; <span class="keywordtype">void</span> setGyroBias(<span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>&#160;</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>&#160; <span class="keywordtype">void</span> magneticDisturbancePresent(<span class="keywordtype">bool</span> disturbancePresent, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>&#160;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>&#160; <span class="keywordtype">void</span> accelerationDisturbancePresent(<span class="keywordtype">bool</span> disturbancePresent, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>&#160;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>&#160; <span class="keywordtype">void</span> writeSettings(<span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>&#160;</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>&#160; <span class="keywordtype">void</span> restoreFactorySettings(<span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>&#160;</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>&#160; <span class="keywordtype">void</span> reset(<span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>&#160;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>&#160; <span class="keywordtype">void</span> changeBaudRate(uint32_t baudrate);</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>&#160;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>&#160; <span class="comment">//static void determineDeviceFamily(std::string portName, uint32_t baudrate);</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>&#160;</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>&#160; <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753">Family</a> determineDeviceFamily();</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>&#160;</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753">Family</a> determineDeviceFamily(std::string modelNumber);</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>&#160;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>&#160;</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>&#160; <span class="keywordtype">void</span> registerRawDataReceivedHandler(<span class="keywordtype">void</span>* userData, RawDataReceivedHandler handler);</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>&#160;</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>&#160;<span class="preprocessor"> #if PL150</span></div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>&#160; <span class="comment">//Event event</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>&#160;<span class="preprocessor"> #else</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>&#160;<span class="preprocessor"> #if PYTHON</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>&#160;</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>&#160; PyObject* registerRawDataReceivedHandler(PyObject* callable);</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>&#160;</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>&#160; <span class="keywordtype">void</span> unregisterRawDataReceivedHandler();</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>&#160;</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>&#160; <span class="keywordtype">void</span> registerPossiblePacketFoundHandler(<span class="keywordtype">void</span>* userData, PossiblePacketFoundHandler handler);</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>&#160;</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>&#160; <span class="keywordtype">void</span> unregisterPossiblePacketFoundHandler();</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>&#160;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>&#160; <span class="keywordtype">void</span> registerAsyncPacketReceivedHandler(<span class="keywordtype">void</span>* userData, AsyncPacketReceivedHandler handler);</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>&#160;</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>&#160;<span class="preprocessor"> #if PL150</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>&#160; <span class="comment">//packet, index, timestamp</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>&#160; <span class="comment">//Event&lt;protocol::uart::Packet&amp;, size_t, size_t&gt; eventAsyncPacketRecieved;</span></div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>&#160;<span class="preprocessor"> #if PYTHON</span></div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>&#160; AsyncPacketReceivedEvent eventAsyncPacketReceived;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>&#160;</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>&#160;<span class="preprocessor"> #else</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>&#160;<span class="preprocessor"> #if PYTHON</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>&#160; PyObject* registerAsyncPacketReceivedHandler(PyObject* callable);</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>&#160;</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>&#160; <span class="keywordtype">void</span> unregisterAsyncPacketReceivedHandler();</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>&#160;</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>&#160; <span class="keywordtype">void</span> registerErrorPacketReceivedHandler(<span class="keywordtype">void</span>* userData, ErrorPacketReceivedHandler handler);</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>&#160;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>&#160; <span class="keywordtype">void</span> unregisterErrorPacketReceivedHandler();</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>&#160;</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>&#160;</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>&#160;</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> readBinaryOutput1();</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>&#160;</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>&#160; <span class="keywordtype">void</span> writeBinaryOutput1(<a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>&#160;</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> readBinaryOutput2();</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>&#160;</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>&#160; <span class="keywordtype">void</span> writeBinaryOutput2(<a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>&#160;</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> readBinaryOutput3();</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>&#160;</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>&#160; <span class="keywordtype">void</span> writeBinaryOutput3(<a class="code" href="structvn_1_1sensors_1_1_binary_output_register.html">BinaryOutputRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>&#160;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>&#160;</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>&#160; uint32_t readSerialBaudRate(uint8_t port);</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>&#160;</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>&#160; <span class="keywordtype">void</span> writeSerialBaudRate(<span class="keyword">const</span> uint32_t &amp;baudrate, uint8_t port, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>&#160;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>&#160; protocol::uart::AsciiAsync readAsyncDataOutputType(uint8_t port);</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>&#160;</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>&#160; <span class="keywordtype">void</span> writeAsyncDataOutputType(protocol::uart::AsciiAsync ador, uint8_t port, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>&#160;</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>&#160; uint32_t readAsyncDataOutputFrequency(uint8_t port);</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>&#160;</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>&#160; <span class="keywordtype">void</span> writeAsyncDataOutputFrequency(<span class="keyword">const</span> uint32_t &amp;adof, uint8_t port, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>&#160;</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_basic_configuration_register_vn200.html">InsBasicConfigurationRegisterVn200</a> readInsBasicConfigurationVn200();</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>&#160;</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>&#160; <span class="keywordtype">void</span> writeInsBasicConfigurationVn200(<a class="code" href="structvn_1_1sensors_1_1_ins_basic_configuration_register_vn200.html">InsBasicConfigurationRegisterVn200</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>&#160;</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>&#160; <span class="keywordtype">void</span> writeInsBasicConfigurationVn200(</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>&#160; protocol::uart::Scenario scenario,</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>&#160; <span class="keyword">const</span> uint8_t &amp;ahrsAiding,</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>&#160;</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_basic_configuration_register_vn300.html">InsBasicConfigurationRegisterVn300</a> readInsBasicConfigurationVn300();</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>&#160;</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>&#160; <span class="keywordtype">void</span> writeInsBasicConfigurationVn300(<a class="code" href="structvn_1_1sensors_1_1_ins_basic_configuration_register_vn300.html">InsBasicConfigurationRegisterVn300</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>&#160;</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>&#160; <span class="keywordtype">void</span> writeInsBasicConfigurationVn300(</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>&#160; protocol::uart::Scenario scenario,</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>&#160; <span class="keyword">const</span> uint8_t &amp;ahrsAiding,</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>&#160; <span class="keyword">const</span> uint8_t &amp;estBaseline,</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>&#160;</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>&#160; std::string readUserTag();</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>&#160;</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>&#160; <span class="keywordtype">void</span> writeUserTag(<span class="keyword">const</span> std::string &amp;tag, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>&#160;</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>&#160; std::string readModelNumber();</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>&#160;</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>&#160; uint32_t readHardwareRevision();</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>&#160;</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>&#160; uint32_t readSerialNumber();</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>&#160;</div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>&#160; std::string readFirmwareVersion();</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>&#160;</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>&#160; uint32_t readSerialBaudRate();</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>&#160;</div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>&#160; <span class="keywordtype">void</span> writeSerialBaudRate(<span class="keyword">const</span> uint32_t &amp;baudrate, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>&#160;</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>&#160; protocol::uart::AsciiAsync readAsyncDataOutputType();</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>&#160;</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>&#160; <span class="keywordtype">void</span> writeAsyncDataOutputType(protocol::uart::AsciiAsync ador, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>&#160;</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>&#160; uint32_t readAsyncDataOutputFrequency();</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>&#160;</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>&#160; <span class="keywordtype">void</span> writeAsyncDataOutputFrequency(<span class="keyword">const</span> uint32_t &amp;adof, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>&#160;</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readYawPitchRoll();</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>&#160;</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec4f</a> readAttitudeQuaternion();</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>&#160;</div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_quaternion_magnetic_acceleration_and_angular_rates_register.html">QuaternionMagneticAccelerationAndAngularRatesRegister</a> readQuaternionMagneticAccelerationAndAngularRates();</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>&#160;</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readMagneticMeasurements();</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>&#160;</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readAccelerationMeasurements();</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>&#160;</div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readAngularRateMeasurements();</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>&#160;</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_magnetic_acceleration_and_angular_rates_register.html">MagneticAccelerationAndAngularRatesRegister</a> readMagneticAccelerationAndAngularRates();</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>&#160;</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_magnetic_and_gravity_reference_vectors_register.html">MagneticAndGravityReferenceVectorsRegister</a> readMagneticAndGravityReferenceVectors();</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>&#160;</div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>&#160; <span class="keywordtype">void</span> writeMagneticAndGravityReferenceVectors(<a class="code" href="structvn_1_1sensors_1_1_magnetic_and_gravity_reference_vectors_register.html">MagneticAndGravityReferenceVectorsRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>&#160;</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>&#160; <span class="keywordtype">void</span> writeMagneticAndGravityReferenceVectors(</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;magRef,</div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;accRef,</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>&#160;</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_filter_measurements_variance_parameters_register.html">FilterMeasurementsVarianceParametersRegister</a> readFilterMeasurementsVarianceParameters();</div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>&#160;</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>&#160; <span class="keywordtype">void</span> writeFilterMeasurementsVarianceParameters(<a class="code" href="structvn_1_1sensors_1_1_filter_measurements_variance_parameters_register.html">FilterMeasurementsVarianceParametersRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>&#160;</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>&#160; <span class="keywordtype">void</span> writeFilterMeasurementsVarianceParameters(</div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;angularWalkVariance,</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;angularRateVariance,</div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;magneticVariance,</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;accelerationVariance,</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>&#160;</div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_magnetometer_compensation_register.html">MagnetometerCompensationRegister</a> readMagnetometerCompensation();</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>&#160;</div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>&#160; <span class="keywordtype">void</span> writeMagnetometerCompensation(<a class="code" href="structvn_1_1sensors_1_1_magnetometer_compensation_register.html">MagnetometerCompensationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>&#160;</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>&#160; <span class="keywordtype">void</span> writeMagnetometerCompensation(</div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1mat.html">vn::math::mat3f</a> &amp;c,</div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;b,</div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>&#160;</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_filter_active_tuning_parameters_register.html">FilterActiveTuningParametersRegister</a> readFilterActiveTuningParameters();</div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>&#160;</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>&#160; <span class="keywordtype">void</span> writeFilterActiveTuningParameters(<a class="code" href="structvn_1_1sensors_1_1_filter_active_tuning_parameters_register.html">FilterActiveTuningParametersRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>&#160;</div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>&#160; <span class="keywordtype">void</span> writeFilterActiveTuningParameters(</div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;magneticDisturbanceGain,</div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;accelerationDisturbanceGain,</div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;magneticDisturbanceMemory,</div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;accelerationDisturbanceMemory,</div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>&#160;</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_acceleration_compensation_register.html">AccelerationCompensationRegister</a> readAccelerationCompensation();</div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>&#160;</div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>&#160; <span class="keywordtype">void</span> writeAccelerationCompensation(<a class="code" href="structvn_1_1sensors_1_1_acceleration_compensation_register.html">AccelerationCompensationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>&#160;</div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>&#160; <span class="keywordtype">void</span> writeAccelerationCompensation(</div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1mat.html">vn::math::mat3f</a> &amp;c,</div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;b,</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>&#160;</div>
<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>&#160; <a class="code" href="structvn_1_1math_1_1mat.html">vn::math::mat3f</a> readReferenceFrameRotation();</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>&#160;</div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>&#160; <span class="keywordtype">void</span> writeReferenceFrameRotation(<span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1mat.html">vn::math::mat3f</a> &amp;c, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>&#160;</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_yaw_pitch_roll_magnetic_acceleration_and_angular_rates_register.html">YawPitchRollMagneticAccelerationAndAngularRatesRegister</a> readYawPitchRollMagneticAccelerationAndAngularRates();</div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>&#160;</div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_communication_protocol_control_register.html">CommunicationProtocolControlRegister</a> readCommunicationProtocolControl();</div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>&#160;</div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>&#160; <span class="keywordtype">void</span> writeCommunicationProtocolControl(<a class="code" href="structvn_1_1sensors_1_1_communication_protocol_control_register.html">CommunicationProtocolControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>&#160;</div>
<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>&#160; <span class="keywordtype">void</span> writeCommunicationProtocolControl(</div>
<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>&#160; protocol::uart::CountMode serialCount,</div>
<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>&#160; protocol::uart::StatusMode serialStatus,</div>
<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>&#160; protocol::uart::CountMode spiCount,</div>
<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>&#160; protocol::uart::StatusMode spiStatus,</div>
<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>&#160; protocol::uart::ChecksumMode serialChecksum,</div>
<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>&#160; protocol::uart::ChecksumMode spiChecksum,</div>
<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>&#160; protocol::uart::ErrorMode errorMode,</div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>&#160;</div>
<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_synchronization_control_register.html">SynchronizationControlRegister</a> readSynchronizationControl();</div>
<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>&#160;</div>
<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>&#160; <span class="keywordtype">void</span> writeSynchronizationControl(<a class="code" href="structvn_1_1sensors_1_1_synchronization_control_register.html">SynchronizationControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>&#160;</div>
<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>&#160; <span class="keywordtype">void</span> writeSynchronizationControl(</div>
<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>&#160; protocol::uart::SyncInMode syncInMode,</div>
<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>&#160; protocol::uart::SyncInEdge syncInEdge,</div>
<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>&#160; <span class="keyword">const</span> uint16_t &amp;syncInSkipFactor,</div>
<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>&#160; protocol::uart::SyncOutMode syncOutMode,</div>
<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>&#160; protocol::uart::SyncOutPolarity syncOutPolarity,</div>
<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>&#160; <span class="keyword">const</span> uint16_t &amp;syncOutSkipFactor,</div>
<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>&#160; <span class="keyword">const</span> uint32_t &amp;syncOutPulseWidth,</div>
<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>&#160;</div>
<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_synchronization_status_register.html">SynchronizationStatusRegister</a> readSynchronizationStatus();</div>
<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>&#160;</div>
<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>&#160; <span class="keywordtype">void</span> writeSynchronizationStatus(<a class="code" href="structvn_1_1sensors_1_1_synchronization_status_register.html">SynchronizationStatusRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>&#160;</div>
<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>&#160; <span class="keywordtype">void</span> writeSynchronizationStatus(</div>
<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>&#160; <span class="keyword">const</span> uint32_t &amp;syncInCount,</div>
<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>&#160; <span class="keyword">const</span> uint32_t &amp;syncInTime,</div>
<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>&#160; <span class="keyword">const</span> uint32_t &amp;syncOutCount,</div>
<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>&#160;</div>
<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_filter_basic_control_register.html">FilterBasicControlRegister</a> readFilterBasicControl();</div>
<div class="line"><a name="l00844"></a><span class="lineno"> 844</span>&#160;</div>
<div class="line"><a name="l00849"></a><span class="lineno"> 849</span>&#160; <span class="keywordtype">void</span> writeFilterBasicControl(<a class="code" href="structvn_1_1sensors_1_1_filter_basic_control_register.html">FilterBasicControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00850"></a><span class="lineno"> 850</span>&#160;</div>
<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>&#160; <span class="keywordtype">void</span> writeFilterBasicControl(</div>
<div class="line"><a name="l00860"></a><span class="lineno"> 860</span>&#160; protocol::uart::MagneticMode magMode,</div>
<div class="line"><a name="l00861"></a><span class="lineno"> 861</span>&#160; protocol::uart::ExternalSensorMode extMagMode,</div>
<div class="line"><a name="l00862"></a><span class="lineno"> 862</span>&#160; protocol::uart::ExternalSensorMode extAccMode,</div>
<div class="line"><a name="l00863"></a><span class="lineno"> 863</span>&#160; protocol::uart::ExternalSensorMode extGyroMode,</div>
<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;gyroLimit,</div>
<div class="line"><a name="l00865"></a><span class="lineno"> 865</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00866"></a><span class="lineno"> 866</span>&#160;</div>
<div class="line"><a name="l00870"></a><span class="lineno"> 870</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_basic_control_register.html">VpeBasicControlRegister</a> readVpeBasicControl();</div>
<div class="line"><a name="l00871"></a><span class="lineno"> 871</span>&#160;</div>
<div class="line"><a name="l00876"></a><span class="lineno"> 876</span>&#160; <span class="keywordtype">void</span> writeVpeBasicControl(<a class="code" href="structvn_1_1sensors_1_1_vpe_basic_control_register.html">VpeBasicControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00877"></a><span class="lineno"> 877</span>&#160;</div>
<div class="line"><a name="l00885"></a><span class="lineno"> 885</span>&#160; <span class="keywordtype">void</span> writeVpeBasicControl(</div>
<div class="line"><a name="l00886"></a><span class="lineno"> 886</span>&#160; protocol::uart::VpeEnable enable,</div>
<div class="line"><a name="l00887"></a><span class="lineno"> 887</span>&#160; protocol::uart::HeadingMode headingMode,</div>
<div class="line"><a name="l00888"></a><span class="lineno"> 888</span>&#160; protocol::uart::VpeMode filteringMode,</div>
<div class="line"><a name="l00889"></a><span class="lineno"> 889</span>&#160; protocol::uart::VpeMode tuningMode,</div>
<div class="line"><a name="l00890"></a><span class="lineno"> 890</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00891"></a><span class="lineno"> 891</span>&#160;</div>
<div class="line"><a name="l00895"></a><span class="lineno"> 895</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_magnetometer_basic_tuning_register.html">VpeMagnetometerBasicTuningRegister</a> readVpeMagnetometerBasicTuning();</div>
<div class="line"><a name="l00896"></a><span class="lineno"> 896</span>&#160;</div>
<div class="line"><a name="l00901"></a><span class="lineno"> 901</span>&#160; <span class="keywordtype">void</span> writeVpeMagnetometerBasicTuning(<a class="code" href="structvn_1_1sensors_1_1_vpe_magnetometer_basic_tuning_register.html">VpeMagnetometerBasicTuningRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00902"></a><span class="lineno"> 902</span>&#160;</div>
<div class="line"><a name="l00909"></a><span class="lineno"> 909</span>&#160; <span class="keywordtype">void</span> writeVpeMagnetometerBasicTuning(</div>
<div class="line"><a name="l00910"></a><span class="lineno"> 910</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;baseTuning,</div>
<div class="line"><a name="l00911"></a><span class="lineno"> 911</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;adaptiveTuning,</div>
<div class="line"><a name="l00912"></a><span class="lineno"> 912</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;adaptiveFiltering,</div>
<div class="line"><a name="l00913"></a><span class="lineno"> 913</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00914"></a><span class="lineno"> 914</span>&#160;</div>
<div class="line"><a name="l00918"></a><span class="lineno"> 918</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_magnetometer_advanced_tuning_register.html">VpeMagnetometerAdvancedTuningRegister</a> readVpeMagnetometerAdvancedTuning();</div>
<div class="line"><a name="l00919"></a><span class="lineno"> 919</span>&#160;</div>
<div class="line"><a name="l00924"></a><span class="lineno"> 924</span>&#160; <span class="keywordtype">void</span> writeVpeMagnetometerAdvancedTuning(<a class="code" href="structvn_1_1sensors_1_1_vpe_magnetometer_advanced_tuning_register.html">VpeMagnetometerAdvancedTuningRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00925"></a><span class="lineno"> 925</span>&#160;</div>
<div class="line"><a name="l00934"></a><span class="lineno"> 934</span>&#160; <span class="keywordtype">void</span> writeVpeMagnetometerAdvancedTuning(</div>
<div class="line"><a name="l00935"></a><span class="lineno"> 935</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;minFiltering,</div>
<div class="line"><a name="l00936"></a><span class="lineno"> 936</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;maxFiltering,</div>
<div class="line"><a name="l00937"></a><span class="lineno"> 937</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;maxAdaptRate,</div>
<div class="line"><a name="l00938"></a><span class="lineno"> 938</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;disturbanceWindow,</div>
<div class="line"><a name="l00939"></a><span class="lineno"> 939</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;maxTuning,</div>
<div class="line"><a name="l00940"></a><span class="lineno"> 940</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00941"></a><span class="lineno"> 941</span>&#160;</div>
<div class="line"><a name="l00945"></a><span class="lineno"> 945</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_accelerometer_basic_tuning_register.html">VpeAccelerometerBasicTuningRegister</a> readVpeAccelerometerBasicTuning();</div>
<div class="line"><a name="l00946"></a><span class="lineno"> 946</span>&#160;</div>
<div class="line"><a name="l00951"></a><span class="lineno"> 951</span>&#160; <span class="keywordtype">void</span> writeVpeAccelerometerBasicTuning(<a class="code" href="structvn_1_1sensors_1_1_vpe_accelerometer_basic_tuning_register.html">VpeAccelerometerBasicTuningRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00952"></a><span class="lineno"> 952</span>&#160;</div>
<div class="line"><a name="l00959"></a><span class="lineno"> 959</span>&#160; <span class="keywordtype">void</span> writeVpeAccelerometerBasicTuning(</div>
<div class="line"><a name="l00960"></a><span class="lineno"> 960</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;baseTuning,</div>
<div class="line"><a name="l00961"></a><span class="lineno"> 961</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;adaptiveTuning,</div>
<div class="line"><a name="l00962"></a><span class="lineno"> 962</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;adaptiveFiltering,</div>
<div class="line"><a name="l00963"></a><span class="lineno"> 963</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00964"></a><span class="lineno"> 964</span>&#160;</div>
<div class="line"><a name="l00968"></a><span class="lineno"> 968</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_accelerometer_advanced_tuning_register.html">VpeAccelerometerAdvancedTuningRegister</a> readVpeAccelerometerAdvancedTuning();</div>
<div class="line"><a name="l00969"></a><span class="lineno"> 969</span>&#160;</div>
<div class="line"><a name="l00974"></a><span class="lineno"> 974</span>&#160; <span class="keywordtype">void</span> writeVpeAccelerometerAdvancedTuning(<a class="code" href="structvn_1_1sensors_1_1_vpe_accelerometer_advanced_tuning_register.html">VpeAccelerometerAdvancedTuningRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00975"></a><span class="lineno"> 975</span>&#160;</div>
<div class="line"><a name="l00984"></a><span class="lineno"> 984</span>&#160; <span class="keywordtype">void</span> writeVpeAccelerometerAdvancedTuning(</div>
<div class="line"><a name="l00985"></a><span class="lineno"> 985</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;minFiltering,</div>
<div class="line"><a name="l00986"></a><span class="lineno"> 986</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;maxFiltering,</div>
<div class="line"><a name="l00987"></a><span class="lineno"> 987</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;maxAdaptRate,</div>
<div class="line"><a name="l00988"></a><span class="lineno"> 988</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;disturbanceWindow,</div>
<div class="line"><a name="l00989"></a><span class="lineno"> 989</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;maxTuning,</div>
<div class="line"><a name="l00990"></a><span class="lineno"> 990</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00991"></a><span class="lineno"> 991</span>&#160;</div>
<div class="line"><a name="l00995"></a><span class="lineno"> 995</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_vpe_gyro_basic_tuning_register.html">VpeGyroBasicTuningRegister</a> readVpeGyroBasicTuning();</div>
<div class="line"><a name="l00996"></a><span class="lineno"> 996</span>&#160;</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160; <span class="keywordtype">void</span> writeVpeGyroBasicTuning(<a class="code" href="structvn_1_1sensors_1_1_vpe_gyro_basic_tuning_register.html">VpeGyroBasicTuningRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160; <span class="keywordtype">void</span> writeVpeGyroBasicTuning(</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;angularWalkVariance,</div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;baseTuning,</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;adaptiveTuning,</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readFilterStartupGyroBias();</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160; <span class="keywordtype">void</span> writeFilterStartupGyroBias(<span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;bias, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;</div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_magnetometer_calibration_control_register.html">MagnetometerCalibrationControlRegister</a> readMagnetometerCalibrationControl();</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160; <span class="keywordtype">void</span> writeMagnetometerCalibrationControl(<a class="code" href="structvn_1_1sensors_1_1_magnetometer_calibration_control_register.html">MagnetometerCalibrationControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160; <span class="keywordtype">void</span> writeMagnetometerCalibrationControl(</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160; protocol::uart::HsiMode hsiMode,</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160; protocol::uart::HsiOutput hsiOutput,</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160; <span class="keyword">const</span> uint8_t &amp;convergeRate,</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_calculated_magnetometer_calibration_register.html">CalculatedMagnetometerCalibrationRegister</a> readCalculatedMagnetometerCalibration();</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160; <span class="keywordtype">float</span> readIndoorHeadingModeControl();</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160; <span class="keywordtype">void</span> writeIndoorHeadingModeControl(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;maxRateError, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readVelocityCompensationMeasurement();</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;</div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160; <span class="keywordtype">void</span> writeVelocityCompensationMeasurement(<span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;velocity, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_velocity_compensation_control_register.html">VelocityCompensationControlRegister</a> readVelocityCompensationControl();</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160; <span class="keywordtype">void</span> writeVelocityCompensationControl(<a class="code" href="structvn_1_1sensors_1_1_velocity_compensation_control_register.html">VelocityCompensationControlRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160; <span class="keywordtype">void</span> writeVelocityCompensationControl(</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160; protocol::uart::VelocityCompensationMode mode,</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;velocityTuning,</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;rateTuning,</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_velocity_compensation_status_register.html">VelocityCompensationStatusRegister</a> readVelocityCompensationStatus();</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_imu_measurements_register.html">ImuMeasurementsRegister</a> readImuMeasurements();</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gps_configuration_register.html">GpsConfigurationRegister</a> readGpsConfiguration();</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160; <span class="keywordtype">void</span> writeGpsConfiguration(<a class="code" href="structvn_1_1sensors_1_1_gps_configuration_register.html">GpsConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160; <span class="keywordtype">void</span> writeGpsConfiguration(</div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160; protocol::uart::GpsMode mode,</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160; protocol::uart::PpsSource ppsSource,</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> readGpsAntennaOffset();</div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160; <span class="keywordtype">void</span> writeGpsAntennaOffset(<span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;position, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gps_solution_lla_register.html">GpsSolutionLlaRegister</a> readGpsSolutionLla();</div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gps_solution_ecef_register.html">GpsSolutionEcefRegister</a> readGpsSolutionEcef();</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;</div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_solution_lla_register.html">InsSolutionLlaRegister</a> readInsSolutionLla();</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_solution_ecef_register.html">InsSolutionEcefRegister</a> readInsSolutionEcef();</div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;</div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_advanced_configuration_register.html">InsAdvancedConfigurationRegister</a> readInsAdvancedConfiguration();</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160; <span class="keywordtype">void</span> writeInsAdvancedConfiguration(<a class="code" href="structvn_1_1sensors_1_1_ins_advanced_configuration_register.html">InsAdvancedConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160; <span class="keywordtype">void</span> writeInsAdvancedConfiguration(</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160; <span class="keyword">const</span> uint8_t &amp;useMag,</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160; <span class="keyword">const</span> uint8_t &amp;usePres,</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160; <span class="keyword">const</span> uint8_t &amp;posAtt,</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160; <span class="keyword">const</span> uint8_t &amp;velAtt,</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160; <span class="keyword">const</span> uint8_t &amp;velBias,</div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160; protocol::uart::FoamInit useFoam,</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160; <span class="keyword">const</span> uint8_t &amp;gpsCovType,</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160; <span class="keyword">const</span> uint8_t &amp;velCount,</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;velInit,</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;moveOrigin,</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;gpsTimeout,</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;deltaLimitPos,</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;deltaLimitVel,</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;minPosUncertainty,</div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;minVelUncertainty,</div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_state_lla_register.html">InsStateLlaRegister</a> readInsStateLla();</div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;</div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_ins_state_ecef_register.html">InsStateEcefRegister</a> readInsStateEcef();</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;</div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_startup_filter_bias_estimate_register.html">StartupFilterBiasEstimateRegister</a> readStartupFilterBiasEstimate();</div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160; <span class="keywordtype">void</span> writeStartupFilterBiasEstimate(<a class="code" href="structvn_1_1sensors_1_1_startup_filter_bias_estimate_register.html">StartupFilterBiasEstimateRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;</div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160; <span class="keywordtype">void</span> writeStartupFilterBiasEstimate(</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;gyroBias,</div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;accelBias,</div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;pressureBias,</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;</div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_register.html">DeltaThetaAndDeltaVelocityRegister</a> readDeltaThetaAndDeltaVelocity();</div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;</div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_configuration_register.html">DeltaThetaAndDeltaVelocityConfigurationRegister</a> readDeltaThetaAndDeltaVelocityConfiguration();</div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160; <span class="keywordtype">void</span> writeDeltaThetaAndDeltaVelocityConfiguration(<a class="code" href="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_configuration_register.html">DeltaThetaAndDeltaVelocityConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;</div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160; <span class="keywordtype">void</span> writeDeltaThetaAndDeltaVelocityConfiguration(</div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160; protocol::uart::IntegrationFrame integrationFrame,</div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160; protocol::uart::CompensationMode gyroCompensation,</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160; protocol::uart::CompensationMode accelCompensation,</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;</div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_reference_vector_configuration_register.html">ReferenceVectorConfigurationRegister</a> readReferenceVectorConfiguration();</div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160; <span class="keywordtype">void</span> writeReferenceVectorConfiguration(<a class="code" href="structvn_1_1sensors_1_1_reference_vector_configuration_register.html">ReferenceVectorConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;</div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160; <span class="keywordtype">void</span> writeReferenceVectorConfiguration(</div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160; <span class="keyword">const</span> uint8_t &amp;useMagModel,</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160; <span class="keyword">const</span> uint8_t &amp;useGravityModel,</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160; <span class="keyword">const</span> uint32_t &amp;recalcThreshold,</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;year,</div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3d</a> &amp;position,</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gyro_compensation_register.html">GyroCompensationRegister</a> readGyroCompensation();</div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;</div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160; <span class="keywordtype">void</span> writeGyroCompensation(<a class="code" href="structvn_1_1sensors_1_1_gyro_compensation_register.html">GyroCompensationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160; <span class="keywordtype">void</span> writeGyroCompensation(</div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1mat.html">vn::math::mat3f</a> &amp;c,</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;b,</div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;</div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_imu_filtering_configuration_register.html">ImuFilteringConfigurationRegister</a> readImuFilteringConfiguration();</div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160; <span class="keywordtype">void</span> writeImuFilteringConfiguration(<a class="code" href="structvn_1_1sensors_1_1_imu_filtering_configuration_register.html">ImuFilteringConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160; <span class="keywordtype">void</span> writeImuFilteringConfiguration(</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160; <span class="keyword">const</span> uint16_t &amp;magWindowSize,</div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160; <span class="keyword">const</span> uint16_t &amp;accelWindowSize,</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160; <span class="keyword">const</span> uint16_t &amp;gyroWindowSize,</div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160; <span class="keyword">const</span> uint16_t &amp;tempWindowSize,</div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160; <span class="keyword">const</span> uint16_t &amp;presWindowSize,</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160; protocol::uart::FilterMode magFilterMode,</div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160; protocol::uart::FilterMode accelFilterMode,</div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160; protocol::uart::FilterMode gyroFilterMode,</div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160; protocol::uart::FilterMode tempFilterMode,</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160; protocol::uart::FilterMode presFilterMode,</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gps_compass_baseline_register.html">GpsCompassBaselineRegister</a> readGpsCompassBaseline();</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160; <span class="keywordtype">void</span> writeGpsCompassBaseline(<a class="code" href="structvn_1_1sensors_1_1_gps_compass_baseline_register.html">GpsCompassBaselineRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160; <span class="keywordtype">void</span> writeGpsCompassBaseline(</div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;position,</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160; <span class="keyword">const</span> <a class="code" href="structvn_1_1math_1_1vec.html">vn::math::vec3f</a> &amp;uncertainty,</div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_gps_compass_estimated_baseline_register.html">GpsCompassEstimatedBaselineRegister</a> readGpsCompassEstimatedBaseline();</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;</div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_imu_rate_configuration_register.html">ImuRateConfigurationRegister</a> readImuRateConfiguration();</div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;</div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160; <span class="keywordtype">void</span> writeImuRateConfiguration(<a class="code" href="structvn_1_1sensors_1_1_imu_rate_configuration_register.html">ImuRateConfigurationRegister</a> &amp;fields, <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160;</div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160; <span class="keywordtype">void</span> writeImuRateConfiguration(</div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160; <span class="keyword">const</span> uint16_t &amp;imuRate,</div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160; <span class="keyword">const</span> uint16_t &amp;navDivisor,</div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;filterTargetRate,</div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;filterMinRate,</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160; <span class="keywordtype">bool</span> waitForReply = <span class="keyword">true</span>);</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;</div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_yaw_pitch_roll_true_body_acceleration_and_angular_rates_register.html">YawPitchRollTrueBodyAccelerationAndAngularRatesRegister</a> readYawPitchRollTrueBodyAccelerationAndAngularRates();</div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160; <a class="code" href="structvn_1_1sensors_1_1_yaw_pitch_roll_true_inertial_acceleration_and_angular_rates_register.html">YawPitchRollTrueInertialAccelerationAndAngularRatesRegister</a> readYawPitchRollTrueInertialAccelerationAndAngularRates();</div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;</div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;</div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;<span class="preprocessor"> #ifdef PYTHON_WRAPPERS</span></div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;</div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160;</div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;<span class="preprocessor"> #if PYTHON &amp;&amp; !PL156_ORIGINAL &amp;&amp; !PL156_FIX_ATTEMPT_1</span></div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;</div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160; <span class="keywordtype">void</span> stopRequest();</div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160; <span class="keywordtype">bool</span> threadStopped();</div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160; <span class="keywordtype">void</span> unregisterListners();</div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160; <span class="keywordtype">void</span> shutdownRequest();</div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160; <span class="keywordtype">void</span> goRequest();</div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;</div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;</div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160; <span class="keyword">struct </span>Impl;</div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160; Impl *_pi;</div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;</div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;};</div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;</div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;}</div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;}</div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;</div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;<span class="preprocessor">#endif</span></div>
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<div class="ttc" id="nocopy_8h_html"><div class="ttname"><a href="nocopy_8h.html">nocopy.h</a></div></div>
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<div class="ttc" id="classvn_1_1xplat_1_1_i_port_html"><div class="ttname"><a href="classvn_1_1xplat_1_1_i_port.html">vn::xplat::IPort</a></div><div class="ttdoc">Interface for a simple port. </div><div class="ttdef"><b>Definition:</b> port.h:12</div></div>
<div class="ttc" id="classvn_1_1sensors_1_1_vn_sensor_html_a7425f2e321493ab0164a44190658d753ac9836d12dd267888a6dc72d33d07421b"><div class="ttname"><a href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753ac9836d12dd267888a6dc72d33d07421b">vn::sensors::VnSensor::VnSensor_Family_Vn200</a></div><div class="ttdoc">A device of the VectorNav VN-200 sensor family. </div><div class="ttdef"><b>Definition:</b> sensors.h:67</div></div>
<div class="ttc" id="structvn_1_1math_1_1mat_html"><div class="ttname"><a href="structvn_1_1math_1_1mat.html">vn::math::mat</a></div><div class="ttdoc">Template for a matrix. </div><div class="ttdef"><b>Definition:</b> matrix.h:20</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_imu_rate_configuration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_imu_rate_configuration_register.html">vn::sensors::ImuRateConfigurationRegister</a></div><div class="ttdoc">Structure representing the IMU Rate Configuration register. </div><div class="ttdef"><b>Definition:</b> registers.h:1377</div></div>
<div class="ttc" id="classvn_1_1sensors_1_1_vn_sensor_html_a7425f2e321493ab0164a44190658d753"><div class="ttname"><a href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753">vn::sensors::VnSensor::Family</a></div><div class="ttdeci">Family</div><div class="ttdef"><b>Definition:</b> sensors.h:63</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_ins_solution_lla_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_ins_solution_lla_register.html">vn::sensors::InsSolutionLlaRegister</a></div><div class="ttdoc">Structure representing the INS Solution - LLA register. </div><div class="ttdef"><b>Definition:</b> registers.h:862</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_imu_filtering_configuration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_imu_filtering_configuration_register.html">vn::sensors::ImuFilteringConfigurationRegister</a></div><div class="ttdoc">Structure representing the IMU Filtering Configuration register. </div><div class="ttdef"><b>Definition:</b> registers.h:1274</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_magnetic_and_gravity_reference_vectors_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_magnetic_and_gravity_reference_vectors_register.html">vn::sensors::MagneticAndGravityReferenceVectorsRegister</a></div><div class="ttdoc">Structure representing the Magnetic and Gravity Reference Vectors register. </div><div class="ttdef"><b>Definition:</b> registers.h:150</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_filter_basic_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_filter_basic_control_register.html">vn::sensors::FilterBasicControlRegister</a></div><div class="ttdoc">Structure representing the Filter Basic Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:407</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_gyro_compensation_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_gyro_compensation_register.html">vn::sensors::GyroCompensationRegister</a></div><div class="ttdoc">Structure representing the Gyro Compensation register. </div><div class="ttdef"><b>Definition:</b> registers.h:1253</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_yaw_pitch_roll_magnetic_acceleration_and_angular_rates_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_yaw_pitch_roll_magnetic_acceleration_and_angular_rates_register.html">vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister</a></div><div class="ttdoc">Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register...</div><div class="ttdef"><b>Definition:</b> registers.h:271</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_vpe_magnetometer_advanced_tuning_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_vpe_magnetometer_advanced_tuning_register.html">vn::sensors::VpeMagnetometerAdvancedTuningRegister</a></div><div class="ttdoc">Structure representing the VPE Magnetometer Advanced Tuning register. </div><div class="ttdef"><b>Definition:</b> registers.h:494</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1sensor__error_html_a32c1d2fed5ffd0977fd089c7d5f93b9c"><div class="ttname"><a href="structvn_1_1sensors_1_1sensor__error.html#a32c1d2fed5ffd0977fd089c7d5f93b9c">vn::sensors::sensor_error::error</a></div><div class="ttdeci">protocol::uart::SensorError error</div><div class="ttdoc">The associated sensor error. </div><div class="ttdef"><b>Definition:</b> sensors.h:51</div></div>
<div class="ttc" id="namespacexplat_html"><div class="ttname"><a href="namespacexplat.html">xplat</a></div><div class="ttdef"><b>Definition:</b> mock.h:4</div></div>
<div class="ttc" id="classvn_1_1timeout_html"><div class="ttname"><a href="classvn_1_1timeout.html">vn::timeout</a></div><div class="ttdoc">A timeout occurred. </div><div class="ttdef"><b>Definition:</b> exceptions.h:85</div></div>
<div class="ttc" id="classvn_1_1sensors_1_1_vn_sensor_html"><div class="ttname"><a href="classvn_1_1sensors_1_1_vn_sensor.html">vn::sensors::VnSensor</a></div><div class="ttdoc">Helpful class for working with VectorNav sensors. </div><div class="ttdef"><b>Definition:</b> sensors.h:58</div></div>
<div class="ttc" id="classvn_1_1sensors_1_1_vn_sensor_html_a7425f2e321493ab0164a44190658d753aa677af889b239e10543035ce6327fff4"><div class="ttname"><a href="classvn_1_1sensors_1_1_vn_sensor.html#a7425f2e321493ab0164a44190658d753aa677af889b239e10543035ce6327fff4">vn::sensors::VnSensor::VnSensor_Family_Vn100</a></div><div class="ttdoc">A device of the VectorNav VN-100 sensor family. </div><div class="ttdef"><b>Definition:</b> sensors.h:66</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_vpe_basic_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_vpe_basic_control_register.html">vn::sensors::VpeBasicControlRegister</a></div><div class="ttdoc">Structure representing the VPE Basic Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:440</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_synchronization_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_synchronization_control_register.html">vn::sensors::SynchronizationControlRegister</a></div><div class="ttdoc">Structure representing the Synchronization Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:341</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_gps_configuration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_gps_configuration_register.html">vn::sensors::GpsConfigurationRegister</a></div><div class="ttdoc">Structure representing the GPS Configuration register. </div><div class="ttdef"><b>Definition:</b> registers.h:743</div></div>
<div class="ttc" id="classvn_1_1util_1_1_no_copy_html"><div class="ttname"><a href="classvn_1_1util_1_1_no_copy.html">vn::util::NoCopy</a></div><div class="ttdoc">Identifies a derived class as being unable to be copied and prevents copy attempts. </div><div class="ttdef"><b>Definition:</b> nocopy.h:21</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1sensor__error_html"><div class="ttname"><a href="structvn_1_1sensors_1_1sensor__error.html">vn::sensors::sensor_error</a></div><div class="ttdoc">Represents an error from a VectorNav sensor. </div><div class="ttdef"><b>Definition:</b> sensors.h:29</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_gps_solution_ecef_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_gps_solution_ecef_register.html">vn::sensors::GpsSolutionEcefRegister</a></div><div class="ttdoc">Structure representing the GPS Solution - ECEF register. </div><div class="ttdef"><b>Definition:</b> registers.h:813</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_quaternion_magnetic_acceleration_and_angular_rates_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_quaternion_magnetic_acceleration_and_angular_rates_register.html">vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister</a></div><div class="ttdoc">Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register. </div><div class="ttdef"><b>Definition:</b> registers.h:96</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_magnetic_acceleration_and_angular_rates_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_magnetic_acceleration_and_angular_rates_register.html">vn::sensors::MagneticAccelerationAndAngularRatesRegister</a></div><div class="ttdoc">Structure representing the Magnetic, Acceleration and Angular Rates register. </div><div class="ttdef"><b>Definition:</b> registers.h:125</div></div>
<div class="ttc" id="namespacevn_html"><div class="ttname"><a href="namespacevn.html">vn</a></div><div class="ttdef"><b>Definition:</b> attitude.h:8</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_velocity_compensation_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_velocity_compensation_control_register.html">vn::sensors::VelocityCompensationControlRegister</a></div><div class="ttdoc">Structure representing the Velocity Compensation Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:656</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_calculated_magnetometer_calibration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_calculated_magnetometer_calibration_register.html">vn::sensors::CalculatedMagnetometerCalibrationRegister</a></div><div class="ttdoc">Structure representing the Calculated Magnetometer Calibration register. </div><div class="ttdef"><b>Definition:</b> registers.h:635</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_reference_vector_configuration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_reference_vector_configuration_register.html">vn::sensors::ReferenceVectorConfigurationRegister</a></div><div class="ttdoc">Structure representing the Reference Vector Configuration register. </div><div class="ttdef"><b>Definition:</b> registers.h:1220</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_binary_output_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_binary_output_register.html">vn::sensors::BinaryOutputRegister</a></div><div class="ttdoc">Structure representing a Binary Output register. </div><div class="ttdef"><b>Definition:</b> registers.h:24</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_communication_protocol_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_communication_protocol_control_register.html">vn::sensors::CommunicationProtocolControlRegister</a></div><div class="ttdoc">Structure representing the Communication Protocol Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:300</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_configuration_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_configuration_register.html">vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister</a></div><div class="ttdoc">Structure representing the Delta Theta and Delta Velocity Configuration register. ...</div><div class="ttdef"><b>Definition:</b> registers.h:1195</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_vpe_accelerometer_advanced_tuning_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_vpe_accelerometer_advanced_tuning_register.html">vn::sensors::VpeAccelerometerAdvancedTuningRegister</a></div><div class="ttdoc">Structure representing the VPE Accelerometer Advanced Tuning register. </div><div class="ttdef"><b>Definition:</b> registers.h:552</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_vpe_magnetometer_basic_tuning_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_vpe_magnetometer_basic_tuning_register.html">vn::sensors::VpeMagnetometerBasicTuningRegister</a></div><div class="ttdoc">Structure representing the VPE Magnetometer Basic Tuning register. </div><div class="ttdef"><b>Definition:</b> registers.h:469</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_magnetometer_calibration_control_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_magnetometer_calibration_control_register.html">vn::sensors::MagnetometerCalibrationControlRegister</a></div><div class="ttdoc">Structure representing the Magnetometer Calibration Control register. </div><div class="ttdef"><b>Definition:</b> registers.h:610</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_ins_state_lla_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_ins_state_lla_register.html">vn::sensors::InsStateLlaRegister</a></div><div class="ttdoc">Structure representing the INS State - LLA register. </div><div class="ttdef"><b>Definition:</b> registers.h:1079</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_delta_theta_and_delta_velocity_register.html">vn::sensors::DeltaThetaAndDeltaVelocityRegister</a></div><div class="ttdoc">Structure representing the Delta Theta and Delta Velocity register. </div><div class="ttdef"><b>Definition:</b> registers.h:1170</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_filter_active_tuning_parameters_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_filter_active_tuning_parameters_register.html">vn::sensors::FilterActiveTuningParametersRegister</a></div><div class="ttdoc">Structure representing the Filter Active Tuning Parameters register. </div><div class="ttdef"><b>Definition:</b> registers.h:221</div></div>
<div class="ttc" id="structvn_1_1protocol_1_1uart_1_1_packet_html"><div class="ttname"><a href="structvn_1_1protocol_1_1uart_1_1_packet.html">vn::protocol::uart::Packet</a></div><div class="ttdoc">Structure representing a UART packet received from the VectorNav sensor. </div><div class="ttdef"><b>Definition:</b> packet.h:16</div></div>
<div class="ttc" id="structvn_1_1sensors_1_1_imu_measurements_register_html"><div class="ttname"><a href="structvn_1_1sensors_1_1_imu_measurements_register.html">vn::sensors::ImuMeasurementsRegister</a></div><div class="ttdoc">Structure representing the IMU Measurements register. </div><div class="ttdef"><b>Definition:</b> registers.h:710</div></div>
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