vmu931.h File Reference

Library public interface header. More...

#include <stdint.h>

Go to the source code of this file.

Data Structures
struct	vmu_tx
	Data streamed for Heading. More...
struct	vmu_txyz
	Data streamed for Accelerometers, Gyroscopes, Magnetometers and Euler angles. More...
struct	vmu_twxyz
	Data streamed for Quaternions. More...
struct	vmu_text
	Textual data returned by device and library. More...
struct	vmu_status
	Device status - enabled sensors, resolution, rate and streamed data. More...
struct	vmu_size
	Array sizes for vmu_data arrays. More...
struct	vmu_data
	Structure with multiple types of data returned from the device. More...

Enumerations
enum	{ VMU_MAX_STRING_SIZE =255 }
enum	vmu_sensors_enum { VMU_SENSORS_ACCEL =0x01, VMU_SENSORS_GYRO =0x02, VMU_SENSORS_MAG =0x04 }
	Constants used for determining enabled sensors. More...
enum	vmu_resolution_enum {   VMU_RESOLUTION_ACCEL_2G =0x01, VMU_RESOLUTION_ACCEL_4G =0x02, VMU_RESOLUTION_ACCEL_8G =0x04, VMU_RESOLUTION_ACCEL_16G =0x08,   VMU_RESOLUTION_GYRO_250DPS =0x10, VMU_RESOLUTION_GYRO_500DPS =0x20, VMU_RESOLUTION_GYRO_1000DPS =0x40, VMU_RESOLUTION_GYRO_2000DPS =0x80 }
	Constants used for determining and setting sensor resolution. More...
enum	vmu_stream_enum {   VMU_STREAM_ACCEL =0x01, VMU_STREAM_GYRO = 0x02, VMU_STREAM_QUAT =0x04, VMU_STREAM_MAG =0x08,   VMU_STREAM_EULER =0x10, VMU_STREAM_HEAD =0x40 }
	Constants used for setting and determining streamed data. More...
enum	vmu_retval_enum { VMU_ERROR =-1, VMU_OK =0, VMU_DATA_PENDING =1 }
	Constants returned by most of library functions. More...

Functions
int	vmu_read_all (struct vmu *v, struct vmu_data *data)
	Read multiple types of data simultanously. More...
int	vmu_stream (struct vmu *v, uint32_t stream)
	Make the device stream particular data types. More...
int	vmu_resolution (struct vmu *v, uint32_t resolution)
	Set accelerometer and/or gyroscope resolutions. More...
int	vmu_selftest (struct vmu *v, struct vmu_text *data)
	Command device to perform selftest. More...
int	vmu_calibrate (struct vmu *v, struct vmu_text *data)
	Command device to perform calibration. More...
int	vmu_status (struct vmu *v, struct vmu_status *data)
	Retrieve device status. More...
int	vmu_fd (struct vmu *v)
	Get file descriptor used for serial communication with the device. More...
Init and teardown
struct vmu *	vmu_init (const char *tty)
	initialize internal library data. More...
int	vmu_close (struct vmu *v)
	free library resources More...
Convinient read
Simplified read functions for single type of data (e.g. only euler). If you need to read multiple types of data use vmu_read_all instead. Functions will block waiting for data unless last call returned value > size. Timeout with return value VMU_ERROR and errno EAGAIN indicates device is not sending data type for some reason. Other data types are discarded silently without parsing. Perfomance hints: use vmu_stream so that device streams only data you need Parameters v pointer to internal library data data user supplied array size user supplied array size Returns value > size indicates user array was filled and more data is pending (without blocking) value <= size indicates number of data points returned in array (next call will block) VMU_ERROR indicates error, query errno for the details See Also vmu_stream, vmu_read_all Example: int status, i; struct vmu_txyz euler[10]; while( (status=vmu_euler(v, euler, 10)) != VMU_ERROR ) { for(i=0; i<status && i<10; ++i) printf("[%lu ms] x=%f y=%f z=%f\n", euler[i].timeout_ms, euler[i].x, euler[i].y, euler[i].z); }
int	vmu_accel (struct vmu *v, struct vmu_txyz *data, int size)
	Read only accelerometer data.
int	vmu_gyro (struct vmu *v, struct vmu_txyz *data, int size)
	Read only gyroscope data data.
int	vmu_mag (struct vmu *v, struct vmu_txyz *data, int size)
	Read only magnetometer data.
int	vmu_euler (struct vmu *v, struct vmu_txyz *data, int size)
	Read only euler data.
int	vmu_quat (struct vmu *v, struct vmu_twxyz *data, int size)
	Read only quaternion data.
int	vmu_head (struct vmu *v, struct vmu_tx *data, int size)
	Read only heading data.

Detailed Description

Library public interface header.