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VMSENS Software Development Kit User Manual

1. OUT Buffer holding the output mode Refer to 2 1 Parameters const int32_tdns IN Handle to the communication instance mode gs OUT Buffer holding the output setting Refer to 2 1 VMSE sRet VmsSetDeviceMode const int32_t instance const VmsOutputMode mode const VmsOutputSettings settings VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Description Setting the device output mode which include the output mode output setting The bit field definition please refer to 2 1 Parameters const int32_t instance IN Handle to the communication instance const VmsOutputMode mode IN The output mode setting const VmsOutputSettings settings IN The output setting const uint16_t frequency IN The output frequency VMSENSE_API VmsRet VmsSetSampleFrequency NA const int32_t instance uint16_t freq Description Set the update frequency Parameters const int32_t instance dle to the communication instance uint16_t freq The frequency parameter to set VMSENSE_API VmsRet VmsSet XS int32_tinstance Ba ge Descrip yr te range Parame const in instance IN Handle to the communication instance uint16_t range IN The gyro range parameter to set 0 500 dps 1 1000 dps 2 2000 dps VMSENSE_API VmsRet VmsSetProcessVar VMSENS Inertial Technologies BeiJing CO LTD www vmsens com const int32_t instance floa
2. Handle to the communication instance const t portNr IN Com port number 2 2 2 State switching functions VMSENSE_API VmsRet VmsGotoConfig const int32_t instance VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Description Parameters const int32_t instance IN Handle to the communication instance VMSENSE_API VmsRet VmsGotoMeasurement NA const int32_t instance QR N Description XS Parameters S const int32_t instance the communication instance VMSENSE_API VmsRet VmsSetCurBi const int32_t instanee uint8_t bi S Description S e ule IDto communicate with ulti wireless module communications Paramete const i t instance IN Handle to the communication instance uint8_t bid IN Current bid to be set VMSENS Inertial Technologies BeiJing CO LTD www vmsens com 2 2 3 Functions for getting setting parameters VMSENSE_API VmsRet VmsGetConfiguration const int32_t instance DeviceConfiguration configuration Description Get the device configuration NA Parameters const int32_t instance IN Handle to tion instance DeviceConfiguration configuration OUT The device configuration structure VMSENSE_API VmsRet VmsGetDeviceMode AN const int32_t instanc VmsOutputMode amp VmsOutputSettings settir Description Get the output m and output settings aS
3. define VMS_OUTPUTMODE_ORIENT 0x0004 Output Setting Bit Field defines define VMS_OUTPUTSETTINGS_ORIENT_QUATERNION 0x00000000 define VMS_OUTPUTSETTINGS_ORIENT_EULER 0x00000004 define VMS_OUTPUTSETTINGS_ORIENT_MATRIX 0x00000008 define VMS_OUTPUTSETTINGS_SENSORDATA_ACC noe define VMS_OUTPUTSETTINGS_SENSORDATA_GYR 0x00000020 define VMS_OUTPUTSETTINGS SENSORDATA_POS 0x00000040 define NN 0x0000000C 2 2 Function Definitions S 2 2 1 Initialize and de initializ ions VMSENSE_API VmsRet Vms ei uint32 RA Description eaco ication instance Para uint IN Handle to the communication instance VMSENSE_API VmsRet VmsClose Const uint32_t instance Description Close the communication instance VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Parameters Const int32_t instance IN Handle to the communication instance VMSENSE_API VmsRet VmsOpenPort const int32_t instance const uint16_t portNumber const uint32_t baudRate CMT_DEFAULT_BAUD_ RATE NY Description Open a COM port and associate it with a communication i e Parameters const int32_t instance IN Handle h c unication instance o const uint16_t portNumber CO ber for connecting fixed to 115200 at the present const uint32_t baudRate ra VMSENSE_API VmsRet VmsClosePort const int32 t insta S Description Close t N Parameters const i i nce IN
4. ta and this is also the recommended method l 1 4 Comm er command interface For the user ontrol and hard real time of VMSENS devices VMSESN provide a low 232 UART interface ower processor performs all the calculations calibration you just retrieve the data rt by using the VMSENS communication protocol VMSENS provide a C lib head files and command Interface for the user who want to use Low level communication with VMSENS Device Please refer to the VMSENS Low level communication documentation and the other documentation for more information on this topic VMSENS Inertial Technologies BeiJing CO LTD www vmsens com 2 DLL LIB API documentation 2 1 Data structures and defines Structure struct DeviceConfiguration uint32_t m_deviceld device ID uint16_t m_samplingFreq output data polling rate uint16 t m_outputMode Output Mode configurat uint32_t m_outputSettings Output setting confi i uint8_t m_fwRevMajor Minor fw verion id float m_gyro_param gyro parameter Igorithm float m_accel_param accelerato data for algorithm float null not use struct VmsVector double m_Data 3 S struct VmsCalData VmsVector m_acc m_gyr mM pos i struct VmsQuat double amp struct VmsMatrix double m_Data 3 3 i Output Mode Bit Field defines define VMS_OUTPUTMODE_SENSORDATA 0x0002 VMSENS Inertial Technologies BeiJing CO LTD www vmsens com
5. VMSENS Inertial Technologies BeiJing CO LTD TEL 86 10 85376216 Email contact vmsens com Internet www vmsens com VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Terms abbreviations and references Quaternion A non commutative extension of complex numbers A unit length quaternion is a convenient parameterization of rotations Euler Angles Representation of the spatial orientation of any frame ofj composition of rotations from a reference frame y ON DOF yp ON BFA ExtendeddKalman Filter NN ANS VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Terms abbreviations and references ccsesseeeececccccecceceseeeseseceececccececaeauueesseseceeceeesesecaeauagagsececeeeeeeeeeeeaea 2 1 INCFOCUCTION esaa ar a a a ai a E aa aa a Eaa aae aea 4 1 1 1 2 1 3 1 4 SDK Software architecture iesin a a Ea rE EEEE E EEE 5 Interface through COM object API cccccccssccsssseccesseecesssseeecsnaeecseeressssaeeecsueeesseseeeessaaeeees 6 Interface through DLL API ccccccssccssssecceseeeeeseseeeecsaeeesseesesscseeeessaeesses Communication over command interface DLL LIB API COCUMENTATION c cee ccccccceeccesesecsecsssesseueeseesseeseueeeseeeaeas 2 1 2 2 2 2 1 2 2 2 2 2 3 2 2 4 2 2 5 Customer Support eeeeeeeees Data structures and defines ccccccccccccccccececeseeseeseseeeess Initialize and de initia
6. data Description Get the Orientation data in the form of Euler angles from the recent receive ta packet Parameters const int32_t instance IN Handle to mmaunication instance VmsEuler data OUTJPo ata buffer VMSENSE_API VmsRet VmsDataGetOriMatrix x const int32_t inst VmsMatrix data Description Get the Orientat he form of Directional Cosine Matrix from the recent received data packet Parameters S const int32_t a IN Handle to the communication instance VmsMatnix da OUT Pointer to data buffer 2 VMSENSE_API VmsRet VmsGetDIIVersion uint16_t version Description Get current DLL version VMSENS Inertial Technologies BeiJing CO LTD www vmsens com Parameters uint32_t Instance OUT buffer to hold the DLL version VMSENSE_API VmsRet VmsWriteToFlash const int32_t instance Description Write the current configurations to flash Parameters NY const int32_t instance IN Handle to the ication instance 3 Customer Support have about VMSENS products or about the We are glad to help you with any questi i contact our customer support use of the technology for your appli E mail support vmsens co 3 TEL 86 10 85376216 To be able to help oS ion your hardware model and software version in your email VMSENS Inertial Technologies BeiJing CO LTD www vmsens com VMSENS Iner
7. evices Included VM I VM BT VM OEM etc VMSENS Inertial Technologies BeiJing CO LTD www vmsens com 1 2 Interface through COM object API A COM object is a DLL that is registered on the operating system Windows so if properly installed you can access the functions of the COM object in all Windows applications that support CO If you want to develop a Windows software application that uses the VMSENS device ider using the COM object API In particular if you are developing your application application such as MATLAB LabVIEW Excel etc the COM object is the pre COM object provides easy to use function calls to obtain data from the sen The COM object handle all of hardware communication interfacin di way to get real time performance not in hardware real time Typically this method is p d n you want to access the VMSENS devices directly in application software such as MA cel Visual Basic etc 1 3 Interface through DLL API VMSENS provided a standard C dynamic linked li the function calls is similar to the COM obje method but this method of interfacing L API there is no need to register the DLL on the operating system the function tly in your source code by linking the DLL The programmer who want to develop Windows application software on VMSENS Devices by using a programming language such as C C C an use a DLL API you will find that the DLL interface provides easier support for s
8. lize functions State switching functions ccceaees Functions for getting setting para Data handling functions Misc functions VMSENS Inertial Technologies BeiJing CO LTD www vmsens com 1 Introduction This document provided many different ways of interfacing with your VMSENS devices included VN i VM OEM VM BT and other VMSENS provide devices User can find a good choice on the system design for your own system design Low level communication interfacing on the serial COM port RS 2 provide such interface for the user who want to full control a is not discussed detail in this document please refer to othe The software development architecture is discussed in section2 u n have a good concept on design a system base on VMSENS devices VMSENS Inertial Technologies BeiJing CO LTD www vmsens com 1 1 SDK Software architecture This section describes the VMSENS software development interface architecture you can have a concept on VMSENS SDK architecture and next chapter will present the top level interface VMC Level 2 VMC Level 3 VMC Level 4 High Level Interface Windows Platform COM interface Application e g VMSENS Explorer Matlab Lab VIEW etc VMSENS C lib and head files Embedded Application Or NO OS application e g WinCE Linux MCU communication interface etc Command Interface Hardware Interface VMSENS device VMSENS D
9. or from the recent received data packet Parameters const int32_t instance IN Handle to the communication instance VmsVector data OUT Pointer to data buffer gyro data VMSENS Inertial Technologies BeiJing CO LTD www vmsens com VMSENSE_API VmsRet VmsDataGetCalPos const int32_t instance VmsVector data Description Get the Calibrated magnetic sensor data from the recent received data packet Parameters Return Value A const int32_t instance IN Handle toghe c tion instance VmsVector data OUT Pointer to Data er position data VMSENSE_API VmsRet VmsDataGetCalData const int32_t instance x VmsCalData dat ii Description Get the Calibrated sensor from the recent received data packet Include rate of turn acceleration along three axis A also the n lized magnetic data Parameters const int32_t instanc IN Handle to the communication instance VmsCalData da OUT Pointer to Data buffer VMSE VmsDataGetOriQuat const int32_t instance VmsQuat data Description Get the Orientation data in the form of unit quaternion from the recent received data packet Parameters VMSENS Inertial Technologies BeiJing CO LTD www vmsens com const int32_t instance IN Handle to the communication instance VmsQuat data OUT Pointer to data buffer VMSENSE_API VmsRet VmsDataGetOriEuler const int32_t instance VmsEuler
10. t var const VmsDeviceld dev 0 Description Set the algorithm parameter for gyro Parameters const int32_t instance float var const VmsDeviceld dev VMSENSE_API VmsRet VmsSetAccVar const int32_t instance float var Parameters IN Handle to the communication i n IN The covariance to tot ice IN The device IN x Description Set the algorithm parameter S ter const int32_t instance IN Handle to the communication instance float var IN The covariance to be set to the device S iF functions sRet VmsRequestDataPacket const int32_t instance Description Request a data packet Parameters const int32_t instance IN Handle to the communication instance VMSENS Inertial Technologies BeiJing CO LTD www vmsens com const VmsDeviceld dev IN The device ID VMSENSE_API VmsRet VmsWaitForDataPacket const int32_t instance Description Wait for a data packet Parameters const int32_t instance IN Handle to the o nce VMSENSE_API VmsRet VmsDataGetCalAcc N const int32_t instance VmsVector data S x Description Parameters const int32_t instance IN Handle to the communication instance VmsVector data C OUT Pointer to data buffer accelerator data VMSENSE_API VmsRet DataGetCalGyr onst int32_t instance VmsVector data Description Get the Gyro sensor data f
11. tial Technologies BeiJing CO LTD Wwww vmsens com 2008 2010 VMSENS Inertial Technologies BeiJing Co LTD All rights reserved Information in this document is subject to change without notice Windows XP and Windows Vista are registered trademarks of Microsoft Inc All other trademarks and trade names are the property of their respective owners VMSENS Inertial Technologies BeiJing CO LTD www vmsens com

VMSENS Software Development Kit User Manual

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