/*--------------------------------------------------------------------------
*
* 3DM-G Interface Software
*
* (c) 2003 Microstrain, Inc.
* All rights reserved.
*
* www.microstrain.com
* 310 Hurricane Lane, Suite 4
* Williston, VT 05495 USA
* Tel: 802-862-6629 tel
* Fax: 802-863-4093 fax
*--------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------
* m3dmgAdapter.h
*
* definitions for the 3dm-g sensor device
* The continuous mode functions are not supported by this adapter.
*--------------------------------------------------------------------------*/
#define CMD_RAW_SENSOR 0x01
#define CMD_GYRO_VECTOR 0x02
#define CMD_INSTANT_VECTOR 0x03
#define CMD_INSTANT_QUAT 0x04
#define CMD_GYRO_QUAT 0x05
#define CMD_CAPTURE_GYRO_BIAS 0x06
#define CMD_TEMPERATURE 0x07
#define CMD_SEND_EEPROM 0x08
#define CMD_PROG_EEPROM 0x09
#define CMD_INSTANT_OR_MATRIX 0x0A
#define CMD_GYRO_OR_MATRIX 0x0B
#define CMD_GYRO_QUAT_VECTOR 0x0C
#define CMD_INSTANT_EULER 0x0D
#define CMD_GYRO_EULER 0x0E
#define CMD_SET_CONTINUOUS 0x10
#define CMD_FIRWARE_VERSION 0xF0
#define CMD_SERIAL_NUMBER 0xF1
#define M3D_INSTANT 1
#define M3D_STABILIZED 2
#define M3D_GYROSCALE_ADDRESS 130
#define M3D_GYROGAINSCALE 64
#define MAX_DEVICENUM 16
/*--------------------------------------------------------------------------
* Sensor communication function prototypes.
*--------------------------------------------------------------------------*/
int m3dmg_mapDevice(int, int);
int m3dmg_sendCommand(int , char, char *, int);
void m3dmg_closeDevice(int);
int m3dmg_openPort(int, int, int, int, int);
/*--------------------------------------------------------------------------
* Sensor Function prototypes
*
* The following abbreviations are used to shorten
* function names:
* Instant = Instantaneous
* Orient = Orientation
* Stab = Stabilized
* Quat = Quaternion
*--------------------------------------------------------------------------*/
int m3dmg_initGyroScale(int);
int m3dmg_getSerialNumber(int, int *);
int m3dmg_getFirmwareVersion(int, char *);
int m3dmg_getTemperature(int, float *);
int m3dmg_getTimerSeconds(int, float *);
int m3dmg_getRawSensorOutput(int, float[], float[], float[]);
int m3dmg_getVectors(int, float[], float[], float[], int);
int m3dmg_getQuaternions(int, float[], int);
int m3dmg_getOrientMatrix(int, float[][3], int);
int m3dmg_getEulerAngles(int, float *, float *, float *, int);
int m3dmg_captureGyroBias(int);
int m3dmg_setEEPROMValue(int, short, short *);
int m3dmg_getEEPROMValue(int, short, short *);
int m3dmg_getGyroStabQuatVectors(int, float[], float[], float[], float[]);
/*-------------- end of m3dmgAdapter.h ----------------------*/
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