#include <stdint.h>
#include <stddef.h>

Classes
struct	IResponseCallbacks
	Groups callbacks used to handle data incomming from the device. More...

Macros
#define	EXTERN_C

#define	APICALL EXTERN_C

#define	APIENTRY

Typedefs
typedef struct _IDevice *	IDeviceHandle
	Opaque pointer to handle representing IDevice.

typedef struct _IConnection *	IConnectionHandle
	Opaque pointer to handle representing IConnection.

typedef void(APIENTRY *	FUNC_sysInfo) (void userData, const char model, const char *firmwareVersion)
	Handles retrieval of SYS_INFO message from the device. More...

typedef void(APIENTRY *	FUNC_quatData) (void *userData, float q0, float q1, float q2, float q3)
	Handles retrieval of QUAT_DATA message from the device. More...

typedef void(APIENTRY *	FUNC_eulerData) (void *userData, float p, float r, float y)
	Handles retrieval of EULER_DATA message from the device. More...

typedef void(APIENTRY *	FUNC_rotRateData) (void *userData, float x, float y, float z)
	Handles retrieval of ROT_RATE_DATA message from the device. More...

typedef void(APIENTRY *	FUNC_accCalibMatrix) (void userData, float cal, float *bias)
	Handles retrieval of ACC_CALIB_MAT message from the device. More...

typedef void(APIENTRY *	FUNC_magCalibMatrix) (void userData, float cal, float *bias)
	Handles retrieval of MAG_CALIB_MAT message from the device. More...

typedef void(APIENTRY *	FUNC_gyrCalibMatrix) (void userData, float cal, float *bias)
	Handles retrieval of GYR_CALIB_MAT message from the device. More...

typedef void(APIENTRY *	FUNC_filterMagMatrix) (void userData, float mat)
	Handles retrieval of FILTER_MAG_MAT message from the device. More...

typedef void(APIENTRY *	FUNC_filterAccMatrix) (void userData, float mat)
	Handles retrieval of FILTER_ACC message from the device. More...

typedef void(APIENTRY *	FUNC_filterGyrMatrix) (void userData, float mat)
	Handles retrieval of FILTER_GYR message from the device. More...

typedef void(APIENTRY *	FUNC_filterProcMatrix) (void userData, float mat)
	Handles retrieval of FILTER_PROCN message from the device. More...

typedef void(APIENTRY *	FUNC_temperature) (void *userData, float temp)
	Handles retrieval of TEMP message from the device. More...

typedef void(APIENTRY *	FUNC_baudRate) (void *userData, uint8_t rate)
	Handles retrieval of BAUD_RATE message from the device. More...

typedef void(APIENTRY *	FUNC_i2cAddress) (void *userData, uint8_t addr)
	Handles retrieval of I2C_ADDR message from the device. More...

typedef void(APIENTRY *	FUNC_confirm) (void *userData)
	Handles retrieval of CONFIRM message from the device.

typedef void(APIENTRY *	FUNC_rawAccData) (void *userData, int16_t x, int16_t y, int16_t z)
	Handles retrieval of RAW_ACC message from the device. More...

typedef void(APIENTRY *	FUNC_rawMagData) (void *userData, int16_t x, int16_t y, int16_t z)
	Handles retrieval of RAW_MAG message from the device. More...

typedef void(APIENTRY *	FUNC_rawGyrData) (void *userData, int16_t x, int16_t y, int16_t z)
	Handles retrieval of RAW_GYR message from the device. More...

typedef void(APIENTRY *	FUNC_normAccData) (void *userData, float x, float y, float z)
	Handles retrieval of NORM_ACC message from the device. More...

typedef void(APIENTRY *	FUNC_normMagData) (void *userData, float x, float y, float z)
	Handles retrieval of NORM_MAG message from the device. More...

typedef void(APIENTRY *	FUNC_normGyrData) (void *userData, float x, float y, float z)
	Handles retrieval of NORM_GYR message from the device. More...

typedef void(APIENTRY *	FUNC_calibAccData) (void *userData, float x, float y, float z)
	Handles retrieval of CALIB_ACC message from the device. More...

typedef void(APIENTRY *	FUNC_calibMagData) (void *userData, float x, float y, float z)
	Handles retrieval of CALIB_MAG message from the device. More...

typedef void(APIENTRY *	FUNC_calibGyrData) (void *userData, float x, float y, float z)
	Handles retrieval of CALIB_GYR message from the device. More...

typedef void(APIENTRY *	FUNC_stats) (void *userData, uint32_t perf0, uint32_t perf1, uint32_t perf2, uint32_t perf3, uint32_t perf4, uint32_t perf5, uint32_t perf6, uint32_t perf7)
	Handles retrieval of STATS message from the device. More...

typedef struct IResponseCallbacks *	IResponseHandle

Enumerations
enum	Exception { E_OK = 0x00, E_UnsupportedMessageIdException, E_DataTransferException, E_CannotOpenPortException, E_DeviceNotFoundException, E_CannotOpenDeviceException, E_UnspecifiedException = 0xffff }
	Represents code for potential exception raised in the code. More...

Functions
APICALL void APIENTRY	IDevice_release (IDeviceHandle handle)

APICALL void APIENTRY	IDevice_checkForMessages (IDeviceHandle handle, enum Exception *exception)

APICALL void APIENTRY	IConnection_release (IConnectionHandle handle)

APICALL IDeviceHandle APIENTRY	Device_create (IConnectionHandle connection, IResponseHandle response)
	Creates a object and returns a handle to it. More...

APICALL void APIENTRY	Device_getSysInfo (IDeviceHandle handle)
	Requests sending back information on the device type and firmware version. More...

APICALL void APIENTRY	Device_getQuatData (IDeviceHandle handle)
	Requests information about actual device spatial orientation expressed in form of quaternion. More...

APICALL void APIENTRY	Device_getEulerData (IDeviceHandle handle)
	Requests information about actual device spatial orientation expressed in form of Euler angles. More...

APICALL void APIENTRY	Device_getRotRateData (IDeviceHandle handle)
	Requests actual rotation rate information from the device. More...

APICALL void APIENTRY	Device_reboot (IDeviceHandle handle)
	Requests the device to reboot. More...

APICALL void APIENTRY	Device_factoryReset (IDeviceHandle handle)
	Requests loading factory settings into device RAM memory. More...

APICALL void APIENTRY	Device_setAccCalibMatrix (IDeviceHandle handle, float cal, float bias)
	Changes accelerometer calibration settings the device is using at the moment. More...

APICALL void APIENTRY	Device_setMagCalibMatrix (IDeviceHandle handle, float cal, float bias)
	Changes magnetometer calibration settings the device is using at the moment. More...

APICALL void APIENTRY	Device_setGyrCalibMatrix (IDeviceHandle handle, float cal, float bias)
	Changes gyroscope calibration settings the device is using at the moment. More...

APICALL void APIENTRY	Device_setFilterMagMatrix (IDeviceHandle handle, float *mat)
	Changes Kalman filter coeficiences for magnetometer sensor. More...

APICALL void APIENTRY	Device_setFilterAccMatrix (IDeviceHandle handle, float *mat)
	Changes Kalman filter coeficiences for accelerometer sensor. More...

APICALL void APIENTRY	Device_setFilterGyrMatrix (IDeviceHandle handle, float *mat)
	Changes Kalman filter coeficiences for gyroscope sensor. More...

APICALL void APIENTRY	Device_setFilterProcMatrix (IDeviceHandle handle, float *mat)

APICALL void APIENTRY	Device_getFilterMagMatrix (IDeviceHandle handle)
	Requests Kalman filter coeficiences for magnetometer measurement noise. More...

APICALL void APIENTRY	Device_getFilterAccMatrix (IDeviceHandle handle)
	Requests Kalman filter coeficiences for accelerometer measurement noise. More...

APICALL void APIENTRY	Device_getFilterGyrMatrix (IDeviceHandle handle)
	Requests Kalman filter coeficiences for gyroscope measurement noise. More...

APICALL void APIENTRY	Device_getFilterProcMatrix (IDeviceHandle handle)
	Requests Kalman filter coeficiences for process noise. More...

APICALL void APIENTRY	Device_getTemperature (IDeviceHandle handle)
	Requests actual tempereature data. More...

APICALL void APIENTRY	Device_setBaudRate (IDeviceHandle handle, uint8_t rate)
	Changes baud rate for UART interface. More...

APICALL void APIENTRY	Device_setI2cAddress (IDeviceHandle handle, uint8_t address)
	Changes 7-bit address as an I2C slave device. More...

APICALL void APIENTRY	Device_getI2cAddress (IDeviceHandle handle)
	Requests sending actual I2C device address. More...

APICALL void APIENTRY	Device_getBaudRate (IDeviceHandle handle)
	Requests sending actual baud rate used for UART interface.. More...

APICALL void APIENTRY	Device_resetGyr (IDeviceHandle handle)
	Resets gyroscope bias estimates. More...

APICALL void APIENTRY	Device_writeFlash (IDeviceHandle handle)
	Saves current settings in device RAM into internal non-volotile flash memory. More...

APICALL void APIENTRY	Device_getRawAccData (IDeviceHandle handle)
	Requests sending RAW type of accelerometer measurements. More...

APICALL void APIENTRY	Device_getRawMagData (IDeviceHandle handle)
	Requests sending RAW type of magnetometer measurements. More...

APICALL void APIENTRY	Device_getRawGyrData (IDeviceHandle handle)
	Requests sending RAW type of gyroscope measurements. More...

APICALL void APIENTRY	Device_getNormAccData (IDeviceHandle handle)
	Requests sending normalized values of accelerometer measurements. More...

APICALL void APIENTRY	Device_getNormMagData (IDeviceHandle handle)
	Requests sending normalized values of magnetometer measurements. More...

APICALL void APIENTRY	Device_getNormGyrData (IDeviceHandle handle)
	Requests sending normalized values of gyroscope measurements. More...

APICALL void APIENTRY	Device_getCalibAccData (IDeviceHandle handle)
	Requests sending post-calibration values of accelerometer measurements. More...

APICALL void APIENTRY	Device_getCalibMagData (IDeviceHandle handle)
	Requests sending post-calibration values of magnetometer measurements. More...

APICALL void APIENTRY	Device_getCalibGyrData (IDeviceHandle handle)
	Requests sending post-calibration values of gyroscope measurements. More...

APICALL void APIENTRY	Device_getAccCalibMatrix (IDeviceHandle handle)
	Requests calibration matrices used for accelerometer measurements. More...

APICALL void APIENTRY	Device_getMagCalibMatrix (IDeviceHandle handle)
	Requests calibration matrices used for magnetometer measurements. More...

APICALL void APIENTRY	Device_getGyrCalibMatrix (IDeviceHandle handle)
	Requests calibration matrices used for gyroscope measurements. More...

APICALL void APIENTRY	Device_getStats (IDeviceHandle handle)

APICALL IConnectionHandle APIENTRY	SerialConnection_create (const char portName, int baudRate, enum Exception exception)
	Creates a object and returns a handle to it. More...

APICALL IConnectionHandle APIENTRY	UsbConnection_create (enum Exception *exception)
	Creates a object and returns a handle to it. More...

APICALL IConnectionHandle APIENTRY	UsbConnection_createWithSerial (const char serialNumber, enum Exception exception)
	Creates a object and returns a handle to it. More...

APICALL int APIENTRY	UsbConnection_enumerateDevices (char *buffer, size_t maxStringSize, size_t maxNumString)

Typedef Documentation

typedef void(APIENTRY * FUNC_accCalibMatrix) (void *userData,float *cal, float *bias)

Handles retrieval of ACC_CALIB_MAT message from the device.

Parameters

cal
bias

typedef void(APIENTRY * FUNC_baudRate) (void *userData,uint8_t rate)

Handles retrieval of BAUD_RATE message from the device.

Parameters

rate

typedef void(APIENTRY * FUNC_calibAccData) (void *userData,float x, float y, float z)

Handles retrieval of CALIB_ACC message from the device.

Parameters

x	X component of post-calibrated data
y	Y component of post-calibrated data
z	Z component of post-calibrated data

typedef void(APIENTRY * FUNC_calibGyrData) (void *userData,float x, float y, float z)

Handles retrieval of CALIB_GYR message from the device.

Parameters

x	X component of post-calibrated data
y	Y component of post-calibrated data
z	Z component of post-calibrated data

typedef void(APIENTRY * FUNC_calibMagData) (void *userData,float x, float y, float z)

Handles retrieval of CALIB_MAG message from the device.

Parameters

x	X component of post-calibrated data
y	Y component of post-calibrated data
z	Z component of post-calibrated data

typedef void(APIENTRY * FUNC_eulerData) (void *userData,float p, float r, float y)

Handles retrieval of EULER_DATA message from the device.

Parameters

p	Pitch angle value.
r	Roll angle value.
y	Yaw angle value.

typedef void(APIENTRY * FUNC_filterAccMatrix) (void *userData,float *mat)

Handles retrieval of FILTER_ACC message from the device.

Parameters

mat

typedef void(APIENTRY * FUNC_filterGyrMatrix) (void *userData,float *mat)

Handles retrieval of FILTER_GYR message from the device.

Parameters

mat

typedef void(APIENTRY * FUNC_filterMagMatrix) (void *userData,float *mat)

Handles retrieval of FILTER_MAG_MAT message from the device.

Parameters

mat

typedef void(APIENTRY * FUNC_filterProcMatrix) (void *userData,float *mat)

Handles retrieval of FILTER_PROCN message from the device.

Parameters

mat

typedef void(APIENTRY * FUNC_gyrCalibMatrix) (void *userData,float *cal, float *bias)

Handles retrieval of GYR_CALIB_MAT message from the device.

Parameters

cal
bias

typedef void(APIENTRY * FUNC_i2cAddress) (void *userData,uint8_t addr)

Handles retrieval of I2C_ADDR message from the device.

Parameters

addr	actual device I2C address

typedef void(APIENTRY * FUNC_magCalibMatrix) (void *userData,float *cal, float *bias)

Handles retrieval of MAG_CALIB_MAT message from the device.

Parameters

cal
bias

typedef void(APIENTRY * FUNC_normAccData) (void *userData,float x, float y, float z)

Handles retrieval of NORM_ACC message from the device.

Parameters

x	X component of measured and normalized data
y	Y component of measured and normalized data
z	Z component of measured and normalized data

typedef void(APIENTRY * FUNC_normGyrData) (void *userData,float x, float y, float z)

Handles retrieval of NORM_GYR message from the device.

Parameters

x	X component of measured and normalized data
y	Y component of measured and normalized data
z	Z component of measured and normalized data

typedef void(APIENTRY * FUNC_normMagData) (void *userData,float x, float y, float z)

Handles retrieval of NORM_MAG message from the device.

Parameters

x	X component of measured and normalized data
y	Y component of measured and normalized data
z	Z component of measured and normalized data

typedef void(APIENTRY * FUNC_quatData) (void *userData,float q0, float q1, float q2, float q3)

Handles retrieval of QUAT_DATA message from the device.

Parameters

q0	q0 (w) quaternion component.
q1	q1 (x) quaternion component.
q2	q2 (y) quaternion component.
q3	q3 (z) quaternion component.

typedef void(APIENTRY * FUNC_rawAccData) (void *userData,int16_t x, int16_t y, int16_t z)

Handles retrieval of RAW_ACC message from the device.

Parameters

x	X component of measured data
y	Y component of measured data
z	Z component of measured data

typedef void(APIENTRY * FUNC_rawGyrData) (void *userData,int16_t x, int16_t y, int16_t z)

Handles retrieval of RAW_GYR message from the device.

Parameters

x	X component of measured data
y	Y component of measured data
z	Z component of measured data

typedef void(APIENTRY * FUNC_rawMagData) (void *userData,int16_t x, int16_t y, int16_t z)

Handles retrieval of RAW_MAG message from the device.

Parameters

x	X component of measured data
y	Y component of measured data
z	Z component of measured data

typedef void(APIENTRY * FUNC_rotRateData) (void *userData,float x, float y, float z)

Handles retrieval of ROT_RATE_DATA message from the device.

Parameters

x	rotation rate over local device X axis
y	rotation rate over local device Y axis
z	rotation rate over local device Z axis

typedef void(APIENTRY * FUNC_stats) (void *userData,uint32_t perf0, uint32_t perf1, uint32_t perf2, uint32_t perf3, uint32_t perf4, uint32_t perf5, uint32_t perf6, uint32_t perf7)

Handles retrieval of STATS message from the device.

Parameters

perf0
perf1
perf2
perf3
perf4
perf5
perf6
perf7

typedef void(APIENTRY * FUNC_sysInfo) (void *userData,const char *model, const char *firmwareVersion)

Handles retrieval of SYS_INFO message from the device.

Parameters

model	Null-terminated string representing device model.
firmwareVersion	Null-terminated string containing firmware version.

typedef void(APIENTRY * FUNC_temperature) (void *userData,float temp)

Handles retrieval of TEMP message from the device.

Parameters

temp	Actual temperature of the device in Celsius degrees.

Enumeration Type Documentation

enum Exception

Represents code for potential exception raised in the code.

Enumerator
E_OK	Returned on successful operation.
E_UnsupportedMessageIdException	Thrown when connected CyberAtom device sends message with code unknown to the API library.
E_DataTransferException	Thrown when there was a problem to retrieve data packet from the device.
E_CannotOpenPortException	Occurs when specified serial port cannot be open.
E_DeviceNotFoundException	Occurs when no CyberAtom device has been found connected to the computer.
E_CannotOpenDeviceException	Occurs when connection with CyberAtom device cannot be established.
E_UnspecifiedException	Returned when unknown exception has been thrown in the execution.

Function Documentation

APICALL IDeviceHandle APIENTRY Device_create	(	IConnectionHandle	connection,
		IResponseHandle	response
	)

Creates a object and returns a handle to it.

Note: Make sure you maintain lifecycle of given connection and response interfaces accordingly with the lifecycle of the Device class instance itself.

Returns: A handle to newly created object or zero if the operation failed.

APICALL void APIENTRY Device_factoryReset ( IDeviceHandle handle )

Requests loading factory settings into device RAM memory.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getAccCalibMatrix ( IDeviceHandle handle )

Requests calibration matrices used for accelerometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getBaudRate ( IDeviceHandle handle )

Requests sending actual baud rate used for UART interface..

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getCalibAccData ( IDeviceHandle handle )

Requests sending post-calibration values of accelerometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getCalibGyrData ( IDeviceHandle handle )

Requests sending post-calibration values of gyroscope measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getCalibMagData ( IDeviceHandle handle )

Requests sending post-calibration values of magnetometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getEulerData ( IDeviceHandle handle )

Requests information about actual device spatial orientation expressed in form of Euler angles.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getFilterAccMatrix ( IDeviceHandle handle )

Requests Kalman filter coeficiences for accelerometer measurement noise.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getFilterGyrMatrix ( IDeviceHandle handle )

Requests Kalman filter coeficiences for gyroscope measurement noise.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getFilterMagMatrix ( IDeviceHandle handle )

Requests Kalman filter coeficiences for magnetometer measurement noise.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getFilterProcMatrix ( IDeviceHandle handle )

Requests Kalman filter coeficiences for process noise.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getGyrCalibMatrix ( IDeviceHandle handle )

Requests calibration matrices used for gyroscope measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getI2cAddress ( IDeviceHandle handle )

Requests sending actual I2C device address.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getMagCalibMatrix ( IDeviceHandle handle )

Requests calibration matrices used for magnetometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getNormAccData ( IDeviceHandle handle )

Requests sending normalized values of accelerometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getNormGyrData ( IDeviceHandle handle )

Requests sending normalized values of gyroscope measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getNormMagData ( IDeviceHandle handle )

Requests sending normalized values of magnetometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getQuatData ( IDeviceHandle handle )

Requests information about actual device spatial orientation expressed in form of quaternion.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getRawAccData ( IDeviceHandle handle )

Requests sending RAW type of accelerometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getRawGyrData ( IDeviceHandle handle )

Requests sending RAW type of gyroscope measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getRawMagData ( IDeviceHandle handle )

Requests sending RAW type of magnetometer measurements.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getRotRateData ( IDeviceHandle handle )

Requests actual rotation rate information from the device.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getStats ( IDeviceHandle handle )

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getSysInfo ( IDeviceHandle handle )

Requests sending back information on the device type and firmware version.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_getTemperature ( IDeviceHandle handle )

Requests actual tempereature data.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_reboot ( IDeviceHandle handle )

Requests the device to reboot.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_resetGyr ( IDeviceHandle handle )

Resets gyroscope bias estimates.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY Device_setAccCalibMatrix	(	IDeviceHandle	handle,
		float *	cal,
		float *	bias
	)

Changes accelerometer calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setBaudRate	(	IDeviceHandle	handle,
		uint8_t	rate
	)

Changes baud rate for UART interface.

Parameters

rate	Integer value representing new baud rate.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setFilterAccMatrix	(	IDeviceHandle	handle,
		float *	mat
	)

Changes Kalman filter coeficiences for accelerometer sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer accelerometer noise matrix.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setFilterGyrMatrix	(	IDeviceHandle	handle,
		float *	mat
	)

Changes Kalman filter coeficiences for gyroscope sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer gyroscope noise matrix.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setFilterMagMatrix	(	IDeviceHandle	handle,
		float *	mat
	)

Changes Kalman filter coeficiences for magnetometer sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer measurement noise matrix.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setFilterProcMatrix	(	IDeviceHandle	handle,
		float *	mat
	)

Parameters

mat	An array with 7 matrix elements for the filter process matric to set.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setGyrCalibMatrix	(	IDeviceHandle	handle,
		float *	cal,
		float *	bias
	)

Changes gyroscope calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setI2cAddress	(	IDeviceHandle	handle,
		uint8_t	address
	)

Changes 7-bit address as an I2C slave device.

Parameters

address	New I2c device address.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_setMagCalibMatrix	(	IDeviceHandle	handle,
		float *	cal,
		float *	bias
	)

Changes magnetometer calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.
handle	A handle to a logical device object.

APICALL void APIENTRY Device_writeFlash ( IDeviceHandle handle )

Saves current settings in device RAM into internal non-volotile flash memory.

Parameters

handle A handle to a logical device object.

APICALL void APIENTRY IConnection_release ( IConnectionHandle handle )

Parameters

handle A handle to the object to release

APICALL void APIENTRY IDevice_checkForMessages	(	IDeviceHandle	handle,
		enum Exception *	exception
	)

Parameters

exception	Pointer to variable where exception code (failure) or E_OK (success) will be stored. Can be NULL if ignored.
handle	A handle to a logical device object.

APICALL void APIENTRY IDevice_release ( IDeviceHandle handle )

Parameters

handle A handle to the object to release

APICALL IConnectionHandle APIENTRY SerialConnection_create	(	const char *	portName,
		int	baudRate,
		enum Exception *	exception
	)

Creates a object and returns a handle to it.

Parameters

exception Pointer to variable where exception code (failure) or E_OK (success) will be stored. Can be NULL if ignored.

Returns: A handle to newly created object or zero if the operation failed.

APICALL IConnectionHandle APIENTRY UsbConnection_create ( enum Exception * exception )

Creates a object and returns a handle to it.

Note: This constructor creates connection to first CyberAtom device found on USB device list.

Parameters

exception Pointer to variable where exception code (failure) or E_OK (success) will be stored. Can be NULL if ignored.

Returns: A handle to newly created object or zero if the operation failed.

APICALL IConnectionHandle APIENTRY UsbConnection_createWithSerial	(	const char *	serialNumber,
		enum Exception *	exception
	)

Creates a object and returns a handle to it.

Note: This constructor can be used more than one USB devices are in use at the same time.

Parameters

exception Pointer to variable where exception code (failure) or E_OK (success) will be stored. Can be NULL if ignored.

Returns: A handle to newly created object or zero if the operation failed.

CyberAtom C Library

2.5.0

Classes

Macros

Typedefs

Enumerations

Functions

Typedef Documentation

Enumeration Type Documentation

Function Documentation