//===========================================================================
// SetSampleSetting
//---------------------------------------------------------------------------
// Description: Allows user to set one of the optional Sample Settings
//
// Return: Confirmation that selection was set.
//===========================================================================
int SetSampleSetting(int portNum, BYTE byteOne, BYTE byteTwo, unsigned char *Bresponse, short FW_Check)
{
int status = 0;
unsigned char DR3_write_buff[21];
int responseLength = 19;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned short Decimation = (1000/100); //m_DRvalue);
unsigned short DigFilter = 20;
int ytrewq=0;
unsigned char cmd = ( unsigned char) CMD_FIRWARE_VERSION; //0xE9
BYTE FWbuff[7] = {0};
short firmwareNum=0;
int northComp=0, upComp=0;
int NCval =0, Value=0;
//char Jjunk[20];
int ncOption = 0;
purge_port(portNum);
if(FW_Check >= 1){ //include case 8 and 9
//this feature requires firmware version of 1.1.27 or greater
status = sendBuffData(portNum, &cmd, 1);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &FWbuff[0], 7);
firmwareNum = convert2short(&FWbuff[3]);
if (firmwareNum < 1127){
printf("Firmware version must be 1.1.27 or greater to perfom this selection\n");
return -1;
}
}
}
if(FW_Check == 8){ //North Compensation
while(Value == 0){
printf("Would you like to Modify the North Compensation? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': northComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
northComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &northComp);
if ((northComp < 1 )|| (northComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
//scanf("%s", Jjunk);
northComp = 0;
}
else NCval = 1;
}
Value =1;
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
if(FW_Check == 9){ //Up Compensation
Value = 0;
NCval = 0;
while(Value == 0){
printf("Would you like to Modify the Up Compensation value? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': upComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
upComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &upComp);
if ((upComp < 1 )|| (upComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
upComp = 0;
}
else NCval = 1;
}
Value =1;
//return; //remove after validation
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
DR3_write_buff[0] = 0xDB; //Command identifier for Write to Data-Rate
DR3_write_buff[1] = 0xA8; //Required identifier for Data-Rate Write was C1
DR3_write_buff[2] = 0xB9; //Required identifier for Data-Rate Write was 29
DR3_write_buff[3] = 0x01; //Identifies an update to data rate, 0 == no update
// 1 == change the parameters to new values
// 2 == change and write to non-volatile memory
// 3 == same as 2 but does not send a reply
DR3_write_buff[4] = (Decimation & MSB_MASK) >> 8; //1st byte of Decimation value to write
DR3_write_buff[5] = Decimation & LSB_MASK; //2ond byte of Decimation value to write
DR3_write_buff[6] = byteOne; //First Byte of Data Conditioning Function Selector //0xC0;
DR3_write_buff[7] = byteTwo; //Second Byte of Data Conditioning Function Selector //0x00;
DR3_write_buff[8] = 0x0F; //Gyro and Accel digital filter window size default is 15
DR3_write_buff[9] = 0x1E; //Mag digital filter window size default is 17
if(FW_Check == 9){
DR3_write_buff[10] = (upComp & MSB_MASK) >> 8;
DR3_write_buff[11] = upComp & LSB_MASK;
}else{
int main(int argc, char* argv[])
{
BOOL bQuit = FALSE;
BOOL bPrintHeader = TRUE;
int portNum = 0;
int tryPortNum;
int Ccount = 0;
printf("\n 3DM-GX3 Read and Write Data Rate\n");
/*-------- If user specifies a port, then use it */
if (argc > 1) {
tryPortNum = atoi(argv[1]);
if (tryPortNum < 2 || tryPortNum > 256) {
printf(" usage: DataRate <portNumber>\n");
printf(" valid ports are 2..256\n");
exit(1);
}
/*-------- open a port, map a device */
portNum = i3dmgx3_openPort(tryPortNum, 115200, 8, 0, 1, 1024, 1024);
if (portNum<0) {
printf(" port open failed.\n");
printf(" Comm error %d, %s: ", portNum, explainError(portNum));
exit(1);
}
}else{
portNum=OnGetSerialPorts();
if(portNum<0)
exit(1);
}
printf("\n 3DM-GX3-25 Using COM Port #%d \n", portNum);
while(!bQuit){
int chOption = 0;
if(bPrintHeader)
{
printf("\n");
printf("Enter an Option: (D)ata Rate (C)ontinuous (L)og_Continuous (Q)uit\n");
printf("D Data Rate - Modify or review the current Data Rate \n");
printf("C Continuous - Put the node in continuous mode and print each record\n");
printf("L Log Continuous - Put the node in continuous mode log and print each record\n");
printf("Q Quit - Quit the application\n");
bPrintHeader = FALSE;
}
//read option from the keyboard
while(!ReadCharNoReturn(&chOption))
{
Sleep(50);
}
//
switch(chOption)
{
case 'D':
case 'd': SetDataRate(portNum); bPrintHeader = TRUE; break;
case 'C':
case 'c': ReadContinuousData(portNum); bPrintHeader = TRUE; break;
case 'L':
case 'l':
ReadContinuousLogData(portNum);
bPrintHeader = TRUE;
break;
case 'q':
case 'Q': bQuit = TRUE; break;
case 'h':
case 'H': bPrintHeader = TRUE; break;
default: printf("Invalid Option\n\n"); bPrintHeader = TRUE;
}
}
return 0;
}
/*===========================================================================
* ReadContinuousLogData
*---------------------------------------------------------------------------
* Description: Puts the node in continuous mode, reads the sensor data and
* prints to the screen and logs data to user file until the user
* interrupts.
*
* Return: HANDLE - handle to the opened comport
*===========================================================================*/
void ReadContinuousLogData(int portNum)
{
int iCount = 0;
BOOL bStopContinuous = FALSE;
DWORD dwcharsRead = 0;
I3dmgx3Set Record;
BYTE cmd_return;
int Curs_posY = 0;
int Curs_posX = 0;
int status = 0;
int error_record = 0;
int valid_check = 0;
int valid_count = 0;
char consoleBuff[60] = {0};
long valid_rec = 0;
unsigned char error_cmd;
char ComLogFile[256];
FILE *m_logFile;
int LogFlag = 0;
int error_count = 0;
int errorCode =0, i=0;
char fw[20] = {0};
char sn[20] = {0};
char mListSep[4];
char mDecSep[4];
LANGID langId;
char szLanguage[256]; /*MAX_PATH]; */
char idchar[] = {'\x02', '\x00', '\x01', '\x03', '\x04'};
int m_timerconst = 62500;
unsigned long AA_Time_Stamp=0;
unsigned long AA_s_prev =0;
float AA_convert = 0.0;
float AA_prev = 0.0;
struct __timeb64 timebuffer;
char *timeline;
_ftime64( &timebuffer );
timeline = _ctime64( & ( timebuffer.time ) );
while (LogFlag != 1){
printf("Enter Name of LogFile to use:");
scanf("%s", &ComLogFile); // 255);
printf("logFile %s\n", ComLogFile);
if ( ( m_logFile= fopen( ComLogFile, "w")) == NULL){
printf("File: %s not opened\n", ComLogFile);
if(++error_count > 2)
return;
}else LogFlag = 1;
}
fprintf(m_logFile, "[SESSION START TAG]\n");
fprintf(m_logFile, "Session Start Time:%.19s.%hu \n", timeline, timebuffer.millitm );
fprintf(m_logFile, "Time Source: HOST\n");
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SLIST,mListSep,4);
fprintf(m_logFile, "List Separator: %s\n", mListSep);
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SDECIMAL,mDecSep,4);
fprintf(m_logFile, "Decimal Separator: %s\n", mDecSep);
langId = GetSystemDefaultLangID ();
i = VerLanguageName (langId, szLanguage, 256); //dwSize = MAX_PATH;
fprintf(m_logFile, "Language: %s\n", szLanguage);
while(valid_check == 0)
{
errorCode = i3dmgx3_getFirmwareVersion(portNum, &fw[0]);
if (errorCode < 0){
purge_port(portNum);
printf("Firmware Error %d\n",errorCode);
if (valid_count++ > 6) {
printf("Please Halt Current Data Display and Retry, count %d\n", valid_count);
return;
}
}else if (errorCode >= 0){
valid_check = 1;
}
}
/*------------------------------------------------------------------
* 0xEA get serial information number, model and options (as string)
*-----------------------------------------------------------------*/
valid_count =0;
for ( i=0; i<4; i++){ //cycles through the valid device options
errorCode = i3dmgx3_getDeviceIdentiy(portNum, idchar[i], &sn[0]);
if (errorCode < 0){
purge_port(portNum);
i--;
if (valid_count++ >6){
printf("Error Read Device Identity: %s\n", explainError(errorCode));
}
} else{
switch( i ) {
case 0:
fprintf(m_logFile, "Device Name: %s\n",sn);
break;
case 1:
fprintf(m_logFile, "Device Model: %s\n",sn);
break;
case 2:
fprintf(m_logFile, "Device FirmWare Version: %s\n", fw);
fprintf(m_logFile, "Device Serial Number: %s\n", sn);
break;
case 3:
fprintf(m_logFile, "Device Options: %s\n", sn);
break;
case 4:
default:
break;
}
}
}
fprintf(m_logFile, "Command C2\n[DATA START TAG]\n\t Time%s Accel X%s Accel Y%s Accel Z%s AngRate X%s AngRate Y%s AngRate Z%s Ticks\n", mListSep, mListSep, mListSep, mListSep, mListSep, mListSep, mListSep);
//put the node in continuous mode
status =SetContinuousMode(portNum, 0xC2);
printf("setcontinuous is %d", status);
//set up the output for the data
printf("\n\n");
printf("Reading streaming data (hit s to Stop streaming).\n");
printf("C2___________________________Acceleration_______________________________\n");
printf(" X Y Z \n");
/* acceleration values go here */
printf("\n\n\n");
printf("C2____________________________Angular_Rate______________________________\n");
printf(" X Y Z \n");
/* angle rate values go here */
getConXY(&Curs_posX, &Curs_posY);
printf("\n\n\n\n");
//continue until the user hits the <s>top key
while(!bStopContinuous)
{
if(ReadNextRecord(portNum, &Record, &cmd_return) != SUCCESS)
error_record++;
if (cmd_return == 0xC2){
if (AA_s_prev == 0){
fprintf(m_logFile, "\t 0.00");
AA_s_prev = Record.timer; //AA_Time_Stamp;
}
else
{
AA_convert = ((float)(Record.timer - AA_s_prev)/m_timerconst); //19660800);
AA_s_prev = Record.timer; //AA_Time_Stamp;
AA_prev = AA_prev + AA_convert;
fprintf(m_logFile, "\t%6.2f", AA_prev);
}
//move to the acceleration position and print the data
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setA[0], Record.setA[1], Record.setA[2]);
fprintf(m_logFile, "%s %2.6f%s %2.6f%s %2.6f%s ", mListSep, Record.setA[0],mListSep, Record.setA[1], mListSep, Record.setA[2], mListSep);
setConXY(Curs_posX, Curs_posY -5, &consoleBuff[0]);
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setB[0], Record.setB[1], Record.setB[2]);
fprintf(m_logFile, "%2.6f%s %2.6f%s %2.6f%s %u\n", Record.setB[0], mListSep, Record.setB[1], mListSep, Record.setB[2], mListSep, Record.timer);
setConXY(Curs_posX, Curs_posY, &consoleBuff[0]);
valid_rec++;
}else if (cmd_return != 0xc4){
if((cmd_return == 0xCB || cmd_return == 0xD3) && error_record == 0)
error_cmd = cmd_return;
else
error_record++;
}
//check for a key every 50 iterations
if(iCount++ > 50) {
int ch = 0;
if(ReadCharNoReturn(&ch)){
bStopContinuous = (ch == 's' || ch == 'S');
}
//reset the counter
iCount = 0;
}
}
printf("\n\n\nStopping Continuous Mode...");
StopContinuousMode(portNum);
printf("stopped.\n");
fclose(m_logFile);
if (error_record > 0)
printf("Number of records received in error were %d and received successfully %d\n", error_record, valid_rec);
else
printf("All %d records read successfully.\n", valid_rec);
}
/*===========================================================================
* ReadContinuousData
*---------------------------------------------------------------------------
* Description: Puts the node in continuous mode, reads the sensor data and
* prints to the screen until the user interrupts.
*
* Return: HANDLE - handle to the opened comport
*===========================================================================*/
void ReadContinuousData(int portNum)
{
int iCount = 0;
BOOL bStopContinuous = FALSE;
DWORD dwcharsRead = 0;
I3dmgx3Set Record;
BYTE cmd_return;
int Curs_posY = 0;
int Curs_posX = 0;
int status = 0;
int error_record = 0;
char consoleBuff[60] = {0};
long valid_rec = 0;
unsigned char error_cmd;
//put the node in continuous mode
status =SetContinuousMode(portNum, 0xC2);
printf("setcontinuous is %d", status);
//set up the output for the data
printf("\n\n");
printf("Reading streaming data (hit s to Stop streaming).\n");
printf("C2___________________________Acceleration_______________________________\n");
printf(" X Y Z \n");
/* acceleration values go here, save the position */
printf("\n\n\n");
printf("C2____________________________Angular_Rate______________________________\n");
printf(" X Y Z \n");
/* angle rate values go here, save the position */
getConXY(&Curs_posX, &Curs_posY);
printf("\n\n\n\n");
//continue until the user hits the s key
while(!bStopContinuous)
{
if(ReadNextRecord(portNum, &Record, &cmd_return) != SUCCESS)
error_record++;
if (cmd_return == 0xC2){
//move to the acceleration position and print the data
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setA[0], Record.setA[1], Record.setA[2]);
setConXY(Curs_posX, Curs_posY -5, &consoleBuff[0]);
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setB[0], Record.setB[1], Record.setB[2]);
setConXY(Curs_posX, Curs_posY, &consoleBuff[0]);
valid_rec++;
}else if (cmd_return != 0xC4){
if((cmd_return == 0xCB || cmd_return == 0xD3) && error_record == 0)
error_cmd = cmd_return;
else
error_record++;
}
//check for a key every 50 iterations
if(iCount++ > 50) {
int ch = 0;
if(ReadCharNoReturn(&ch)){
bStopContinuous = (ch == 's' || ch == 'S');
}
//reset the counter
iCount = 0;
}
}
printf("\n\n\nStopping Continuous Mode...");
StopContinuousMode(portNum);
printf("stopped.\n");
if (error_record > 0)
printf("Number of records received in error were %d and received successfully %d\n", error_record, valid_rec);
else
printf("All %d records read successfully.\n", valid_rec);
}
//===========================================================================
// SetDataRate
//---------------------------------------------------------------------------
// Description: Allows user to set the DataRate between 1Hz and 300Hz
// Default is 100Hz
//
// Return: A display of the DataRate value which has been set.
//===========================================================================
void SetDataRate(int portNum)
{
int status = 0, Value = 0, Ival =0;
int chOption = 0;
int rDataRate = 0;
int mDataRate = 0;
int sDataRate = 0;
int valCheck = 0;
BYTE Record[20];
char AddA = 0xFC;
char AddB = 0xA2;
unsigned short nvalS = 0;
char Jjunk[20];
purge_port(portNum);
status = ReadDataRate(portNum, &Record[0] );
if(status == 1){ //0
printf("\n\nCurrent value of the DataRate is set at ");
nvalS = convert2ushort(&Record[1]);
rDataRate = (1000 / nvalS);
printf("%d Hz\n\n", rDataRate);
} else {
printf("Error Reading Data-Rate %d\n", status); // %s explainError(status));
return;
}
while(Value == 0)
{
printf("Would you like to Modify the DataRate? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&chOption))
{
Sleep(50);
}
switch (chOption){
case 'n':
case 'N': Value = 1; break;
case 'y':
case 'Y': while (Ival == 0){
mDataRate = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &mDataRate);
if ((mDataRate < 1 )|| (mDataRate > 1000) ){
printf(" Invalid entry: out of range \n\n");
Ival = 0;
scanf("%s", Jjunk);
mDataRate = 0;
break;
} else Ival = 1;
}
if(Ival == 1){
valCheck = WriteDataRate(portNum, mDataRate, &Record[0]);
if(valCheck != 1 ){
printf("DataRate set Error %d\n", valCheck);
break;
}
if( valCheck == 1) {
status = ReadDataRate(portNum, &Record[0] );
if(status == 1){ //0
printf("Current value of DataRate is set at ");
nvalS = convert2ushort(&Record[1]);
rDataRate = (1000 / nvalS);
printf("%dHz\n\n", rDataRate);
Ival = 0;
break;
} else {
printf("Error Reading Data-Rate %d\n", status); //explainError(status));
return;
}
}
break;
default: printf("Invalid Option\n\n"); Value = 0;
}
}
}
}
void SamplingData(int portNum){
int Value=0;
unsigned short DCcheck=0;
BOOL bQuit = FALSE;
BOOL bPrintHeader = TRUE;
BYTE Record[20];
BYTE BlittleEndian[31];
BYTE byteOne=0x00;
BYTE byteTwo=0x00;
int chOption = 0;
short fw_check = 0;
int i = 0;
float LEaccel[4];
float LEang[4];
while(Value == 0)
{
if(bPrintHeader)
{
printf("\n");
printf("Select an Option From the Following Menu \n");
printf("0 Data Rate - Modify or review the current DataRate\n");
printf("1 Calculate Orientation - Enable Calculate Orientation \n");
printf("2 Coning & Sculling - Enable Coning & Sculling \n");
printf("3 Little Endian - Change IMU Big Endian format to Little\n");
printf("4 NaN's Suppression - Suppress NaN Data \n");
printf("5 Finite Size Corrction - Enable Finite Size Correction \n");
printf("6 Disable Magnetometer - Disable the Magnetometer \n");
printf("7 Enable Magnetometer - Enable the Magnetometer Low Power Setting \n");
printf("8 Disable Magnetic North - Disable the Magnetic North Compenstation \n");
printf("9 Disable Gravity Comp - Disable the Gravity Compenstation \n");
printf("Q Enable Quaternion - Enable the Quaternion Calculation \n");
printf("E Exit Sampling - Exit the Sampling Menu and return to the Main Menu\n");
bPrintHeader = FALSE;
}
//read option from the keyboard
while(!ReadCharNoReturn(&chOption))
{
Sleep(50);
}
switch (chOption){
case '0':
SetDataRate(portNum); bPrintHeader = TRUE; break;
case '1': //Enable Calculate Orientation
//DataConditioning = 1;
byteOne=0x00;
byteTwo = 0x01;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
//DCcheck = convert2short(&Record[3]);
if(byteTwo == Record[4])
printf("\nSample Setting Calculate Orientation now Enabled.\n");
else
printf("\nError: Failure to Enable Sample Setting Calculate Orientation.\n");
bPrintHeader = TRUE; break;
case '2': //Enable Coning & Sculling
byteOne=0x00;
byteTwo = 0x02;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteTwo == Record[4])
printf("\nSample Setting Coning & Sculling now Enabled.\n");
else
printf("\nError: Failure to Enable Sample Setting Coning & Sculling.\n");
bPrintHeader = TRUE; break;
case '3': //Set Floating Point from sensor to Little Endian
byteOne=0x00;
byteTwo = 0x10;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteTwo == Record[4]){
printf("\n\nSample Setting Floating Point data is sent in Little Endian.\n");
i3dmgx3_AccelAndAngRate(portNum,&BlittleEndian[0]);
//printf("received Data----------------\n");
for(i=0;i<4;i++){
LEaccel[i] = Little_Endian_Float(&BlittleEndian[1 + i*4]);
//LEaccel[0] = FloatFromBytes(BlittleEndian[1 ]);
LEang[i] = Little_Endian_Float(&BlittleEndian[13 + i*4]);
}
printf("Acceleration & Angular Rate (0xC2)______\n");
printf(" X Y Z \n");
//printf(" %2.6f\n ",LEaccel[0]);
printf(" Accel %2.6f\t%2.6f\t%2.6f\n", LEaccel[0], LEaccel[1], LEaccel[2]);
printf(" Angle %2.6f\t%2.6f\t%2.6f\n", LEang[0], LEang[1], LEang[2]);
}else
printf("Error: Failure to set Sample Setting Floating Point data to Little Endian Format.\n");
bPrintHeader = TRUE; break;
case '4': //Suppress NaN data
byteOne=0x00;
byteTwo = 0x20;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteTwo == Record[4])
printf("\nSample Setting NaN data is now suppressed.\n");
else
printf("\nError: Failure to suppress Sample Setting NaN data. \n");
bPrintHeader = TRUE; break;
case '5': //Enable Finite Size Correction
byteOne=0x00;
byteTwo = 0x40;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteTwo == Record[4])
printf("\nSample Setting Finite Size Correction now Enabled.\n");
else
printf("\nError: Failure to Enable Sample Setting Finite Size Correction.\n");
bPrintHeader = TRUE; break;
//Case(s) 6 - 9 and q require firmware 1.1.27 or greater --------------
case '6': //Disable Magnetometer
byteOne=0x01;
byteTwo = 0x00;
fw_check = 1;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteOne == Record[3])
printf("\nSample Setting Magnetometer Disabled. \n");
else
printf("\nError: Failure to Disable Sample Setting Magnetometer.\n");
bPrintHeader = TRUE; break;
case '7': //Enable Magnetometer low power
byteOne=0x02;
byteTwo = 0x00;
fw_check = 1;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteOne == Record[3])
printf("\nSample Setting Magnetometer now Enabled to Low Power Setting.\n");
else
printf("\nError: Failure to Enable Sample Setting Magnetometer Low Power Setting.\n");
bPrintHeader = TRUE; break;
case '8': //Disable Magnetic North Compensation
byteOne = 0x04; //To Enable use byteOne=0x00;
byteTwo = 0x00;
fw_check = 1; // to enable use fw_check =8 to set time
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteOne == Record[3])
printf("\nSample Setting Magnetic North Compensationn Disabled.");
else
printf("\nError: Failure to Disable Sample Setting Magnetic North Compensation.\n");
// if selection is Enabled ask if user wants to run realign up and north 0xDD
bPrintHeader = TRUE; break;
case '9': //Disable Gravity Compensationn
byteOne = 0x08; //To Enable use byteOne=0x00;
byteTwo = 0x00;
fw_check = 1; // to enable use fw_check =9 to set time
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteOne == Record[3])
printf("\nSample Setting Gravity Compensationn Disabled");
else
printf("\nError: Failure to Disable Sample Setting Gravity Compensation\n");
// if selection is Enabled ask if user wants to run realign up and north 0xDD
bPrintHeader = TRUE; break;
case 'q':
case 'Q'://Enable Quaternion(s)
byteOne=0x10; //needs bit 0 bit 1 and bit 11 set on
byteTwo=0x03;
fw_check = 1;
SetSampleSetting(portNum,byteOne, byteTwo, &Record[0], fw_check);
if(byteTwo == Record[4]){
printf("\nSample Setting Quaternion Calculation now enabled\n");
Get_Quaternion(portNum);
}
else
printf("\nError: Failure to set Sample Setting Quaternion Calculation\n");
//Get_Quaternion(portNum);
bPrintHeader = TRUE; break;
case 'e':
case 'E': bQuit = TRUE; bPrintHeader = FALSE; return; break;
case 'h':
case 'H': bPrintHeader = TRUE; break;
default: printf("Invalid Option\n\n"); bPrintHeader = TRUE;
}
}
}
