ThreeSpace API 2.0. More...

#include <stdio.h>
#include <string.h>
#include <windows.h>
#include <process.h>
#include <math.h>

Data Structures
struct	TSS_ComPort
struct	TSS_ComInfo
Defines
#define	TSS_INFINITE_DURATION 0xffffffff
#define	TSS_DEFAULT_WIRLESSS_RETRIES 5
#define	TSS_DEFAULT_BAUD_RATE 115200
Typedefs
typedef unsigned int	TSS_Device_Id
typedef enum TSS_Device_Id_Mask	TSS_Device_Id_Mask
typedef enum TSS_Timestamp_Mode	TSS_Timestamp_Mode
typedef enum TSS_Error	TSS_Error
typedef enum TSS_Firmware_Compatibility	TSS_Firmware_Compatibility
typedef enum TSS_Stream_Command_Enum	TSS_Stream_Command_Enum
typedef unsigned char	TSS_Stream_Command
typedef enum TSS_Find	TSS_Find
typedef enum TSS_Type	TSS_Type
typedef enum TSS_Axis_Direction	TSS_Axis_Direction
typedef enum TSS_Filter_Mode	TSS_Filter_Mode
typedef struct TSS_ComPort	TSS_ComPort
typedef struct TSS_ComInfo	TSS_ComInfo
typedef void CALLBACK	TSS_CallBack (TSS_Device_Id device, char output_data, unsigned int output_data_len, unsigned int timestamp)
	Streaming data callback.
Enumerations
enum	TSS_Device_Id_Mask { TSS_NO_DEVICE_ID = 0x00800000, TSS_BOOTLOADER_ID = 0x01000000, TSS_DONGLE_ID = 0x02000000, TSS_USB_ID = 0x04000000, TSS_EMBEDDED_ID = 0x08000000, TSS_WIRELESS_ID = 0x10000000, TSS_WIRELESS_W_ID = 0x20000000, TSS_DATALOGGER_ID = 0x40000000, TSS_BLUETOOTH_ID = 0x80000000, TSS_NO_DONGLE_ID = 0xfd000000, TSS_ALL_SENSORS_ID = 0xff000000 }
enum	TSS_Timestamp_Mode { TSS_TIMESTAMP_NONE, TSS_TIMESTAMP_SENSOR, TSS_TIMESTAMP_SYSTEM }
enum	TSS_Error { TSS_NO_ERROR, TSS_ERROR_COMMAND_FAIL, TSS_INVALID_COMMAND, TSS_INVALID_ID, TSS_ERROR_PARAMETER, TSS_ERROR_TIMEOUT, TSS_ERROR_WRITE, TSS_ERROR_READ, TSS_ERROR_STREAM_SLOTS_FULL, TSS_ERROR_STREAM_CONFIG, TSS_ERROR_MEMORY, TSS_ERROR_FIRMWARE_INCOMPATIBLE }
enum	TSS_Firmware_Compatibility { TSS_FW_NOT_COMPATIBLE, TSS_FW_20R7_COMPATIBLE, TSS_FW_20R10_COMPATIBLE, TSS_FW_20R13_COMPATIBLE }
enum	TSS_Stream_Command_Enum { TSS_GET_TARED_ORIENTATION_AS_QUATERNION = 0x00, TSS_GET_TARED_ORIENTATION_AS_EULER_ANGLES = 0x01, TSS_GET_TARED_ORIENTATION_AS_ROTATION_MATRIX = 0x02, TSS_GET_TARED_ORIENTATION_AS_AXIS_ANGLE = 0x03, TSS_GET_TARED_ORIENTATION_AS_TWO_VECTOR = 0x04, TSS_GET_DIFFERENCE_QUATERNION = 0x05, TSS_GET_UNTARED_ORIENTATION_AS_QUATERNION = 0x06, TSS_GET_UNTARED_ORIENTATION_AS_EULER_ANGLES = 0x07, TSS_GET_UNTARED_ORIENTATION_AS_ROTATION_MATRIX = 0x08, TSS_GET_UNTARED_ORIENTATION_AS_AXIS_ANGLE = 0x09, TSS_GET_UNTARED_ORIENTATION_AS_TWO_VECTOR = 0x0a, TSS_GET_TARED_TWO_VECTOR_IN_SENSOR_FRAME = 0x0b, TSS_GET_UNTARED_TWO_VECTOR_IN_SENSOR_FRAME = 0x0c, TSS_GET_ALL_NORMALIZED_COMPONENT_SENSOR_DATA = 0x20, TSS_GET_NORMALIZED_GYRO_RATE = 0x21, TSS_GET_NORMALIZED_ACCELEROMETER_VECTOR = 0x22, TSS_GET_NORMALIZED_COMPASS_VECTOR = 0x23, TSS_GET_ALL_CORRECTED_COMPONENT_SENSOR_DATA = 0x25, TSS_GET_CORRECTED_GYRO_RATE = 0x26, TSS_GET_CORRECTED_ACCELEROMETER_VECTOR = 0x27, TSS_GET_CORRECTED_COMPASS_VECTOR = 0x28, TSS_GET_CORRECTED_LINEAR_ACCELERATION_IN_GLOBAL_SPACE = 0x29, TSS_GET_TEMPERATURE_C = 0x2b, TSS_GET_TEMPERATURE_F = 0x2c, TSS_GET_CONFIDENCE_FACTOR = 0x2d, TSS_GET_ALL_RAW_COMPONENT_SENSOR_DATA = 0x40, TSS_GET_RAW_GYROSCOPE_RATE = 0x41, TSS_GET_RAW_ACCELEROMETER_DATA = 0x42, TSS_GET_RAW_COMPASS_DATA = 0x43, TSS_GET_BATTERY_VOLTAGE = 0xc9, TSS_GET_BATTERY_PERCENT_REMAINING = 0xca, TSS_GET_BATTERY_STATUS = 0xcb, TSS_GET_BUTTON_STATE = 0xfa, TSS_NULL = 0xff }
enum	TSS_Find { TSS_FIND_BTL = 0x00000001, TSS_FIND_USB = 0x00000002, TSS_FIND_DNG = 0x00000004, TSS_FIND_WL = 0x00000008, TSS_FIND_EM = 0x00000010, TSS_FIND_DL = 0x00000020, TSS_FIND_BT = 0x00000040, TSS_FIND_UNKNOWN = 0x80000000, TSS_FIND_ALL_KNOWN = 0x7fffffff, TSS_FIND_ALL = 0xffffffff }
enum	TSS_Type { TSS_UNKNOWN, TSS_BTL, TSS_USB, TSS_DNG, TSS_WL, TSS_WL_W, TSS_EM, TSS_DL, TSS_BT }
enum	TSS_Axis_Direction { TSS_XYZ, TSS_XZY, TSS_YXZ, TSS_YZX, TSS_ZXY, TSS_ZYX }
enum	TSS_Filter_Mode { TSS_FILTER_IMU, TSS_FILTER_KALMAN, TSS_FILTER_ALTERNATING_KALMAN, TSS_FILTER_COMPLEMENTARY, TSS_FILTER_QUATERNION_GRADIENT_DECENT }
Functions
TSS_EXPORT void	tss_parseAxisDirections (unsigned char axis_byte, TSS_Axis_Direction axis_order, char neg_x, char neg_y, char neg_z)
	Convenience function to parse axis_byte into its separate components.
TSS_EXPORT unsigned char	tss_generateAxisDirections (TSS_Axis_Direction axis_order, char neg_x, char neg_y, char neg_z)
	Convenience function to generate an axis_byte from its separate components.
TSS_EXPORT void	tss_setSoftwareWirelessRetries (unsigned int retries)
	Sets the amount of retries on wireless commands via software.
TSS_EXPORT unsigned int	tss_getSoftwareWirelessRetries ()
	Gets the amount of retries on wireless commands via software.
TSS_EXPORT void	tss_setDefaultCreateDeviceBaudRate (int baud_rate)
	Sets the default baud rate for newly created 3-Space devices.
TSS_EXPORT int	tss_getDefaultCreateDeviceBaudRate ()
	Gets the default baud rate for newly created 3-Space devices.
TSS_EXPORT int	tss_getComPorts (TSS_ComPort *ports_vec, unsigned int ports_vec_size, unsigned int offset, unsigned int filter)
	Gets the com ports of YEI 3-Space devices and other available com ports.
TSS_EXPORT TSS_Error	tss_getTSDeviceInfoFromComPort (const char com_port, TSS_ComInfo com_info)
	Gets information from the 3-Space device connected to the com port.
TSS_EXPORT TSS_Error	tss_getTSDeviceInfo (TSS_Device_Id device, TSS_ComInfo *com_info)
	Gets information from the 3-Space device associated with the device ID.
TSS_EXPORT TSS_Device_Id	tss_createTSDeviceU16Str (const wchar_t *com_port, TSS_Timestamp_Mode mode)
	Creates a device ID with wide char support.
TSS_EXPORT TSS_Device_Id	tss_createTSDeviceStr (const char *com_port, TSS_Timestamp_Mode mode)
	Creates a device ID.
TSS_EXPORT TSS_Device_Id	tss_createTSDeviceU16StrEx (const wchar_t *com_port, int baud_rate, TSS_Timestamp_Mode mode)
	Creates a device ID with extended parameter and wide char support.
TSS_EXPORT TSS_Device_Id	tss_createTSDeviceStrEx (const char *com_port, int baud_rate, TSS_Timestamp_Mode mode)
	Creates a device ID with extended parameter.
TSS_EXPORT TSS_Error	tss_closeTSDevice (TSS_Device_Id device)
	Closes and frees the com port.
TSS_EXPORT TSS_Error	tss_getSensorFromDongle (TSS_Device_Id device, int logical_id, unsigned int *w_ts_device)
	Creates a device ID from a dongle.
TSS_EXPORT TSS_Error	tss_setSensorToDongle (TSS_Device_Id device, int logical_id, unsigned int w_serial_number)
	Sets a wireless sensor to a dongle.
TSS_EXPORT TSS_Error	tss_setTimestampMode (TSS_Device_Id device, TSS_Timestamp_Mode mode)
	Sets the timestamp mode on an existing 3-Space device.
TSS_EXPORT TSS_Error	tss_getLastStreamData (TSS_Device_Id device, char output_data, unsigned int output_data_len, unsigned int timestamp)
	Gets the last stream data from a sensor.
TSS_EXPORT TSS_Error	tss_getLastStreamData2 (TSS_Device_Id device, char output_data, unsigned int output_data_len, unsigned int timestamp)
	Gets the last stream data from a sensor.
TSS_EXPORT TSS_Error	tss_getLatestStreamData (TSS_Device_Id device, char output_data, unsigned int output_data_len, unsigned int timeout, unsigned int timestamp)
	Gets the latest stream data from a sensor.
TSS_EXPORT TSS_Error	tss_setNewDataCallBack (TSS_Device_Id device, TSS_CallBack callback_func)
	Sets a new data callback for a sensor.
TSS_EXPORT TSS_Error	tss_sendRawCommandFormatted (TSS_Device_Id device, unsigned char command, char in_data, char in_data_detail, char rtn_data, char rtn_data_detail, unsigned int *timestamp)
	Sends a raw command to a 3-Space device formatted for converting to and from big endian.
TSS_EXPORT TSS_Error	tss_sendRawCommand (TSS_Device_Id device, unsigned char command, char in_data, int in_data_size, char rtn_data, int rtn_data_size, unsigned int *timestamp)
	Sends a raw command to a 3-Space device un-formatted.
TSS_EXPORT int	tss_isConnected (TSS_Device_Id device, int reconnect)
	Tests to check if a 3-Space device is connected.
TSS_EXPORT TSS_Error	tss_getTSDeviceType (TSS_Device_Id device, TSS_Type *device_type)
	Gets the device type of a 3-Space device.
TSS_EXPORT int	tss_resetThreeSpaceAPI ()
	Reset the ThreeSpace API.
TSS_EXPORT int	tss_createTSDevicesBySerialNumber (unsigned int serial_list, TSS_Device_Id device_list, int list_length, int search_wireless, int search_unknown_devices, TSS_Timestamp_Mode mode)
	Create ts devices by serial number.
TSS_EXPORT int	tss_getDeviceIDs (TSS_Device_Id *device_list, int list_length, int offset, int filter)
	Get device IDs.
TSS_EXPORT TSS_Error	tss_getTaredOrientationAsQuaternion (TSS_Device_Id device, float quat4, unsigned int timestamp)
	Get tared orientation as quaternion.
TSS_EXPORT TSS_Error	tss_getTaredOrientationAsEulerAngles (TSS_Device_Id device, float euler3, unsigned int timestamp)
	Get tared orientation as euler angles.
TSS_EXPORT TSS_Error	tss_getTaredOrientationAsRotationMatrix (TSS_Device_Id device, float matrix9, unsigned int timestamp)
	Get tared orientation as rotation matrix.
TSS_EXPORT TSS_Error	tss_getTaredOrientationAsAxisAngle (TSS_Device_Id device, float axis_angle4, unsigned int timestamp)
	Get tared orientation as axis angle.
TSS_EXPORT TSS_Error	tss_getTaredOrientationAsTwoVector (TSS_Device_Id device, float forward3, float down3, unsigned int *timestamp)
	Get tared orientation as two vector.
TSS_EXPORT TSS_Error	tss_getDifferenceQuaternion (TSS_Device_Id device, float quat4, unsigned int timestamp)
	Get difference quaternion.
TSS_EXPORT TSS_Error	tss_getUntaredOrientationAsQuaternion (TSS_Device_Id device, float quat4, unsigned int timestamp)
	Get untared orientation as quaternion.
TSS_EXPORT TSS_Error	tss_getUntaredOrientationAsEulerAngles (TSS_Device_Id device, float euler3, unsigned int timestamp)
	Get untared orientation as euler angles.
TSS_EXPORT TSS_Error	tss_getUntaredOrientationAsRotationMatrix (TSS_Device_Id device, float matrix9, unsigned int timestamp)
	Get untared orientation as rotation matrix.
TSS_EXPORT TSS_Error	tss_getUntaredOrientationAsAxisAngle (TSS_Device_Id device, float axis_angle4, unsigned int timestamp)
	Get untared orientation as axis angle.
TSS_EXPORT TSS_Error	tss_getUntaredOrientationAsTwoVector (TSS_Device_Id device, float north3, float gravity3, unsigned int *timestamp)
	Get untared orientation as two vector.
TSS_EXPORT TSS_Error	tss_getTaredTwoVectorInSensorFrame (TSS_Device_Id device, float forward3, float down3, unsigned int *timestamp)
	Get tared two vector in sensor frame.
TSS_EXPORT TSS_Error	tss_getUntaredTwoVectorInSensorFrame (TSS_Device_Id device, float north3, float gravity3, unsigned int *timestamp)
	Get untared two vector in sensor frame.
TSS_EXPORT TSS_Error	tss_setInterruptType (TSS_Device_Id device, unsigned char mode, unsigned char pin, unsigned int *timestamp)
	Set pin mode.
TSS_EXPORT TSS_Error	tss_getInterruptType (TSS_Device_Id device, unsigned char mode, unsigned char pin, unsigned int *timestamp)
	Get pin mode.
TSS_EXPORT TSS_Error	tss_getInterruptStatus (TSS_Device_Id device, unsigned char status, unsigned int timestamp)
	Get interrupt status.
TSS_EXPORT TSS_Error	tss_getAllNormalizedComponentSensorData (TSS_Device_Id device, float gyro_rate3, float gravity_direction3, float north_direction3, unsigned int timestamp)
	Get all normalized component sensor data.
TSS_EXPORT TSS_Error	tss_getNormalizedGyroRate (TSS_Device_Id device, float gyro_rate3, unsigned int timestamp)
	Get normalized gyro rate.
TSS_EXPORT TSS_Error	tss_getNormalizedAccelerometerVector (TSS_Device_Id device, float gravity_direction3, unsigned int timestamp)
	Get normalized accelerometer vector.
TSS_EXPORT TSS_Error	tss_getNormalizedCompassVector (TSS_Device_Id device, float north_direction3, unsigned int timestamp)
	Get normalized compass vector.
TSS_EXPORT TSS_Error	tss_getAllCorrectedComponentSensorData (TSS_Device_Id device, float gyro_rate3, float accelerometer3, float compass3, unsigned int timestamp)
	Get all corrected component sensor data.
TSS_EXPORT TSS_Error	tss_getCorrectedGyroRate (TSS_Device_Id device, float gyro_rate3, unsigned int timestamp)
	Get corrected gyro rate.
TSS_EXPORT TSS_Error	tss_getCorrectedAccelerometerVector (TSS_Device_Id device, float accelerometer3, unsigned int timestamp)
	Get corrected accelerometer vector.
TSS_EXPORT TSS_Error	tss_getCorrectedCompassVector (TSS_Device_Id device, float compass3, unsigned int timestamp)
	Get corrected compass vector.
TSS_EXPORT TSS_Error	tss_getCorrectedLinearAccelerationInGlobalSpace (TSS_Device_Id device, float accelerometer3, unsigned int timestamp)
	Get corrected linear acceleration in global space.
TSS_EXPORT TSS_Error	tss_getTemperatureC (TSS_Device_Id device, float temperature, unsigned int timestamp)
	Get temperature C.
TSS_EXPORT TSS_Error	tss_getTemperatureF (TSS_Device_Id device, float temperature, unsigned int timestamp)
	Get temperature F.
TSS_EXPORT TSS_Error	tss_getConfidenceFactor (TSS_Device_Id device, float confidence, unsigned int timestamp)
	Get confidence factor.
TSS_EXPORT TSS_Error	tss_turnOnMassStorage (TSS_Device_Id device, unsigned int *timestamp)
	Turn on mass storage.
TSS_EXPORT TSS_Error	tss_turnOffMassStorage (TSS_Device_Id device, unsigned int *timestamp)
	Turn off mass storage.
TSS_EXPORT TSS_Error	tss_formatAndInitializeSDCard (TSS_Device_Id device, unsigned int *timestamp)
	Format and Initialize SD Card.
TSS_EXPORT TSS_Error	tss_beginDataLoggingSession (TSS_Device_Id device, unsigned int *timestamp)
	Begin data logging session.
TSS_EXPORT TSS_Error	tss_endDataLoggingSession (TSS_Device_Id device, unsigned int *timestamp)
	End data logging session.
TSS_EXPORT TSS_Error	tss_setClockValues (TSS_Device_Id device, unsigned char month, unsigned char day, unsigned char year, unsigned char hour, unsigned char minute, unsigned char second, unsigned int *timestamp)
	Set clock values.
TSS_EXPORT TSS_Error	tss_getClockValues (TSS_Device_Id device, unsigned char month, unsigned char day, unsigned char year, unsigned char hour, unsigned char minute, unsigned char second, unsigned int *timestamp)
	Get clock values.
TSS_EXPORT TSS_Error	tss_getAllRawComponentSensorData (TSS_Device_Id device, float gyro_rate3, float accelerometer3, float compass3, unsigned int timestamp)
	Get all raw component sensor data.
TSS_EXPORT TSS_Error	tss_getRawGyroscopeRate (TSS_Device_Id device, float gyro_rate3, unsigned int timestamp)
	Get raw gyroscope rate.
TSS_EXPORT TSS_Error	tss_getRawAccelerometerData (TSS_Device_Id device, float accelerometer3, unsigned int timestamp)
	Get raw accelerometer data.
TSS_EXPORT TSS_Error	tss_getRawCompassData (TSS_Device_Id device, float compass3, unsigned int timestamp)
	Get raw compass data.
TSS_EXPORT TSS_Error	tss_setStreamingSlots (TSS_Device_Id device, const TSS_Stream_Command slots8, unsigned int timestamp)
	Set streaming slots.
TSS_EXPORT TSS_Error	tss_getStreamingSlots (TSS_Device_Id device, TSS_Stream_Command slots8, unsigned int timestamp)
	Get streaming slots.
TSS_EXPORT TSS_Error	tss_setStreamingTiming (TSS_Device_Id device, unsigned int interval, unsigned int duration, unsigned int delay, unsigned int *timestamp)
	Set streaming timing.
TSS_EXPORT TSS_Error	tss_getStreamingTiming (TSS_Device_Id device, unsigned int interval, unsigned int duration, unsigned int delay, unsigned int timestamp)
	Get streaming timing.
TSS_EXPORT TSS_Error	tss_getStreamingBatch (TSS_Device_Id device, char output_data, unsigned int output_data_len, unsigned int timestamp)
	Get streaming batch.
TSS_EXPORT TSS_Error	tss_startStreaming (TSS_Device_Id device, unsigned int *timestamp)
	Start streaming.
TSS_EXPORT TSS_Error	tss_stopStreaming (TSS_Device_Id device, unsigned int *timestamp)
	Stop streaming.
TSS_EXPORT TSS_Error	tss_updateCurrentTimestamp (TSS_Device_Id device, unsigned int set_timestamp, unsigned int *timestamp)
	Update current timestamp.
TSS_EXPORT TSS_Error	tss_setEulerAngleDecompositionOrder (TSS_Device_Id device, unsigned char order, unsigned int *timestamp)
	Set euler angle decomposition order.
TSS_EXPORT TSS_Error	tss_setMagnetoresistiveThreshold (TSS_Device_Id device, float threshold, unsigned int trust_frames, float lockout_decay, float perturbation_detection_value, unsigned int *timestamp)
	Set magnetoresistive threshold.
TSS_EXPORT TSS_Error	tss_setAccelerometerResistanceThreshold (TSS_Device_Id device, float threshold, unsigned int lockout_frames, unsigned int *timestamp)
	Set accelerometer resistance threshold.
TSS_EXPORT TSS_Error	tss_offsetWithCurrentOrientation (TSS_Device_Id device, unsigned int *timestamp)
	Offset with current orientation.
TSS_EXPORT TSS_Error	tss_resetBaseOffset (TSS_Device_Id device, unsigned int *timestamp)
	Reset base offset.
TSS_EXPORT TSS_Error	tss_offsetWithQuaternion (TSS_Device_Id device, const float quat4, unsigned int timestamp)
	Offset with quaternion.
TSS_EXPORT TSS_Error	tss_setBaseOffsetWithCurrentOrientation (TSS_Device_Id device, unsigned int *timestamp)
	Set base offset with current orientation.
TSS_EXPORT TSS_Error	tss_tareWithCurrentOrientation (TSS_Device_Id device, unsigned int *timestamp)
	Tare with current orientation.
TSS_EXPORT TSS_Error	tss_tareWithQuaternion (TSS_Device_Id device, const float quat4, unsigned int timestamp)
	Tare with quaternion.
TSS_EXPORT TSS_Error	tss_tareWithRotationMatrix (TSS_Device_Id device, const float matrix9, unsigned int timestamp)
	Tare with rotation matrix.
TSS_EXPORT TSS_Error	tss_setStaticAccelerometerTrustValue (TSS_Device_Id device, float trust_value, unsigned int *timestamp)
	Set static accelerometer trust value.
TSS_EXPORT TSS_Error	tss_setConfidenceAccelerometerTrustValues (TSS_Device_Id device, float min_trust_value, float max_trust_value, unsigned int *timestamp)
	Set confidence accelerometer trust values.
TSS_EXPORT TSS_Error	tss_setStaticCompassTrustValue (TSS_Device_Id device, float trust_value, unsigned int *timestamp)
	Set static compass trust value.
TSS_EXPORT TSS_Error	tss_setConfidenceCompassTrustValues (TSS_Device_Id device, float min_trust_value, float max_trust_value, unsigned int *timestamp)
	Set confidence compass trust values.
TSS_EXPORT TSS_Error	tss_setDesiredUpdateRate (TSS_Device_Id device, unsigned int update_rate, unsigned int *timestamp)
	Set desired update rate.
TSS_EXPORT TSS_Error	tss_setReferenceVectorMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set reference vector mode.
TSS_EXPORT TSS_Error	tss_setOversampleRate (TSS_Device_Id device, unsigned char samples_per_iteration, unsigned int *timestamp)
	Set oversample rate.
TSS_EXPORT TSS_Error	tss_setGyroscopeEnabled (TSS_Device_Id device, unsigned char enabled, unsigned int *timestamp)
	Set gyroscope enabled.
TSS_EXPORT TSS_Error	tss_setAccelerometerEnabled (TSS_Device_Id device, unsigned char enabled, unsigned int *timestamp)
	Set accelerometer enabled.
TSS_EXPORT TSS_Error	tss_setCompassEnabled (TSS_Device_Id device, unsigned char enabled, unsigned int *timestamp)
	Set compass enabled.
TSS_EXPORT TSS_Error	tss_setAxisDirections (TSS_Device_Id device, unsigned char axis_direction_byte, unsigned int *timestamp)
	Set axis directions.
TSS_EXPORT TSS_Error	tss_setRunningAveragePercent (TSS_Device_Id device, float running_average_percent, unsigned int *timestamp)
	Set running average percent.
TSS_EXPORT TSS_Error	tss_setCompassReferenceVector (TSS_Device_Id device, const float reference_vector3, unsigned int timestamp)
	Set compass reference vector.
TSS_EXPORT TSS_Error	tss_setAccelerometerReferenceVector (TSS_Device_Id device, const float reference_vector3, unsigned int timestamp)
	Set accelerometer reference vector.
TSS_EXPORT TSS_Error	tss_resetKalmanFilter (TSS_Device_Id device, unsigned int *timestamp)
	Reset filter.
TSS_EXPORT TSS_Error	tss_setAccelerometerRange (TSS_Device_Id device, unsigned char accelerometer_range_setting, unsigned int *timestamp)
	Set accelerometer range.
TSS_EXPORT TSS_Error	tss_setFilterMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set filter mode.
TSS_EXPORT TSS_Error	tss_setRunningAverageMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set running average mode.
TSS_EXPORT TSS_Error	tss_setGyroscopeRange (TSS_Device_Id device, unsigned char gyroscope_range_setting, unsigned int *timestamp)
	Set gyroscope range.
TSS_EXPORT TSS_Error	tss_setCompassRange (TSS_Device_Id device, unsigned char compass_range_setting, unsigned int *timestamp)
	Set compass range.
TSS_EXPORT TSS_Error	tss_getTareAsQuaternion (TSS_Device_Id device, float quat4, unsigned int timestamp)
	Get tare orientation as quaternion.
TSS_EXPORT TSS_Error	tss_getTareAsRotationMatrix (TSS_Device_Id device, float matrix9, unsigned int timestamp)
	Get tare orientation as rotation matrix.
TSS_EXPORT TSS_Error	tss_getAccelerometerTrustValues (TSS_Device_Id device, float min_trust_value, float max_trust_value, unsigned int *timestamp)
	Get accelerometer trust values.
TSS_EXPORT TSS_Error	tss_getCompassTrustValues (TSS_Device_Id device, float min_trust_value, float max_trust_value, unsigned int *timestamp)
	Get compass trust values.
TSS_EXPORT TSS_Error	tss_getCurrentUpdateRate (TSS_Device_Id device, unsigned int last_update, unsigned int timestamp)
	Get current update rate.
TSS_EXPORT TSS_Error	tss_getCompassReferenceVector (TSS_Device_Id device, float reference_vector, unsigned int timestamp)
	Get compass reference vector.
TSS_EXPORT TSS_Error	tss_getAccelerometerReferenceVector (TSS_Device_Id device, float reference_vector, unsigned int timestamp)
	Get accelerometer reference vector.
TSS_EXPORT TSS_Error	tss_getReferenceVectorMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get reference vector mode.
TSS_EXPORT TSS_Error	tss_getGyroscopeEnabledState (TSS_Device_Id device, unsigned char enabled, unsigned int timestamp)
	Get gyroscope enabled state.
TSS_EXPORT TSS_Error	tss_getAccelerometerEnabledState (TSS_Device_Id device, unsigned char enabled, unsigned int timestamp)
	Get accelerometer enabled state.
TSS_EXPORT TSS_Error	tss_getCompassEnabledState (TSS_Device_Id device, unsigned char enabled, unsigned int timestamp)
	Get compass enabled state.
TSS_EXPORT TSS_Error	tss_getAxisDirections (TSS_Device_Id device, unsigned char axis_directions, unsigned int timestamp)
	Get axis direction.
TSS_EXPORT TSS_Error	tss_getOversampleRate (TSS_Device_Id device, unsigned char oversample_rate, unsigned int timestamp)
	Get oversample rate.
TSS_EXPORT TSS_Error	tss_getRunningAveragePercent (TSS_Device_Id device, float running_average_percent, unsigned int timestamp)
	Get running average percent.
TSS_EXPORT TSS_Error	tss_getDesiredUpdateRate (TSS_Device_Id device, unsigned int update_rate, unsigned int timestamp)
	Get desired update rate.
TSS_EXPORT TSS_Error	tss_getAccelerometerRange (TSS_Device_Id device, unsigned char accelerometer_range_setting, unsigned int timestamp)
	Get accelerometer range.
TSS_EXPORT TSS_Error	tss_getFilterMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get filter mode.
TSS_EXPORT TSS_Error	tss_getRunningAverageMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get running average mode.
TSS_EXPORT TSS_Error	tss_getGyroscopeRange (TSS_Device_Id device, unsigned char gyroscope_range_setting, unsigned int timestamp)
	Get gyroscope range.
TSS_EXPORT TSS_Error	tss_getCompassRange (TSS_Device_Id device, unsigned char compass_range_setting, unsigned int timestamp)
	Get compass range.
TSS_EXPORT TSS_Error	tss_getEulerAngleDecompositionOrder (TSS_Device_Id device, unsigned char order, unsigned int timestamp)
	Get euler angle decomposition order.
TSS_EXPORT TSS_Error	tss_getMagnetoresistiveThreshold (TSS_Device_Id device, float threshold, unsigned int trust_frames, float lockout_decay, float perturbation_detection_value, unsigned int *timestamp)
	Get magnetoresistive threshold.
TSS_EXPORT TSS_Error	tss_getAccelerometerResistanceThreshold (TSS_Device_Id device, float threshold, unsigned int lockout_frames, unsigned int *timestamp)
	Get accelerometer resistance threshold.
TSS_EXPORT TSS_Error	tss_getOffsetOrientationAsQuaternion (TSS_Device_Id device, float quat4, unsigned int timestamp)
	Get offset orientation as quaternion.
TSS_EXPORT TSS_Error	tss_setCompassCalibrationCoefficients (TSS_Device_Id device, const float matrix9, const float bias3, unsigned int *timestamp)
	Set compass calibration coefficients.
TSS_EXPORT TSS_Error	tss_setAccelerometerCalibrationCoefficients (TSS_Device_Id device, const float matrix9, const float bias3, unsigned int *timestamp)
	Set accelerometer calibration coefficients.
TSS_EXPORT TSS_Error	tss_getCompassCalibrationCoefficients (TSS_Device_Id device, float matrix9, float bias3, unsigned int *timestamp)
	Get compass calibration coefficients.
TSS_EXPORT TSS_Error	tss_getAccelerometerCalibrationCoefficients (TSS_Device_Id device, float matrix9, float bias3, unsigned int *timestamp)
	Get accelerometer calibration coefficients.
TSS_EXPORT TSS_Error	tss_getGyroscopeCalibrationCoefficients (TSS_Device_Id device, float matrix9, float bias3, unsigned int *timestamp)
	Get gyroscope calibration coefficients.
TSS_EXPORT TSS_Error	tss_beginGyroscopeAutoCalibration (TSS_Device_Id device, unsigned int *timestamp)
	Begin gyroscope auto-calibration.
TSS_EXPORT TSS_Error	tss_setGyroscopeCalibrationCoefficients (TSS_Device_Id device, const float matrix9, const float bias3, unsigned int *timestamp)
	Set gyroscope calibration coefficients.
TSS_EXPORT TSS_Error	tss_setCalibrationMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set calibration mode.
TSS_EXPORT TSS_Error	tss_getCalibrationMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get calibration mode.
TSS_EXPORT TSS_Error	tss_setOrthoCalibrationDataPointFromCurrentOrientation (TSS_Device_Id device, unsigned int *timestamp)
	Set ortho-calibration data point from current orientation.
TSS_EXPORT TSS_Error	tss_setOrthoCalibrationDataPointFromVector (TSS_Device_Id device, unsigned char type, unsigned char index, const float vector3, unsigned int timestamp)
	Set ortho-calibration data point from vector.
TSS_EXPORT TSS_Error	tss_getOrthoCalibrationDataPoint (TSS_Device_Id device, unsigned char type, unsigned char index, float vector3, unsigned int timestamp)
	Get ortho-calibration data point.
TSS_EXPORT TSS_Error	tss_performOrthoCalibration (TSS_Device_Id device, unsigned int *timestamp)
	Perform ortho-calibration.
TSS_EXPORT TSS_Error	tss_clearOrthoCalibrationData (TSS_Device_Id device, unsigned int *timestamp)
	Clear ortho-calibration data.
TSS_EXPORT TSS_Error	tss_setWirelessStreamingAutoFlushMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set wireless stream mode.
TSS_EXPORT TSS_Error	tss_getWirelessStreamingAutoFlushMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get wireless stream mode.
TSS_EXPORT TSS_Error	tss_setWirelessStreamingManualFlushBitfield (TSS_Device_Id device, unsigned short manual_flush_bitfield, unsigned int *timestamp)
	Set wireless streaming manual flush bitfield.
TSS_EXPORT TSS_Error	tss_getWirelessStreamingManualFlushBitfield (TSS_Device_Id device, unsigned short manual_flush_bitfield, unsigned int timestamp)
	Get async flush bitfield.
TSS_EXPORT TSS_Error	tss_getManualFlushSingle (TSS_Device_Id device, unsigned char index, char data, int in_data_size, int out_data_size, unsigned int *timestamp)
	Manual flush single.
TSS_EXPORT TSS_Error	tss_getManualFlushBulk (TSS_Device_Id device, char data, int in_data_size, int out_data_size, unsigned int *timestamp)
	Manual flush bulk.
TSS_EXPORT TSS_Error	tss_broadcastSynchronizationPulse (TSS_Device_Id device, unsigned int *timestamp)
	Broadcast synchronization pulse.
TSS_EXPORT TSS_Error	tss_getSerialNumberAtLogicalID (TSS_Device_Id device, unsigned char logical_id, unsigned int serial_number, unsigned int timestamp)
	Get serial number at logical ID.
TSS_EXPORT TSS_Error	tss_setSerialNumberAtLogicalID (TSS_Device_Id device, unsigned char logical_id, unsigned int serial_number, unsigned int *timestamp)
	Set serial number at logical ID.
TSS_EXPORT TSS_Error	tss_getWirelessChannelNoiseLevels (TSS_Device_Id device, unsigned char channel_strengths16, unsigned int timestamp)
	Get wireless channel noise levels.
TSS_EXPORT TSS_Error	tss_setWirelessRetries (TSS_Device_Id device, unsigned char retries, unsigned int *timestamp)
	Set wireless retries.
TSS_EXPORT TSS_Error	tss_getWirelessRetries (TSS_Device_Id device, unsigned char retries, unsigned int timestamp)
	Get wireless retries.
TSS_EXPORT TSS_Error	tss_getWirelessSlotsOpen (TSS_Device_Id device, unsigned char slots_open, unsigned int timestamp)
	Get wireless slots open.
TSS_EXPORT TSS_Error	tss_getSignalStrength (TSS_Device_Id device, unsigned char last_packet_signal_strength, unsigned int timestamp)
	Get signal strength.
TSS_EXPORT TSS_Error	tss_setWirelessResponseHeaderBitfield (TSS_Device_Id device, unsigned int header_bitfield, unsigned int *timestamp)
	Set wireless response header bitfield.
TSS_EXPORT TSS_Error	tss_getWirelessResponseHeaderBitfield (TSS_Device_Id device, unsigned int header_bitfield, unsigned int timestamp)
	Get wireless response header bitfield.
TSS_EXPORT TSS_Error	tss_getWirelessPanID (TSS_Device_Id device, unsigned short pan_id, unsigned int timestamp)
	Get wireless panID.
TSS_EXPORT TSS_Error	tss_setWirelessPanID (TSS_Device_Id device, unsigned short pan_id, unsigned int *timestamp)
	Set wireless panID.
TSS_EXPORT TSS_Error	tss_getWirelessChannel (TSS_Device_Id device, unsigned char channel, unsigned int timestamp)
	Get wireless channel.
TSS_EXPORT TSS_Error	tss_setWirelessChannel (TSS_Device_Id device, unsigned char channel, unsigned int *timestamp)
	Set wireless channel.
TSS_EXPORT TSS_Error	tss_commitWirelessSettings (TSS_Device_Id device, unsigned int *timestamp)
	Commit wireless settings.
TSS_EXPORT TSS_Error	tss_getWirelessAddress (TSS_Device_Id device, unsigned short address, unsigned int timestamp)
	Get wireless address.
TSS_EXPORT TSS_Error	tss_getBatteryVoltage (TSS_Device_Id device, float battery_voltage, unsigned int timestamp)
	Get battery voltage.
TSS_EXPORT TSS_Error	tss_getBatteryPercentRemaining (TSS_Device_Id device, unsigned char battery_percent, unsigned int timestamp)
	Get battery percent remaining.
TSS_EXPORT TSS_Error	tss_getBatteryStatus (TSS_Device_Id device, unsigned char battery_charge_status, unsigned int timestamp)
	Get battery status.
TSS_EXPORT TSS_Error	tss_setLEDMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set LED Mode.
TSS_EXPORT TSS_Error	tss_getLEDMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get LED Mode.
TSS_EXPORT TSS_Error	tss_setWiredResponseHeaderBitfield (TSS_Device_Id device, unsigned int header_bitfield, unsigned int *timestamp)
	Set wired response header bitfield.
TSS_EXPORT TSS_Error	tss_getWiredResponseHeaderBitfield (TSS_Device_Id device, unsigned int header_bitfield, unsigned int timestamp)
	Get wired response header bitfield.
TSS_EXPORT TSS_Error	tss_getFirmwareVersionString (TSS_Device_Id device, char firmware_version13, unsigned int timestamp)
	Get firmware version string.
TSS_EXPORT TSS_Error	tss_restoreFactorySettings (TSS_Device_Id device, unsigned int *timestamp)
	Restore factory settings.
TSS_EXPORT TSS_Error	tss_commitSettings (TSS_Device_Id device, unsigned int *timestamp)
	Commit settings.
TSS_EXPORT TSS_Error	tss_softwareReset (TSS_Device_Id device, unsigned int *timestamp)
	Software reset.
TSS_EXPORT TSS_Error	tss_setSleepMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set sleep mode.
TSS_EXPORT TSS_Error	tss_getSleepMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get sleep mode.
TSS_EXPORT TSS_Error	tss_enterBootloaderMode (TSS_Device_Id device, unsigned int *timestamp)
	Enter bootloader mode.
TSS_EXPORT TSS_Error	tss_getHardwareVersionString (TSS_Device_Id device, char hardware_version33, unsigned int timestamp)
	Get hardware version string.
TSS_EXPORT TSS_Error	tss_setUARTBaudRate (TSS_Device_Id device, unsigned int baud_rate, unsigned int *timestamp)
	Set UART baud rate.
TSS_EXPORT TSS_Error	tss_getUARTBaudRate (TSS_Device_Id device, unsigned int baud_rate, unsigned int timestamp)
	Get UART baud rate.
TSS_EXPORT TSS_Error	tss_setUSBMode (TSS_Device_Id device, unsigned int mode, unsigned int *timestamp)
	Set USB Mode.
TSS_EXPORT TSS_Error	tss_getUSBMode (TSS_Device_Id device, unsigned int mode, unsigned int timestamp)
	Get USB Mode.
TSS_EXPORT TSS_Error	tss_getSerialNumber (TSS_Device_Id device, unsigned int serial_number, unsigned int timestamp)
	Get serial number.
TSS_EXPORT TSS_Error	tss_setLEDColor (TSS_Device_Id device, const float rgb_color3, unsigned int timestamp)
	Set LED color.
TSS_EXPORT TSS_Error	tss_getLEDColor (TSS_Device_Id device, float rgb_color3, unsigned int timestamp)
	Get LED color.
TSS_EXPORT TSS_Error	tss_setWirelessHIDUpdateRate (TSS_Device_Id device, unsigned char HID_update_rate, unsigned int *timestamp)
	Set wireless HID update rate.
TSS_EXPORT TSS_Error	tss_getWirelessHIDUpdateRate (TSS_Device_Id device, unsigned char HID_update_rate, unsigned int timestamp)
	Get wireless HID update rate.
TSS_EXPORT TSS_Error	tss_setWirelessHIDAsynchronousMode (TSS_Device_Id device, unsigned char HID_communication_mode, unsigned int *timestamp)
	Set wireless HID asynchronous mode.
TSS_EXPORT TSS_Error	tss_getWirelessHIDAsynchronousMode (TSS_Device_Id device, unsigned char HID_communication_mode, unsigned int timestamp)
	Get wireless HID asynchronous mode.
TSS_EXPORT TSS_Error	tss_setJoystickLogicalID (TSS_Device_Id device, unsigned char logical_ID, unsigned int *timestamp)
	Set joystick logical ID.
TSS_EXPORT TSS_Error	tss_setMouseLogicalID (TSS_Device_Id device, unsigned char logical_ID, unsigned int timestamp)
	Set mouse logical ID.
TSS_EXPORT TSS_Error	tss_getJoystickLogicalID (TSS_Device_Id device, unsigned char logical_ID, unsigned int timestamp)
	Get joystick logical ID.
TSS_EXPORT TSS_Error	tss_getMouseLogicalID (TSS_Device_Id device, unsigned char logical_ID, unsigned int timestamp)
	Get mouse logical ID.
TSS_EXPORT TSS_Error	tss_setJoystickEnabled (TSS_Device_Id device, unsigned char enabled_state, unsigned int *timestamp)
	Set joystick enabled.
TSS_EXPORT TSS_Error	tss_setMouseEnabled (TSS_Device_Id device, unsigned char enabled_state, unsigned int *timestamp)
	Set mouse enabled.
TSS_EXPORT TSS_Error	tss_getJoystickEnabled (TSS_Device_Id device, unsigned char enabled_state, unsigned int timestamp)
	Get joystick enabled.
TSS_EXPORT TSS_Error	tss_getMouseEnabled (TSS_Device_Id device, unsigned char enabled_state, unsigned int timestamp)
	Get mouse enabled.
TSS_EXPORT TSS_Error	tss_setControlMode (TSS_Device_Id device, unsigned char control_class, unsigned char control_index, unsigned char handler_index, unsigned int *timestamp)
	Set control mode.
TSS_EXPORT TSS_Error	tss_setControlData (TSS_Device_Id device, unsigned char control_class, unsigned char control_index, unsigned char data_point_index, float data_point, unsigned int *timestamp)
	Set control data.
TSS_EXPORT TSS_Error	tss_getControlMode (TSS_Device_Id device, unsigned char control_class, unsigned char control_index, unsigned char handler_index, unsigned int timestamp)
	Get control mode.
TSS_EXPORT TSS_Error	tss_getControlData (TSS_Device_Id device, unsigned char control_class, unsigned char control_index, unsigned char data_point_index, float data_point, unsigned int timestamp)
	Get control data.
TSS_EXPORT TSS_Error	tss_setButtonGyroDisableLength (TSS_Device_Id device, unsigned char number_of_frames, unsigned int *timestamp)
	Set button gyro disable length.
TSS_EXPORT TSS_Error	tss_getButtonGyroDisableLength (TSS_Device_Id device, unsigned char number_of_frames, unsigned int timestamp)
	Get button gyro disable lentgh.
TSS_EXPORT TSS_Error	tss_getButtonState (TSS_Device_Id device, unsigned char button_state, unsigned int timestamp)
	Get button state.
TSS_EXPORT TSS_Error	tss_setMouseAbsoluteRelativeMode (TSS_Device_Id device, unsigned char mode, unsigned int *timestamp)
	Set mouse absolute/relative mode.
TSS_EXPORT TSS_Error	tss_getMouseAbsoluteRelativeMode (TSS_Device_Id device, unsigned char mode, unsigned int timestamp)
	Get mouse absolute/relative mode.
TSS_EXPORT TSS_Error	tss_setJoystickAndMousePresentRemoved (TSS_Device_Id device, unsigned char joystick, unsigned char mouse, unsigned int *timestamp)
	Set joystick and mouse present/removed.
TSS_EXPORT TSS_Error	tss_getJoystickAndMousePresentRemoved (TSS_Device_Id device, unsigned char joystick, unsigned char mouse, unsigned int *timestamp)
	Get joystick and mouse present/removed.

Detailed Description

ThreeSpace API 2.0.

Author:: Chris George; Daniel Morrison

Copyright:: Copyright 1998-2014, YEI Corporation.

The YEI 3-Space C API is released under the YEI 3-Space Open Source License, which allows for both non-commercial use and commercial use with certain restrictions.

For Non-Commercial Use, your use of Covered Works is governed by the GNU GPL v.3, subject to the YEI 3-Space Open Source Licensing Overview and Definitions.

For Commercial Use, a YEI Commercial/Redistribution License is required, pursuant to the YEI 3-Space Open Source Licensing Overview and Definitions. Commercial Use, for the purposes of this License, means the use, reproduction and/or Distribution, either directly or indirectly, of the Covered Works or any portion thereof, or a Compilation, Improvement, or Modification, for Pecuniary Gain. A YEI Commercial/Redistribution License may or may not require payment, depending upon the intended use.

Full details of the YEI 3-Space Open Source License can be found in license.txt License also available online at http://www.yeitechnology.com/yei-3-space-open-source-license

Definition in file yei_threespace_api.h.

Define Documentation

#define TSS_INFINITE_DURATION 0xffffffff

Macro for infinite duration for streaming setup.

Definition at line 52 of file yei_threespace_api.h.

#define TSS_DEFAULT_WIRLESSS_RETRIES 5

The default number of soft retries on wireless If tss_resetThreeSpaceAPI is called retries will be set back to this value

Definition at line 58 of file yei_threespace_api.h.

#define TSS_DEFAULT_BAUD_RATE 115200

The default baud rate that sensors will be opened with If tss_resetThreeSpaceAPI is called baud rate will be set back to this value

Definition at line 64 of file yei_threespace_api.h.

Typedef Documentation

typedef unsigned int TSS_Device_Id

YEI 3-Space API device identifier, a common parameter needed for all 3-Space API calls.

Definition at line 69 of file yei_threespace_api.h.

typedef enum TSS_Device_Id_Mask TSS_Device_Id_Mask

An enum expressing the masks used to quickly determine the type of a sensor based on their device ID.

typedef enum TSS_Timestamp_Mode TSS_Timestamp_Mode

An enum expressing API Timestamp Modes.

typedef enum TSS_Error TSS_Error

An enum expressing the different types of errors a 3-Space API call can return.

typedef enum TSS_Firmware_Compatibility TSS_Firmware_Compatibility

An enum denoting the compatibility level of the 3-Space device.

typedef enum TSS_Stream_Command_Enum TSS_Stream_Command_Enum

An enum expressing the command list of Streamable Commands.

TSS_Stream_Command_Enum comtains the command bytes of streamable commands, the commands match up with the functions with similar names

Example: TSS_GET_TARED_ORIENTATION_AS_QUATERNION is tss_getTaredOrientationAsQuaternion

typedef unsigned char TSS_Stream_Command

YEI 3-Space API streamable command.

Definition at line 199 of file yei_threespace_api.h.

typedef enum TSS_Find TSS_Find

An enum expressing the find flags for the tss_getComPorts filter parameter.

typedef enum TSS_Type TSS_Type

An enum expressing the types of 3-Space devices.

typedef enum TSS_Axis_Direction TSS_Axis_Direction

An enum expressing the alternate directions for each of the natural axes of the sensor.

typedef enum TSS_Filter_Mode TSS_Filter_Mode

An enum expressing the different available filter modes.

typedef struct TSS_ComPort TSS_ComPort

A structure that contains basic information about a com port.

typedef struct TSS_ComInfo TSS_ComInfo

A structure that contains information about the connected 3-Space device.

typedef void CALLBACK TSS_CallBack(TSS_Device_Id device, char *output_data, unsigned int output_data_len, unsigned int *timestamp)

Streaming data callback.

One of the methods of handling stream data is to create a callback, this is the template function. tss_setNewDataCallBack sets the callback.

Parameters:

device	The device ID of the sensor.
output_data	The data the sensor returned.
output_data_len	The size of the data returned.
timestamp	The timestamp in microseconds if timestamps are enabled.

Definition at line 303 of file yei_threespace_api.h.

Enumeration Type Documentation

enum TSS_Device_Id_Mask

An enum expressing the masks used to quickly determine the type of a sensor based on their device ID.

Enumerator:

TSS_NO_DEVICE_ID	Invalid Device ID
TSS_BOOTLOADER_ID	Bootloader
TSS_DONGLE_ID	Wireless Dongle
TSS_USB_ID	USB, Micro USB, or Watertight USB
TSS_EMBEDDED_ID	Embedded
TSS_WIRELESS_ID	Wireless 2.4GHz DSSS plugged via USB
TSS_WIRELESS_W_ID	Wireless 2.4GHz DSSS communicating wirelessly
TSS_DATALOGGER_ID	Data-logging
TSS_BLUETOOTH_ID	Bluetooth
TSS_NO_DONGLE_ID	Convenience ID, includes all but the Wireless Dongle
TSS_ALL_SENSORS_ID	Convenience ID, includes all valid id masks

Definition at line 74 of file yei_threespace_api.h.

enum TSS_Timestamp_Mode

An enum expressing API Timestamp Modes.

Enumerator:

TSS_TIMESTAMP_NONE	Disables timestamp, timestamp will return 0
TSS_TIMESTAMP_SENSOR	3-Space device's timestamp, this can be set with tss_updateCurrentTimestamp
TSS_TIMESTAMP_SYSTEM	The data is timestamped on arrival to the system using the high-resolution performance counter

Definition at line 92 of file yei_threespace_api.h.

enum TSS_Error

An enum expressing the different types of errors a 3-Space API call can return.

Enumerator:

TSS_NO_ERROR	The API call successfully executed
TSS_ERROR_COMMAND_FAIL	The command returned a failed response
TSS_INVALID_COMMAND	The API call was made on a device type that does not support the attempted command
TSS_INVALID_ID	The TSS_Device_Id parameter passed in to an API call is not associated with a connected 3-Space device
TSS_ERROR_PARAMETER	General parameter fail
TSS_ERROR_TIMEOUT	The command's timeout has been reached
TSS_ERROR_WRITE	The API call executed failed to write all the data necessary to execute the command to the intended 3-Space device
TSS_ERROR_READ	The API call executed failed to read all the data necessary to execute the command to the intended 3-Space device
TSS_ERROR_STREAM_SLOTS_FULL	The 3-Space device's stream slots are full
TSS_ERROR_STREAM_CONFIG	The 3-Space device's stream configuration is corrupted
TSS_ERROR_MEMORY	A memory error occurred in the API
TSS_ERROR_FIRMWARE_INCOMPATIBLE	3-Space device firmware does not support that command, firmware update highly recommended

Definition at line 101 of file yei_threespace_api.h.

enum TSS_Firmware_Compatibility

An enum denoting the compatibility level of the 3-Space device.

Enumerator:

TSS_FW_NOT_COMPATIBLE	Firmware is not compatible with the API and should be updated
TSS_FW_20R7_COMPATIBLE	3-Space device compatible with 2.0R7 commands and up
TSS_FW_20R10_COMPATIBLE	3-Space device compatible with 2.0R10 commands and up
TSS_FW_20R13_COMPATIBLE	3-Space device compatible with 2.0R13 commands and up

Definition at line 135 of file yei_threespace_api.h.

enum TSS_Stream_Command_Enum

An enum expressing the command list of Streamable Commands.

TSS_Stream_Command_Enum comtains the command bytes of streamable commands, the commands match up with the functions with similar names

Example: TSS_GET_TARED_ORIENTATION_AS_QUATERNION is tss_getTaredOrientationAsQuaternion

Enumerator:

TSS_GET_TARED_ORIENTATION_AS_QUATERNION	See also: tss_getTaredOrientationAsQuaternion
TSS_GET_TARED_ORIENTATION_AS_EULER_ANGLES	See also: tss_getTaredOrientationAsEulerAngles
TSS_GET_TARED_ORIENTATION_AS_ROTATION_MATRIX	See also: tss_getTaredOrientationAsRotationMatrix
TSS_GET_TARED_ORIENTATION_AS_AXIS_ANGLE	See also: tss_getTaredOrientationAsAxisAngle
TSS_GET_TARED_ORIENTATION_AS_TWO_VECTOR	See also: tss_getTaredOrientationAsTwoVector
TSS_GET_DIFFERENCE_QUATERNION	See also: tss_getDifferenceQuaternion
TSS_GET_UNTARED_ORIENTATION_AS_QUATERNION	See also: tss_getUntaredOrientationAsQuaternion
TSS_GET_UNTARED_ORIENTATION_AS_EULER_ANGLES	See also: tss_getUntaredOrientationAsEulerAngles
TSS_GET_UNTARED_ORIENTATION_AS_ROTATION_MATRIX	See also: tss_getUntaredOrientationAsRotationMatrix
TSS_GET_UNTARED_ORIENTATION_AS_AXIS_ANGLE	See also: tss_getUntaredOrientationAsAxisAngle
TSS_GET_UNTARED_ORIENTATION_AS_TWO_VECTOR	See also: tss_getUntaredOrientationAsTwoVector
TSS_GET_TARED_TWO_VECTOR_IN_SENSOR_FRAME	See also: tss_getTaredTwoVectorInSensorFrame
TSS_GET_UNTARED_TWO_VECTOR_IN_SENSOR_FRAME	See also: tss_getUntaredTwoVectorInSensorFrame
TSS_GET_ALL_NORMALIZED_COMPONENT_SENSOR_DATA	See also: tss_getAllNormalizedComponentSensorData
TSS_GET_NORMALIZED_GYRO_RATE	See also: tss_getNormalizedGyroRate
TSS_GET_NORMALIZED_ACCELEROMETER_VECTOR	See also: tss_getNormalizedAccelerometerVector
TSS_GET_NORMALIZED_COMPASS_VECTOR	See also: tss_getNormalizedCompassVector
TSS_GET_ALL_CORRECTED_COMPONENT_SENSOR_DATA	See also: tss_getAllCorrectedComponentSensorData
TSS_GET_CORRECTED_GYRO_RATE	See also: tss_getCorrectedGyroRate
TSS_GET_CORRECTED_ACCELEROMETER_VECTOR	See also: tss_getCorrectedAccelerometerVector
TSS_GET_CORRECTED_COMPASS_VECTOR	See also: tss_getCorrectedCompassVector
TSS_GET_CORRECTED_LINEAR_ACCELERATION_IN_GLOBAL_SPACE	See also: tss_getCorrectedLinearAccelerationInGlobalSpace
TSS_GET_TEMPERATURE_C	See also: tss_getTemperatureC
TSS_GET_TEMPERATURE_F	See also: tss_getTemperatureF
TSS_GET_CONFIDENCE_FACTOR	See also: tss_getConfidenceFactor
TSS_GET_ALL_RAW_COMPONENT_SENSOR_DATA	See also: tss_getAllRawComponentSensorData
TSS_GET_RAW_GYROSCOPE_RATE	See also: tss_getRawGyroscopeRate
TSS_GET_RAW_ACCELEROMETER_DATA	See also: tss_getRawAccelerometerData
TSS_GET_RAW_COMPASS_DATA	See also: tss_getRawCompassData
TSS_GET_BATTERY_VOLTAGE	See also: tss_getBatteryVoltage
TSS_GET_BATTERY_PERCENT_REMAINING	See also: tss_getBatteryPercentRemaining
TSS_GET_BATTERY_STATUS	See also: tss_getBatteryStatus
TSS_GET_BUTTON_STATE	See also: tss_getButtonState
TSS_NULL	TSS_NULL, all unused stream slots must be filled with TSS_NULL

Definition at line 158 of file yei_threespace_api.h.

enum TSS_Find

An enum expressing the find flags for the tss_getComPorts filter parameter.

Enumerator:

TSS_FIND_BTL	Find Bootloader
TSS_FIND_USB	Find USB, Micro USB, or Watertight USB
TSS_FIND_DNG	Find Wireless Dongle
TSS_FIND_WL	Find Wireless 2.4GHz DSSS plugged via USB
TSS_FIND_EM	Find Embedded
TSS_FIND_DL	Find Data-logging
TSS_FIND_BT	Find Bluetooth
TSS_FIND_UNKNOWN	Find serial ports that may have 3-Space devices connected to them
TSS_FIND_ALL_KNOWN	Find all known 3-Space devices
TSS_FIND_ALL	Find all com ports including "unknown" serial ports that may have 3-Space devices connected

Definition at line 204 of file yei_threespace_api.h.

enum TSS_Type

An enum expressing the types of 3-Space devices.

Enumerator:

TSS_UNKNOWN	Device type was not able to be determined
TSS_BTL	Bootloader
TSS_USB	USB, Micro USB, or Watertight USB
TSS_DNG	Wireless Dongle
TSS_WL	Wireless 2.4GHz DSSS plugged via USB
TSS_WL_W	Wireless 2.4GHz DSSS communicating wirelessly
TSS_EM	Embedded
TSS_DL	Data-logging
TSS_BT	Bluetooth

Definition at line 221 of file yei_threespace_api.h.

enum TSS_Axis_Direction

An enum expressing the alternate directions for each of the natural axes of the sensor.

Enumerator:

TSS_XYZ	X: Right, Y: Up, Z: Forward (left-handed system, standard operation)
TSS_XZY	X: Right, Y: Forward, Z: Up (right-handed system)
TSS_YXZ	X: Up, Y: Right, Z: Forward (right-handed system)
TSS_YZX	X: Forward, Y: Right, Z: Up (left-handed system)
TSS_ZXY	X: Up, Y: Forward, Z: Right (left-handed system)
TSS_ZYX	X: Forward, Y: Up, Z: Right (right-handed system)

Definition at line 249 of file yei_threespace_api.h.

enum TSS_Filter_Mode

An enum expressing the different available filter modes.

Enumerator:

TSS_FILTER_IMU	IMU Mode
TSS_FILTER_KALMAN	Kalman Filtered Mode
TSS_FILTER_ALTERNATING_KALMAN	Alternating Kalman Filtered Mode
TSS_FILTER_COMPLEMENTARY	Complementary Filter Mode
TSS_FILTER_QUATERNION_GRADIENT_DECENT	Quaternion Gradient Descent Filter Mode

Definition at line 262 of file yei_threespace_api.h.

Function Documentation

TSS_EXPORT void tss_parseAxisDirections	(	unsigned char	axis_byte,
		TSS_Axis_Direction *	axis_order,
		char *	neg_x,
		char *	neg_y,
		char *	neg_z
	)

Convenience function to parse axis_byte into its separate components.

Parameters:

axis_byte	The byte returned from tss_getAxisDirections.
axis_order	Writes the axis order of the natural axes of the sensor.
neg_x	Writes whether the First resulting component is negative, 0 is false 1 is true.
neg_y	Writes whether the Second resulting component is negative, 0 is false 1 is true.
neg_z	Writes whether the Third resulting component is negative, 0 is false 1 is true.

TSS_EXPORT unsigned char tss_generateAxisDirections	(	TSS_Axis_Direction	axis_order,
		char	neg_x,
		char	neg_y,
		char	neg_z
	)

Convenience function to generate an axis_byte from its separate components.

Parameters:

axis_order	The axis order of the natural axes.
neg_x	Whether the First resulting component is negative, 0 is false 1 is true.
neg_y	Whether the Second resulting component is negative, 0 is false 1 is true.
neg_z	Whether the Third resulting component is negative, 0 is false 1 is true.

Returns:: The byte that can be sent to tss_setAxisDirections or stored.

TSS_EXPORT void tss_setSoftwareWirelessRetries ( unsigned int retries )

Sets the amount of retries on wireless commands via software.

Note: There are 3 hardware retries by default in addition to the soft retries here.

Parameters:

retries The amount of soft retries.

TSS_EXPORT unsigned int tss_getSoftwareWirelessRetries ( )

Gets the amount of retries on wireless commands via software.

Returns:: The amount of soft retries.

TSS_EXPORT void tss_setDefaultCreateDeviceBaudRate ( int baud_rate )

Sets the default baud rate for newly created 3-Space devices.

Parameters:

baud_rate The desired baud rate.

TSS_EXPORT int tss_getDefaultCreateDeviceBaudRate ( )

Gets the default baud rate for newly created 3-Space devices.

Returns:: The default baud rate.

TSS_EXPORT int tss_getComPorts	(	TSS_ComPort *	ports_vec,
		unsigned int	ports_vec_size,
		unsigned int	offset,
		unsigned int	filter
	)

Gets the com ports of YEI 3-Space devices and other available com ports.

Parameters:

ports_vec	The list of (or single) TSS_ComPort structures to return the results.
ports_vec_size	The size of the list entered.
offset	This allows you to call this function multiple times to get all the com ports, increment the offset to continue getting more 3-Space devices.
filter	Pass in a combination of TSS_Find enums you want to search for.

Returns:: The number of com ports found or equal to the size of ports_vec_size.

TSS_EXPORT TSS_Error tss_getTSDeviceInfoFromComPort	(	const char *	com_port,
		TSS_ComInfo *	com_info
	)

Gets information from the 3-Space device connected to the com port.

This can be used to check if there is anything connected to a com port and if its a 3-Space device. It writes the TSS_ComInfo structure so you can get the device type, serial number, hardware, and firmware.

Parameters:

com_port	The com port string for the port to be queried.
com_info	Writes this structure to return the com port information gathered.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_getTSDeviceInfo	(	TSS_Device_Id	device,
		TSS_ComInfo *	com_info
	)

Gets information from the 3-Space device associated with the device ID.

It writes the TSS_ComInfo structure so you can check the device type, serial number, hardware, and firmware of the 3-Space device.

Parameters:

device	The device ID of the 3-Space device to check.
com_info	Writes this structure to return the com port information gathered.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Device_Id tss_createTSDeviceU16Str	(	const wchar_t *	com_port,
		TSS_Timestamp_Mode	mode
	)

Creates a device ID with wide char support.

This creates and performs initial setup on the connected 3-Space device. The returned device ID is used to interact with the 3-Space device. When a device ID is created, other programs cannot use that com port until tss_closeTSDevice is called or the application is closed.

Parameters:

com_port	The com port string for the com port to be queried.
mode	The desired timestamp mode the 3-Space device is to be configured with.

Returns:: A device ID, TSS_NO_DEVICE_ID is returned if the creation failed.

TSS_EXPORT TSS_Device_Id tss_createTSDeviceStr	(	const char *	com_port,
		TSS_Timestamp_Mode	mode
	)

Creates a device ID.

This creates and performs initial setup on the connected 3-Space device. The returned device ID is used to interact with the 3-Space device. When a device ID is created, other programs cannot use that com port until tss_closeTSDevice is called or the application is closed.

Parameters:

com_port	The com port string for the com port to be queried.
mode	The desired timestamp mode the 3-Space device is to be configured with.

Returns:: A device ID, TSS_NO_DEVICE_ID is returned if the creation failed.

TSS_EXPORT TSS_Device_Id tss_createTSDeviceU16StrEx	(	const wchar_t *	com_port,
		int	baud_rate,
		TSS_Timestamp_Mode	mode
	)

Creates a device ID with extended parameter and wide char support.

This creates and performs initial setup on the connected 3-Space device. The returned device ID is used to interact with the 3-Space device. When a device ID is created, other programs cannot use that com port until tss_closeTSDevice is called or the application is closed.

Parameters:

com_port	The com port string for the com port to be queried.
baud_rate	The baud rate of the connected 3-Space device.
mode	The desired timestamp mode the 3-Space device is to be configured with.

Returns:: A device ID, TSS_NO_DEVICE_ID is returned if the creation failed.

TSS_EXPORT TSS_Device_Id tss_createTSDeviceStrEx	(	const char *	com_port,
		int	baud_rate,
		TSS_Timestamp_Mode	mode
	)

Creates a device ID with extended parameter.

This creates and performs initial setup on the connected 3-Space device. The returned device ID is used to interact with the 3-Space device. When a device ID is created, other programs cannot use that com port until tss_closeTSDevice is called or the application is closed.

Parameters:

com_port	The com port string for the com port to be queried.
baud_rate	The baud rate of the connected 3-Space device.
mode	The desired timestamp mode the 3-Space device is to be configured with.

Returns:: A device ID, TSS_NO_DEVICE_ID is returned if the creation failed.

TSS_EXPORT TSS_Error tss_closeTSDevice ( TSS_Device_Id device )

Closes and frees the com port.

Once the com port is freed, other programs can use the com port if necessary.

Parameters:

device The device ID for the 3-Space device.

TSS_EXPORT TSS_Error tss_getSensorFromDongle	(	TSS_Device_Id	device,
		int	logical_id,
		unsigned int *	w_ts_device
	)

Creates a device ID from a dongle.

This creates and performs initial setup or returns an already created device ID for a wireless sensor from a dongle. The returned device ID is used to interact with the 3-Space device. The wireless sensor must be paired with the dongle or this will fail. The timestamp mode is inherited from the dongle's settings.

Parameters:

device	The device ID for the dongle.
logical_id	The logical identifier of the desired wireless sensor, 0-14 is the valid range.
w_ts_device	Writes the device ID, TSS_NO_DEVICE_ID is written if the creation failed.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_setSensorToDongle	(	TSS_Device_Id	device,
		int	logical_id,
		unsigned int	w_serial_number
	)

Sets a wireless sensor to a dongle.

This creates and performs initial setup for a wireless sensor and pairs it to a dongle. The wireless sensor must have the same wireless PanID and Channel as the dongle or this will fail. The timestamp mode is inherited from the dongle's settings.

Parameters:

device	The device ID for the dongle.
logical_id	The desired logical identifier for the wireless sensor, 0-14 is the valid range.
w_serial_number	The serial number of the wireless sensor to be paired to the dongle.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_setTimestampMode	(	TSS_Device_Id	device,
		TSS_Timestamp_Mode	mode
	)

Sets the timestamp mode on an existing 3-Space device.

Parameters:

device	The device ID for the 3-Space device.
mode	The desired timestamp mode the 3-Space device is to be configured with.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_getLastStreamData	(	TSS_Device_Id	device,
		char *	output_data,
		unsigned int	output_data_len,
		unsigned int *	timestamp
	)

Gets the last stream data from a sensor.

Non-blocking method of handling stream data, function will immediately return data. Good for real-time applications.

Parameters:

device	The device ID for the sensor.
output_data	The data the sensor returned.
output_data_len	The size of the data returned.
timestamp	The timestamp in microseconds if timestamps are enabled.

Returns:: TSS_NO_ERROR(0) if successful, TSS_ERROR_READ if called before any data has returned and non zero if an error occurred.

TSS_EXPORT TSS_Error tss_getLastStreamData2	(	TSS_Device_Id	device,
		char *	output_data,
		unsigned int	output_data_len,
		unsigned int *	timestamp
	)

Gets the last stream data from a sensor.

Non-blocking method of handling stream data, function will immediately return data. Good for real-time applications. This second method is for hooking to UDK and other applications that will not allow multiple casts from the same function.

Parameters:

device	The device ID for the sensor.
output_data	The data the sensor returned.
output_data_len	The size of the data returned.
timestamp	The timestamp in microseconds if timestamps are enabled.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_getLatestStreamData	(	TSS_Device_Id	device,
		char *	output_data,
		unsigned int	output_data_len,
		unsigned int	timeout,
		unsigned int *	timestamp
	)

Gets the latest stream data from a sensor.

Blocking method of handling stream data, function will wait until new data arrives. Good for data logging.

Parameters:

device	The device ID for the sensor.
output_data	The data the sensor returned.
output_data_len	The size of the data returned.
timeout	The time in milliseconds to wait until the function will timeout.
timestamp	The timestamp in microseconds if timestamps are enabled.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_setNewDataCallBack	(	TSS_Device_Id	device,
		TSS_CallBack	callback_func
	)

Sets a new data callback for a sensor.

This is used to setup the callback method. The callback will be called every time a new stream data form the sensor arrives.

Parameters:

device	The device ID for the sensor.
callback_func	The function to call when new data arrives.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_sendRawCommandFormatted	(	TSS_Device_Id	device,
		unsigned char	command,
		char *	in_data,
		char *	in_data_detail,
		char *	rtn_data,
		char *	rtn_data_detail,
		unsigned int *	timestamp
	)

Sends a raw command to a 3-Space device formatted for converting to and from big endian.

Sending raw commands allows users to call functions that are in custom or beta firmwares that are not exposed in the API. in_data_detail and rtn_data_detail are formatter strings, their input is as follows: i : int I : unsigned int f : float h : short H : unsigned short b : signed char B : unsigned char ? : bool (char) s : char x : pad byte For example, the command for getting the tared orientation as a quaternion would be formatted as follows: float quat[4]; unsigned int timestamp; tss_sendRawCommandFormatted(device, 0x00, NULL, "", (char*)quat, "ffff", &timestamp);

Parameters:

device	The device ID for the sensor.
command	The command byte of the sensor function.
in_data	Pointer to the input data for the command. Pass NULL if the command has no input.
in_data_detail	The formatter string for the input data. Pass "" if the command has no input.
rtn_data	Pointer to the return data for the command. Pass NULL if the command has no output.
rtn_data_detail	The formatter string for the return data. Pass "" if the command has no output.
timestamp	Optionally can get the timestamp of the command packet. Pass NULL if the timestamp is not wanted.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT TSS_Error tss_sendRawCommand	(	TSS_Device_Id	device,
		unsigned char	command,
		char *	in_data,
		int	in_data_size,
		char *	rtn_data,
		int	rtn_data_size,
		unsigned int *	timestamp
	)

Sends a raw command to a 3-Space device un-formatted.

Sending raw commands allows users to call functions that are in custom or beta firmwares that are not exposed in the API. This function does not convert the bytes to and from big endian, data must be formatted by the user. For example, the command for getting the tared orientation as a quaternion would be formatted as follows: float quat[4]; unsigned int timestamp; tss_sendRawCommand(device, 0x00, NULL, 0, (char*)quat, 16, &timestamp);

Parameters:

device	The device ID for the sensor.
command	The command byte of the sensor function.
in_data	Pointer to the input data for the command. Pass NULL if the command has no input.
in_data_size	The size in bytes of input data.
rtn_data	Pointer to the return data for the command. Pass NULL if the command has no output.
rtn_data_size	The size in bytes of return data.
timestamp	Optionally can get the timestamp of the command packet. Pass NULL if the timestamp is not wanted.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT int tss_isConnected	(	TSS_Device_Id	device,
		int	reconnect
	)

Tests to check if a 3-Space device is connected.

This sends a command to check if the device is still available.

Parameters:

device	The device ID for the 3-Space device.
reconnect	Whether to attempt a serial reconnection, 0 is false 1 is true.

Returns:: 1 if connected, 0 if unreachable/not connected.

TSS_EXPORT TSS_Error tss_getTSDeviceType	(	TSS_Device_Id	device,
		TSS_Type *	device_type
	)

Gets the device type of a 3-Space device.

Parameters:

device	The device ID for the 3-Space device.
device_type	Writes the type of the 3-Space device.

Returns:: TSS_NO_ERROR(0) if successful, non zero if an error occurred.

TSS_EXPORT int tss_resetThreeSpaceAPI ( )

Reset the ThreeSpace API.

This will stop streaming and close all created device ids. All device ids created before the reset are invalid and should be discarded.

Returns:: 0 if no error else nonzero for error

TSS_EXPORT int tss_createTSDevicesBySerialNumber	(	unsigned int *	serial_list,
		TSS_Device_Id *	device_list,
		int	list_length,
		int	search_wireless,
		int	search_unknown_devices,
		TSS_Timestamp_Mode	mode
	)

Create ts devices by serial number.

This convenience function will take a list of serial numbers and will write a list of device ids

Parameters:

serial_list	The list of serial devices to find
device_list	The list of devices ids that will be written to, this list must be the same size as the serial_list
list_length	The length of serial_list, which should be the same length as the device_list
search_wireless	If set to non-zero(true) this will create any dongles it finds automatically and will search its logical table to see if it can wirelessly communicate with any matching serial numbered devices
search_unknown_devices	If set to non-zero(true) this will search all available comports. Com ports that cannot be passively identified as ThreeSpace devices will have bytes written to them to get more information. This is for physical comports and 3rd party serial to USB adapters.
mode	The desired timestamp mode the 3-Space device is to be configured with. if TSS_NO_DEVICE_ID is returned then sensor not found

Returns:: number of found devices, -1 if error

TSS_EXPORT int tss_getDeviceIDs	(	TSS_Device_Id *	device_list,
		int	list_length,
		int	offset,
		int	filter
	)

Get device IDs.

This convenience function will return a list of already created device ids

Parameters:

device_list	The list of devices ids that will be written to
list_length	The length of device_list
offset	The offset applied to where in the filtered data starts writing to the device list. This is useful to write a loop to get all the devices
filter	Pass in a combination of TSS_Find enums you want to search for.

Returns:: number of found devices, -1 if error

TSS_EXPORT TSS_Error tss_getTaredOrientationAsQuaternion	(	TSS_Device_Id	device,
		float *	quat4,
		unsigned int *	timestamp
	)

Get tared orientation as quaternion.

Returns the filtered, tared orientation estimate in quaternion form

Input: None

Output: Quaternion (float x4)

TSS_EXPORT TSS_Error tss_getTaredOrientationAsEulerAngles	(	TSS_Device_Id	device,
		float *	euler3,
		unsigned int *	timestamp
	)

Get tared orientation as euler angles.

Returns the filtered, tared orientation estimate in euler angle form

Input: None

Output: Euler Angles (float x3)

TSS_EXPORT TSS_Error tss_getTaredOrientationAsRotationMatrix	(	TSS_Device_Id	device,
		float *	matrix9,
		unsigned int *	timestamp
	)

Get tared orientation as rotation matrix.

Returns the filtered, tared orientation estimate in rotation matrix form

Input: None

Output: Rotation Matrix (float x9)

TSS_EXPORT TSS_Error tss_getTaredOrientationAsAxisAngle	(	TSS_Device_Id	device,
		float *	axis_angle4,
		unsigned int *	timestamp
	)

Get tared orientation as axis angle.

Returns the filtered, tared orientation estimate in axis-angle form

Input: None

Output: Axis (float x3), Angle in Radians (float)

TSS_EXPORT TSS_Error tss_getTaredOrientationAsTwoVector	(	TSS_Device_Id	device,
		float *	forward3,
		float *	down3,
		unsigned int *	timestamp
	)

Get tared orientation as two vector.

Returns the filtered, tared orientation estimate in two vector form, where the first vector refers to forward and the second refers to down.

Input: None

Output: Forward Vector (float x3), Down Vector (float x3)

TSS_EXPORT TSS_Error tss_getDifferenceQuaternion	(	TSS_Device_Id	device,
		float *	quat4,
		unsigned int *	timestamp
	)

Get difference quaternion.

Returns the difference between the measured orientation from last frame and this frame.

Input: None

Output: Quaternion (float x4)

TSS_EXPORT TSS_Error tss_getUntaredOrientationAsQuaternion	(	TSS_Device_Id	device,
		float *	quat4,
		unsigned int *	timestamp
	)

Get untared orientation as quaternion.

Returns the filtered, untared orientation estimate in quaternion form.

Input: None

Output: Quaternion (float x4)

TSS_EXPORT TSS_Error tss_getUntaredOrientationAsEulerAngles	(	TSS_Device_Id	device,
		float *	euler3,
		unsigned int *	timestamp
	)

Get untared orientation as euler angles.

Returns the filtered, untared orientation estimate in euler angle form

Input: None

Output: Euler Angles (float x3)

TSS_EXPORT TSS_Error tss_getUntaredOrientationAsRotationMatrix	(	TSS_Device_Id	device,
		float *	matrix9,
		unsigned int *	timestamp
	)

Get untared orientation as rotation matrix.

Returns the filtered, untared orientation estimate in rotation matrix form

Input: None

Output: Rotation Matrix (float x9)

TSS_EXPORT TSS_Error tss_getUntaredOrientationAsAxisAngle	(	TSS_Device_Id	device,
		float *	axis_angle4,
		unsigned int *	timestamp
	)

Get untared orientation as axis angle.

Returns the filtered, untared orientation estimate in axis-angle form

Input: None

Output: Axis (float x3), Angle in Radians (float)

TSS_EXPORT TSS_Error tss_getUntaredOrientationAsTwoVector	(	TSS_Device_Id	device,
		float *	north3,
		float *	gravity3,
		unsigned int *	timestamp
	)

Get untared orientation as two vector.

Returns the filtered, untared orientation estimate in two vector form, where the first vector refers to north and the second refers to gravity.

Input: None

Output: North Vector (float x3), Gravity Vector (float x3)

TSS_EXPORT TSS_Error tss_getTaredTwoVectorInSensorFrame	(	TSS_Device_Id	device,
		float *	forward3,
		float *	down3,
		unsigned int *	timestamp
	)

Get tared two vector in sensor frame.

Returns the filtered, tared orientation estimate in two vector form, where the first vector refers to forward and the second refers to down. These vectors are given in the sensor reference frame and not the global reference frame.

Input: None

Output: Forward Vector (float x3), Down Vector (float x3)

TSS_EXPORT TSS_Error tss_getUntaredTwoVectorInSensorFrame	(	TSS_Device_Id	device,
		float *	north3,
		float *	gravity3,
		unsigned int *	timestamp
	)

Get untared two vector in sensor frame.

Returns the filtered, untared orientation estimate in two vector form, where the first vector refers to north and the second refers to gravity. These vectors are given in the sensor reference frame and not the global reference frame.

Input: None

Output: North Vector (float x3), Gravity Vector (float x3)

TSS_EXPORT TSS_Error tss_setInterruptType	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned char	pin,
		unsigned int *	timestamp
	)

Set pin mode.

Sets the pin mode of the sensor. First parameter is mode, which will be 0 for off, 1 for pulse mode, 2 for level, 3 for SPI pulse and 4 for button. Second parameter is pin, which will be 0 for TXD(for button, also RXD) or 1 for MISO(for button, also MOSI).

Input: Mode (Byte), Pin (Byte)

Output: None

TSS_EXPORT TSS_Error tss_getInterruptType	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned char *	pin,
		unsigned int *	timestamp
	)

Get pin mode.

Read the interrupt mode of the sensor. First parameter is mode, which will be 0 for off, 1 for pulse mode, 2 for level, 3 for SPI pulse and 4 for button. Second parameter is pin, which will be 0 for TXD(for button, also RXD) or 1 for MISO(for button, also MOSI).

Input: None

Output: Mode (Byte), Pin (Byte)

TSS_EXPORT TSS_Error tss_getInterruptStatus	(	TSS_Device_Id	device,
		unsigned char *	status,
		unsigned int *	timestamp
	)

Get interrupt status.

Read the current interrupt status. This value will be 1 if the filter has updated since the last time the value was read or 0 otherwise.

Input: None

Output: Status (Byte)

TSS_EXPORT TSS_Error tss_getAllNormalizedComponentSensorData	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		float *	gravity_direction3,
		float *	north_direction3,
		unsigned int *	timestamp
	)

Get all normalized component sensor data.

Returns the normalized gyro rate vector, accelerometer vector, and compass vector. Note that the gyro vector is in units of radians/sec, while the accelerometer and compass are unit-length vectors indicating the direction of gravity and north, respectively. These two vectors do not have any magnitude data associated with them.

Input: None

Output: Gyro Rate in units of radians/sec (Vector x3), Gravity Direction (Vector x3), North Direction (Vector x3)

TSS_EXPORT TSS_Error tss_getNormalizedGyroRate	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		unsigned int *	timestamp
	)

Get normalized gyro rate.

Returns the normalized gyro rate vector, which is in units of radians/sec.

Input: None

Output: Gyro Rate in units of radians/sec (float x3)

TSS_EXPORT TSS_Error tss_getNormalizedAccelerometerVector	(	TSS_Device_Id	device,
		float *	gravity_direction3,
		unsigned int *	timestamp
	)

Get normalized accelerometer vector.

Returns the normalized accelerometer vector. Note that this is a unit-vector indicating the direction of gravity. This vector does not have any magnitude data associated with it.

Input: None

Output: Gravity Direction (Vector x3)

TSS_EXPORT TSS_Error tss_getNormalizedCompassVector	(	TSS_Device_Id	device,
		float *	north_direction3,
		unsigned int *	timestamp
	)

Get normalized compass vector.

Returns the normalized compass vector. Note that this is a unit-vector indicating the direction of gravity. This vector does not have any magnitude data associated with it.

Input: None

Output: North Direction (Vector x3)

TSS_EXPORT TSS_Error tss_getAllCorrectedComponentSensorData	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		float *	accelerometer3,
		float *	compass3,
		unsigned int *	timestamp
	)

Get all corrected component sensor data.

Returns the corrected gyro rate vector, accelerometer vector, and compass vector. Note that the gyro vector is in units of radians/sec, the accelerometer vector is in units of G, and the compass vector is in units of gauss.

Input: None

Output: Gyro Rate in units of radians/sec (Vector x3), Acceleration Vector in units of G (Vector x3), Compass Vector in units of gauss (Vector x3)

TSS_EXPORT TSS_Error tss_getCorrectedGyroRate	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		unsigned int *	timestamp
	)

Get corrected gyro rate.

Returns the corrected gyro rate vector, which is in units of radians/sec. Note that this result is the same data returned by the normalized gyro rate command.

Input: None

Output: Gyro Rate in units of radians/sec (float x3)

TSS_EXPORT TSS_Error tss_getCorrectedAccelerometerVector	(	TSS_Device_Id	device,
		float *	accelerometer3,
		unsigned int *	timestamp
	)

Get corrected accelerometer vector.

Returns the acceleration vector in units of G. Note that this acceleration will include the static component of acceleration due to gravity.

Input: None

Output: Acceleration Vector in units of G (float x3)

TSS_EXPORT TSS_Error tss_getCorrectedCompassVector	(	TSS_Device_Id	device,
		float *	compass3,
		unsigned int *	timestamp
	)

Get corrected compass vector.

Returns the compass vector in units of gauss.

Input: None

Output: Compass Vector in units of gauss (float x3)

TSS_EXPORT TSS_Error tss_getCorrectedLinearAccelerationInGlobalSpace	(	TSS_Device_Id	device,
		float *	accelerometer3,
		unsigned int *	timestamp
	)

Get corrected linear acceleration in global space.

Returns the linear acceleration of the device, which is the overall acceleration which has been orientation compensated and had the component of acceleration due to gravity removed. Uses the untared orientation.

Input: None

Output: Acceleration Vector in units of G (float x3)

TSS_EXPORT TSS_Error tss_getTemperatureC	(	TSS_Device_Id	device,
		float *	temperature,
		unsigned int *	timestamp
	)

Get temperature C.

Returns the temperature of the sensor in Celsius.

Input: None

Output: Temperature (float)

TSS_EXPORT TSS_Error tss_getTemperatureF	(	TSS_Device_Id	device,
		float *	temperature,
		unsigned int *	timestamp
	)

Get temperature F.

Returns the temperature of the sensor in Fahrenheit

Input: None

Output: Temperature (float)

TSS_EXPORT TSS_Error tss_getConfidenceFactor	(	TSS_Device_Id	device,
		float *	confidence,
		unsigned int *	timestamp
	)

Get confidence factor.

Returns a value indicating how much the sensor is being moved at the moment. This value will return 1 if the sensor is completely stationary, and will return 0 if it is in motion. This command can also return values in between indicating how much motion the sensor is experiencing.

Input: None

Output: Confidence Factor (float)

TSS_EXPORT TSS_Error tss_turnOnMassStorage	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Turn on mass storage.

Enables SD card access, but prevents data logs from being taken.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_turnOffMassStorage	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Turn off mass storage.

Disables SD card access, but allows data logs to be taken.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_formatAndInitializeSDCard	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Format and Initialize SD Card.

Erases the contents of the SD card.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_beginDataLoggingSession	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Begin data logging session.

Initiates a data logging section with the specified attributes as indicated in the provided data logging configuration file.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_endDataLoggingSession	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

End data logging session.

Terminates the ongoing data logging session

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setClockValues	(	TSS_Device_Id	device,
		unsigned char	month,
		unsigned char	day,
		unsigned char	year,
		unsigned char	hour,
		unsigned char	minute,
		unsigned char	second,
		unsigned int *	timestamp
	)

Set clock values.

Sets the current time on the onboard real-time clock.

Input: Month (Byte), Day (Byte), Year (Byte), Hour (Byte), Minute (Byte), Second (Byte)

Output: None

TSS_EXPORT TSS_Error tss_getClockValues	(	TSS_Device_Id	device,
		unsigned char *	month,
		unsigned char *	day,
		unsigned char *	year,
		unsigned char *	hour,
		unsigned char *	minute,
		unsigned char *	second,
		unsigned int *	timestamp
	)

Get clock values.

Returns the current time as read by the onboard real-time clock.

Input: None

Output: Month (Byte), Day (Byte), Year (Byte), Hour (Byte), Minute (Byte), Second (Byte)

TSS_EXPORT TSS_Error tss_getAllRawComponentSensorData	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		float *	accelerometer3,
		float *	compass3,
		unsigned int *	timestamp
	)

Get all raw component sensor data.

Returns the raw gyro rate vector, accelerometer vector and compass vector as read directly from the component sensors without any additional post-processing. The range of values is dependent on the currently selected range for each respective sensor.

Input: None

Output: Gyro Rate in counts per degrees/sec (Vector x3), Acceleration Vector in counts per g (Vector x3), Compass Vector in counts per gauss (Vector x3)

TSS_EXPORT TSS_Error tss_getRawGyroscopeRate	(	TSS_Device_Id	device,
		float *	gyro_rate3,
		unsigned int *	timestamp
	)

Get raw gyroscope rate.

Returns the raw gyro rate vector as read directly from the gyroscope without any additional post-processing.

Input: None

Output: Gyro Rate in counts per degrees/sec (Vector x3)

TSS_EXPORT TSS_Error tss_getRawAccelerometerData	(	TSS_Device_Id	device,
		float *	accelerometer3,
		unsigned int *	timestamp
	)

Get raw accelerometer data.

Returns the raw acceleration vector as read directly from the accelerometer without any additional post-processing.

Input: None

Output: Acceleration Vector in counts per g (Vector x3)

TSS_EXPORT TSS_Error tss_getRawCompassData	(	TSS_Device_Id	device,
		float *	compass3,
		unsigned int *	timestamp
	)

Get raw compass data.

Returns the raw compass vector as read directly from the compass without any additional post-processing.

Input: None

Output: Compass Vector in counts per gauss (Vector x3)

TSS_EXPORT TSS_Error tss_setStreamingSlots	(	TSS_Device_Id	device,
		const TSS_Stream_Command *	slots8,
		unsigned int *	timestamp
	)

Set streaming slots.

Configures data output slots for streaming mode. Command accepts a list of eight bytes, where each byte corresponds to a different data command. Every streaming iteration, each command will be executed in order and the resulting data will be output in the specified slot. Valid commands are commands in the ranges 0x0 0x10, 0x20 0x30, 0x40 0x50, 0xC9 0xCA (for battery-powered sensors) and 0xFA. A slot value of 0xFF 'clears' the slot and prevents any data from being written in that position. This command can fail if there is an invalid command passed in as any of the parameters or if the total allotted size is exceeded. Upon failure, all slots will be reset to 0xFF. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Commands (Byte x8)

Output: None

TSS_EXPORT TSS_Error tss_getStreamingSlots	(	TSS_Device_Id	device,
		TSS_Stream_Command *	slots8,
		unsigned int *	timestamp
	)

Get streaming slots.

Returns the current streaming slots configuration.

Input: None

Output: Commands (Byte x8)

TSS_EXPORT TSS_Error tss_setStreamingTiming	(	TSS_Device_Id	device,
		unsigned int	interval,
		unsigned int	duration,
		unsigned int	delay,
		unsigned int *	timestamp
	)

Set streaming timing.

Configures timing information for a streaming session. All parameters are specified in microseconds. The first parameter is the interval, which specifies how often data will be output. A value of 0 means that data will be output at the end of every filter loop. Aside from 0, values lower than 1000 will be clamped to 1000. The second parameter is the duration, which specifies the length of the streaming session. If this value is set to 0xFFFFFFFF, streaming will continue indefinitely until it is stopped via command 0x56. The third parameter is the delay, which specifies a n amount of time the sensor will wait before outputting the first packet of streaming data. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Interval (Unsigned int), Duration (Unsigned int), Delay (Unsigned int)

Output: None

TSS_EXPORT TSS_Error tss_getStreamingTiming	(	TSS_Device_Id	device,
		unsigned int *	interval,
		unsigned int *	duration,
		unsigned int *	delay,
		unsigned int *	timestamp
	)

Get streaming timing.

Returns the current streaming timing information.

Input: None

Output: Interval (Unsigned int), Duration (Unsigned int), Delay (Unsigned int)

TSS_EXPORT TSS_Error tss_getStreamingBatch	(	TSS_Device_Id	device,
		char *	output_data,
		unsigned int	output_data_len,
		unsigned int *	timestamp
	)

Get streaming batch.

Return a single packet of streaming data using the current slot configuration.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_startStreaming	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Start streaming.

Start a streaming session using the current slot and timing configuration.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_stopStreaming	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Stop streaming.

Stop the current streaming session.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_updateCurrentTimestamp	(	TSS_Device_Id	device,
		unsigned int	set_timestamp,
		unsigned int *	timestamp
	)

Update current timestamp.

Set the current internal timestamp to the specified value.

Input: Timestamp (Unsigned int)

Output: None

TSS_EXPORT TSS_Error tss_setEulerAngleDecompositionOrder	(	TSS_Device_Id	device,
		unsigned char	order,
		unsigned int *	timestamp
	)

Set euler angle decomposition order.

Sets the current euler angle decomposition order, which determines how the angles returned from command 0x1 are decomposed from the full quaternion orientation. Possible values are 0x0 for XYZ, 0x1 for YZX, 0x2 for ZXY, 0x3 for ZYX, 0x4 for XZY or 0x5 for YXZ (default).

Input: Euler angle decomposition order(byte)

Output: None

TSS_EXPORT TSS_Error tss_setMagnetoresistiveThreshold	(	TSS_Device_Id	device,
		float	threshold,
		unsigned int	trust_frames,
		float	lockout_decay,
		float	perturbation_detection_value,
		unsigned int *	timestamp
	)

Set magnetoresistive threshold.

Sets required parameters that are necessary to trigger magnetometer resistance mode. First parameter to the command specifies the change in magnetometer field strength that is required to trigger the resistance. Once this field has been detected, the magnetometer will enter a period where it is completely locked out of the orientation calculationthis period will increase while magnetic perturbations are still being detected, but will dissipate as the sensor remains stationary. Once this period is over, the sensor orientation will slowly begin trusting the magnetometer again. The second parameter represents the number of frames that must elapse before the magnetometer is fully trusted again. The third parameter represents a decay value between 0 and 1 that indicates how quickly the outright magnetometer rejection state will fall off. Values closer to 1 result in the magnetometer rejection lasting longer. The final parameter represents how quickly a magnetic perturbation is detected. Values closer to 1 result in the magnetometer rejection occurring more slowly. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Magnetoresistive threshold in gauss(float), Number of magnetometer trust frames (unsigned int), magnetometer lockout decay value (float), magnetometer perturbation detection value (float)

Output: None

TSS_EXPORT TSS_Error tss_setAccelerometerResistanceThreshold	(	TSS_Device_Id	device,
		float	threshold,
		unsigned int	lockout_frames,
		unsigned int *	timestamp
	)

Set accelerometer resistance threshold.

Sets required parameters that are necessary to trigger accelerometer rejection. During the accelerometer rejection period, the contribution of the accelerometer to the selected orientation estimation algorithm will be zero. The arguments to this command specify the accelerometer threshold and the number of frames that the rejection is active, respectively. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Accelerometer threshold in g's (float), Number of accelerometer lockout frames (unsigned int),

Output: None

TSS_EXPORT TSS_Error tss_offsetWithCurrentOrientation	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Offset with current orientation.

Sets the offset orientation to be the same as the current filtered orientation.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_resetBaseOffset	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Reset base offset.

Sets the base offset to an identity quaternion.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_offsetWithQuaternion	(	TSS_Device_Id	device,
		const float *	quat4,
		unsigned int *	timestamp
	)

Offset with quaternion.

Sets the offset orientation to be the same as the supplied orientation, which should be passed as a quaternion.

Input: Quaternion (float x4)

Output: None

TSS_EXPORT TSS_Error tss_setBaseOffsetWithCurrentOrientation	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Set base offset with current orientation.

Sets the base offset orientation to be the same as the current filtered orientation.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_tareWithCurrentOrientation	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Tare with current orientation.

Sets the tare orientation to be the same as the current filtered orientation.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_tareWithQuaternion	(	TSS_Device_Id	device,
		const float *	quat4,
		unsigned int *	timestamp
	)

Tare with quaternion.

Sets the tare orientation to be the same as the supplied orientation, which should be passed as a quaternion.

Input: Quaternion (float x4)

Output: None

TSS_EXPORT TSS_Error tss_tareWithRotationMatrix	(	TSS_Device_Id	device,
		const float *	matrix9,
		unsigned int *	timestamp
	)

Tare with rotation matrix.

Sets the tare orientation to be the same as the supplied orientation, which should be passed as a rotation matrix.

Input: Rotation Matrix (float x9)

Output: None

TSS_EXPORT TSS_Error tss_setStaticAccelerometerTrustValue	(	TSS_Device_Id	device,
		float	trust_value,
		unsigned int *	timestamp
	)

Set static accelerometer trust value.

Determines how trusted the accelerometer contribution is to the overall orientation estimation. Trust is 0 to 1, with 1 being fully trusted and 0 being not trusted at all.

Input: Accelerometer trust value (float)

Output: None

TSS_EXPORT TSS_Error tss_setConfidenceAccelerometerTrustValues	(	TSS_Device_Id	device,
		float	min_trust_value,
		float	max_trust_value,
		unsigned int *	timestamp
	)

Set confidence accelerometer trust values.

Determines how trusted the accelerometer contribution is to the overall orientation estimation. Instead of using a single value, uses a minimum and maximum value. Trust values will be selected from this range depending on the confidence factor. This can have the effect of smoothing out the accelerometer when the sensor is in motion.

Input: Minimum accelerometer trust value (float), Maximum accelerometer trust value (float)

Output: None

TSS_EXPORT TSS_Error tss_setStaticCompassTrustValue	(	TSS_Device_Id	device,
		float	trust_value,
		unsigned int *	timestamp
	)

Set static compass trust value.

Determines how trusted the accelerometer contribution is to the overall orientation estimation. tribution is to the overall orientation estimation. Trust is 0 to 1, with 1 being fully trusted and 0 being not trusted at all.

Input: Compass trust value (float)

Output: None

TSS_EXPORT TSS_Error tss_setConfidenceCompassTrustValues	(	TSS_Device_Id	device,
		float	min_trust_value,
		float	max_trust_value,
		unsigned int *	timestamp
	)

Set confidence compass trust values.

Determines how trusted the compass contribution is to the overall orientation estimation. Instead of using a single value, uses a minimum and maximum value. Trust values will be selected from this range depending on the confidence factor. This can have the effect of smoothing out the compass when the sensor is in motion.

Input: Minimum compass trust value (float), Maximum compass trust value (float)

Output: None

TSS_EXPORT TSS_Error tss_setDesiredUpdateRate	(	TSS_Device_Id	device,
		unsigned int	update_rate,
		unsigned int *	timestamp
	)

Set desired update rate.

Causes the processor to wait for the specified number of microseconds at the end of each update loop. Can be useful for bounding the overall update rate of the sensor if necessary.

Input: Microsecond update rate (unsigned integer)

Output: None

TSS_EXPORT TSS_Error tss_setReferenceVectorMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set reference vector mode.

Set the current reference vector mode. Parameter can be 0 for single static mode, which uses a certain reference vector for the compass and another certain vector for the accelerometer at all times, 1 for single auto mode, which uses (0, -1, 0) as the reference vector for the accelerometer at all times and uses the average angle between the accelerometer and compass to calculate the compass reference vector once upon initiation of this mode, 2 for single auto continuous mode, which works similarly to single auto mode, but calculates this continuously, or 3 for multi-reference mode, which uses a collection of reference vectors for the compass and accelerometer both, and selects which ones to use before each step of the filter.

Input: Mode (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setOversampleRate	(	TSS_Device_Id	device,
		unsigned char	samples_per_iteration,
		unsigned int *	timestamp
	)

Set oversample rate.

Sets the number of times to sample each component sensor for each iteration of the filter. This can smooth out readings at the cost of performance. If this value is set to 0 or 1, no oversampling occursotherwise, the number of samples per iteration depends on the specified parameter, up to a maximum of 10. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Samples Per Iteration (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setGyroscopeEnabled	(	TSS_Device_Id	device,
		unsigned char	enabled,
		unsigned int *	timestamp
	)

Set gyroscope enabled.

Enable or disable gyroscope readings as inputs to the orientation estimation. Note that updated gyroscope readings are still accessible via commands. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Enabled (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setAccelerometerEnabled	(	TSS_Device_Id	device,
		unsigned char	enabled,
		unsigned int *	timestamp
	)

Set accelerometer enabled.

Enable or disable accelerometer readings as inputs to the orientation estimation. Note that updated accelerometer readings are still accessible via commands. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Enabled (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setCompassEnabled	(	TSS_Device_Id	device,
		unsigned char	enabled,
		unsigned int *	timestamp
	)

Set compass enabled.

Enable or disable compass readings as inputs to the orientation estimation. Note that updated compass readings are still accessible via commands. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Enabled (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setAxisDirections	(	TSS_Device_Id	device,
		unsigned char	axis_direction_byte,
		unsigned int *	timestamp
	)

Set axis directions.

Sets alternate directions for each of the natural axes of the sensor. The only parameter is a bitfield representing the possible combinations of axis swapping. The lower 3 bits specify where each of the natural axes appears: 000: X: Right, Y: Up, Z: Forward (left-handed system, standard operation) 001: X: Right, Y: Forward, Z: Up (right-handed system) 002: X: Up, Y: Right, Z: Forward (right-handed system) 003: X: Forward, Y: Right, Z: Up (left-handed system) 004: X: Up, Y: Forward, Z: Right (left-handed system) 005: X: Forward, Y: Up, Z: Right (right-handed system) (For example, using X: Right, Y: Forward, Z: Up means that any values that appear on the positive vertical(Up) axis of the sensor will be the third(Z) component of any vectors and will have a positive sign, and any that appear on the negative vertical axis will be the Z component and will have a negative sign.) The 3 bits above those are used to indicate which axes, if any, should be reversed. If it is cleared, the axis will be pointing in the positive direction. Otherwise, the axis will be pointed in the negative direction. (Note: These are applied to the axes after the previous conversion takes place). Bit 4: Positive/Negative Z (Third resulting component) Bit 5: Positive/Negative Y (Second resulting component) Bit 6: Positive/Negative X (First resulting component) Note that for each negation that is applied, the handedness of the system flips. So, if X and Z are negative and you are using a left-handed system, the system will still be left handed, but if only X is negated, the system will become right-handed.

Input: Axis Direction Byte (byte)

Output: None

TSS_EXPORT TSS_Error tss_setRunningAveragePercent	(	TSS_Device_Id	device,
		float	running_average_percent,
		unsigned int *	timestamp
	)

Set running average percent.

Sets what percentage of running average to use on the sensor's orientation. This is computed as follows:total_orient = total_orient * percenttotal_orient = total_orient + current_orient * (1 percent)current_orient = total_orientIf the percentage is 0, the running average will be shut off completely. Maximum value is 97%. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Running Average Percent (float)

Output: None

TSS_EXPORT TSS_Error tss_setCompassReferenceVector	(	TSS_Device_Id	device,
		const float *	reference_vector3,
		unsigned int *	timestamp
	)

Set compass reference vector.

Sets the static compass reference vector for Single Reference Mode.

Input: Compass Reference Vector (float x3)

Output: None

TSS_EXPORT TSS_Error tss_setAccelerometerReferenceVector	(	TSS_Device_Id	device,
		const float *	reference_vector3,
		unsigned int *	timestamp
	)

Set accelerometer reference vector.

Sets the static accelerometer reference vector for Single Reference Mode.

Input: Accelerometer Reference Vector (float x3)

Output: None

TSS_EXPORT TSS_Error tss_resetKalmanFilter	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Reset filter.

Resets the state of the currently selected filter

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setAccelerometerRange	(	TSS_Device_Id	device,
		unsigned char	accelerometer_range_setting,
		unsigned int *	timestamp
	)

Set accelerometer range.

Only parameter is the new accelerometer range, which can be 0 for 2g (Default range), which can be 1 for 4g, or 2 for 8g. Higher ranges can detect and report larger accelerations, but are not as accurate for smaller accelerations. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Accelerometer range setting (byte)

Output: None

TSS_EXPORT TSS_Error tss_setFilterMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set filter mode.

Used to disable the orientation filter or set the orientation filter mode. Changing this parameter can be useful for tuning filter-performance versus orientation-update rates. Passing in a parameter of 0 places the sensor into IMU mode, a 1 places the sensor into Kalman Filtered Mode (Default mode), a 2 places the sensor into Alternating Kalman Filter Mode, a 3 places the sensor into Complementary Filter Mode, a 4 places the sensor into Quaternion Gradient Descent Filter Mode, and a 5 places the sensor into Magnetoresistive Quaternion Gradient Descent Filter Mode. More information can be found in Section 3.1.5. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Mode (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setRunningAverageMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set running average mode.

Used to further smooth out the orientation at the cost of higher latency. Passing in a parameter of 0 places the sensor into a static running average mode, a 1 places the sensor into a confidence-based running average mode, which changes the running average factor based upon the confidence factor, which is a measure of how 'in motion' the sensor is. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Mode (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setGyroscopeRange	(	TSS_Device_Id	device,
		unsigned char	gyroscope_range_setting,
		unsigned int *	timestamp
	)

Set gyroscope range.

Only parameter is the new gyroscope range, which can be 0 for 250 DPS, 1 for 500 DPS, or 2 for 2000 DPS (Default range). Higher ranges can detect and report larger angular rates, but are not as accurate for smaller angular rates. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Gyroscope range setting (Byte)

Output: None

TSS_EXPORT TSS_Error tss_setCompassRange	(	TSS_Device_Id	device,
		unsigned char	compass_range_setting,
		unsigned int *	timestamp
	)

Set compass range.

Only parameter is the new compass range, which can be 0 for 0.88G, 1 for 1.3G (Default range), 2 for 1.9G, 3 for 2.5G, 4 for 4.0G, 5 for 4.7G, 6 for 5.6G, or 7 for 8.1G. Higher ranges can detect and report larger magnetic field strengths but are not as accurate for smaller magnetic field strengths. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Compass range setting (Byte)

Output: None

TSS_EXPORT TSS_Error tss_getTareAsQuaternion	(	TSS_Device_Id	device,
		float *	quat4,
		unsigned int *	timestamp
	)

Get tare orientation as quaternion.

Returns the current tare orientation as a quaternion.

Input: None

Output: Quaternion (float x4)

TSS_EXPORT TSS_Error tss_getTareAsRotationMatrix	(	TSS_Device_Id	device,
		float *	matrix9,
		unsigned int *	timestamp
	)

Get tare orientation as rotation matrix.

Returns the current tare orientation as a rotation matrix.

Input: None

Output: Rotation Matrix (float x9)

TSS_EXPORT TSS_Error tss_getAccelerometerTrustValues	(	TSS_Device_Id	device,
		float *	min_trust_value,
		float *	max_trust_value,
		unsigned int *	timestamp
	)

Get accelerometer trust values.

Returns the current accelerometer min and max trust values. If static trust values were set, both of these will be the same.

Input: None

Output: Accelerometer trust values, min and max (float x2)

TSS_EXPORT TSS_Error tss_getCompassTrustValues	(	TSS_Device_Id	device,
		float *	min_trust_value,
		float *	max_trust_value,
		unsigned int *	timestamp
	)

Get compass trust values.

Returns the current compass min and max trust values. If static trust values were set, both of these will be the same.

Input: None

Output: Compass trust values, min and max (float x2)

TSS_EXPORT TSS_Error tss_getCurrentUpdateRate	(	TSS_Device_Id	device,
		unsigned int *	last_update,
		unsigned int *	timestamp
	)

Get current update rate.

Reads the amount of time taken by the last filter update step.

Input: None

Output: Last update time in microseconds (int)

TSS_EXPORT TSS_Error tss_getCompassReferenceVector	(	TSS_Device_Id	device,
		float *	reference_vector,
		unsigned int *	timestamp
	)

Get compass reference vector.

Reads the current compass reference vector. Note that this is not valid if the sensor is in Multi Reference Vector mode.

Input: None

Output: Compass reference vector (float x3)

TSS_EXPORT TSS_Error tss_getAccelerometerReferenceVector	(	TSS_Device_Id	device,
		float *	reference_vector,
		unsigned int *	timestamp
	)

Get accelerometer reference vector.

Reads the current compass reference vector. Note that this is not valid if the sensor is in Multi Reference Vector mode.

Input: None

Output: Accelerometer reference vector (float x4)

TSS_EXPORT TSS_Error tss_getReferenceVectorMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get reference vector mode.

Reads the current reference vector mode. Return value can be 0 for single static, 1 for single auto, 2 for single auto continuous or 3 for multi.

Input: None

Output: Mode (byte)

TSS_EXPORT TSS_Error tss_getGyroscopeEnabledState	(	TSS_Device_Id	device,
		unsigned char *	enabled,
		unsigned int *	timestamp
	)

Get gyroscope enabled state.

Returns a value indicating whether the gyroscope contribution is currently part of the orientation estimate: 0 for off, 1 for on.

Input: None

Output: Gyroscope enabled value (byte)

TSS_EXPORT TSS_Error tss_getAccelerometerEnabledState	(	TSS_Device_Id	device,
		unsigned char *	enabled,
		unsigned int *	timestamp
	)

Get accelerometer enabled state.

Returns a value indicating whether the accelerometer contribution is currently part of the orientation estimate: 0 for off, 1 for on.

Input: None

Output: Accelerometer enabled value (byte)

TSS_EXPORT TSS_Error tss_getCompassEnabledState	(	TSS_Device_Id	device,
		unsigned char *	enabled,
		unsigned int *	timestamp
	)

Get compass enabled state.

Returns a value indicating whether the compass contribution is currently part of the orientation estimate: 0 for off, 1 for on.

Input: None

Output: Compass enabled value (byte)

TSS_EXPORT TSS_Error tss_getAxisDirections	(	TSS_Device_Id	device,
		unsigned char *	axis_directions,
		unsigned int *	timestamp
	)

Get axis direction.

Returns a value indicating the current axis direction setup. For more information on the meaning of this value, please refer to the Set Axis Direction command (116).

Input: None

Output: Axis direction value (byte)

TSS_EXPORT TSS_Error tss_getOversampleRate	(	TSS_Device_Id	device,
		unsigned char *	oversample_rate,
		unsigned int *	timestamp
	)

Get oversample rate.

Returns a value indicating how many times each component sensor is sampled before being stored as raw data. A value of 1 indicates that no oversampling is taking place, while a value that is higher indicates the number of samples per component sensor per filter update step.

Input: None

Output: Oversample rate (byte)

TSS_EXPORT TSS_Error tss_getRunningAveragePercent	(	TSS_Device_Id	device,
		float *	running_average_percent,
		unsigned int *	timestamp
	)

Get running average percent.

Returns a value indicating how heavily the orientation estimate is based upon the estimate from the previous frame. For more information on the meaning of this value, please refer to the Set Running Average Percent command (117).

Input: None

Output: Running average percent (float)

TSS_EXPORT TSS_Error tss_getDesiredUpdateRate	(	TSS_Device_Id	device,
		unsigned int *	update_rate,
		unsigned int *	timestamp
	)

Get desired update rate.

Returns the current desired update rate. Note that this value does not indicate the actual update rate, but instead indicates the value that should be spent 'idling' in the main loop. Thus, without having set a specified desired update rate, this value should read 0.

Input: None

Output: Desired update rate in microseconds (int)

TSS_EXPORT TSS_Error tss_getAccelerometerRange	(	TSS_Device_Id	device,
		unsigned char *	accelerometer_range_setting,
		unsigned int *	timestamp
	)

Get accelerometer range.

Return the current accelerometer measurement range, which can be a 0 for 2g, 1 for 4g or a 2 for 8g.

Input: None

Output: Accelerometer range setting (byte)

TSS_EXPORT TSS_Error tss_getFilterMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get filter mode.

Returns the current filter mode, which can be 0 for IMU mode, 1 for Kalman, 2 for Alternating Kalman, 3 for Complementary, or 4 for Quaternion Gradient Descent. For more information, please refer to the Set Filter Mode command (123).

Input: None

Output: Filter mode (byte)

TSS_EXPORT TSS_Error tss_getRunningAverageMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get running average mode.

Reads the selected mode for the running average, which can be 0 for normal or 1 for confidence.

Input: None

Output: Running average mode (byte)

TSS_EXPORT TSS_Error tss_getGyroscopeRange	(	TSS_Device_Id	device,
		unsigned char *	gyroscope_range_setting,
		unsigned int *	timestamp
	)

Get gyroscope range.

Reads the current gyroscope measurement range, which can be 0 for 250 DPS, 1 for 500 DPS or 2 for 2000 DPS.

Input: None

Output: Gyroscope range setting (byte)

TSS_EXPORT TSS_Error tss_getCompassRange	(	TSS_Device_Id	device,
		unsigned char *	compass_range_setting,
		unsigned int *	timestamp
	)

Get compass range.

Reads the current compass measurement range, which can be 0 for 0.88G, 1 for 1.3G, 2 for 1.9G, 3 for 2.5G, 4 for 4.0G, 5 for 4.7G, 6 for 5.6G or 7 for 8.1G.

Input: None

Output: Compass range setting (byte)

TSS_EXPORT TSS_Error tss_getEulerAngleDecompositionOrder	(	TSS_Device_Id	device,
		unsigned char *	order,
		unsigned int *	timestamp
	)

Get euler angle decomposition order.

Reads the current euler angle decomposition order.

Input: None

Output: Euler angle decomposition order (byte)

TSS_EXPORT TSS_Error tss_getMagnetoresistiveThreshold	(	TSS_Device_Id	device,
		float *	threshold,
		unsigned int *	trust_frames,
		float *	lockout_decay,
		float *	perturbation_detection_value,
		unsigned int *	timestamp
	)

Get magnetoresistive threshold.

Reads the current magnetoresistive threshold parameters.

Input: None

Output: Magnetoresistive threshold in gauss(float), Number of magnetometer trust frames (unsigned int), magnetometer lockout decay value (float), magnetometer perturbation detection value (float)

TSS_EXPORT TSS_Error tss_getAccelerometerResistanceThreshold	(	TSS_Device_Id	device,
		float *	threshold,
		unsigned int *	lockout_frames,
		unsigned int *	timestamp
	)

Get accelerometer resistance threshold.

Reads the current accelerometer threshold parameters.

Input: None

Output: Accelerometer threshold in g's (float), Number of accelerometer lockout frames (unsigned int),

TSS_EXPORT TSS_Error tss_getOffsetOrientationAsQuaternion	(	TSS_Device_Id	device,
		float *	quat4,
		unsigned int *	timestamp
	)

Get offset orientation as quaternion.

Returns the current offset orientation as a quaternion.

Input: None

Output: Quaternion (float x4)

TSS_EXPORT TSS_Error tss_setCompassCalibrationCoefficients	(	TSS_Device_Id	device,
		const float *	matrix9,
		const float *	bias3,
		unsigned int *	timestamp
	)

Set compass calibration coefficients.

Sets the current compass calibration parameters to the specified values. These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Matrix (float x9), Bias (float x3)

Output: None

TSS_EXPORT TSS_Error tss_setAccelerometerCalibrationCoefficients	(	TSS_Device_Id	device,
		const float *	matrix9,
		const float *	bias3,
		unsigned int *	timestamp
	)

Set accelerometer calibration coefficients.

Sets the current accelerometer calibration parameters to the specified values. These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Matrix (float x9), Bias (float x3)

Output: None

TSS_EXPORT TSS_Error tss_getCompassCalibrationCoefficients	(	TSS_Device_Id	device,
		float *	matrix9,
		float *	bias3,
		unsigned int *	timestamp
	)

Get compass calibration coefficients.

Return the current compass calibration parameters.

Input: None

Output: Matrix (float x9), Bias (float x3)

TSS_EXPORT TSS_Error tss_getAccelerometerCalibrationCoefficients	(	TSS_Device_Id	device,
		float *	matrix9,
		float *	bias3,
		unsigned int *	timestamp
	)

Get accelerometer calibration coefficients.

Return the current accelerometer calibration parameters.

Input: None

Output: Matrix (float x9), Bias (float x3)

TSS_EXPORT TSS_Error tss_getGyroscopeCalibrationCoefficients	(	TSS_Device_Id	device,
		float *	matrix9,
		float *	bias3,
		unsigned int *	timestamp
	)

Get gyroscope calibration coefficients.

Return the current gyroscope calibration parameters.

Input: None

Output: Matrix (float x9), Bias (float x3)

TSS_EXPORT TSS_Error tss_beginGyroscopeAutoCalibration	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Begin gyroscope auto-calibration.

Performs auto-gyroscope calibration. Sensor should remain still while samples are taken. The gyroscope bias will be automatically placed into the bias part of the gyroscope calibration coefficient list.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setGyroscopeCalibrationCoefficients	(	TSS_Device_Id	device,
		const float *	matrix9,
		const float *	bias3,
		unsigned int *	timestamp
	)

Set gyroscope calibration coefficients.

Sets the current gyroscope calibration parameters to the specified values. These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Matrix (float x9), Bias (float x3)

Output: None

TSS_EXPORT TSS_Error tss_setCalibrationMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set calibration mode.

Sets the current calibration mode, which can be 0 for Bias, 1 for Scale-Bias and 2 for Ortho-Calibration. For more information, refer to section 3.1.3 Additional Calibration. This setting can be saved to non-volatile flash memory using the Commit Settings command.

Input: Mode (Byte)

Output: None

TSS_EXPORT TSS_Error tss_getCalibrationMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get calibration mode.

Reads the current calibration mode, which can be 0 for Bias, 1 for Scale-Bias or 2 for Ortho-Calibration. For more information, refer to section 3.1.3 Additional Calibration.

Input: None

Output: Mode (byte)

TSS_EXPORT TSS_Error tss_setOrthoCalibrationDataPointFromCurrentOrientation	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Set ortho-calibration data point from current orientation.

Set the ortho-calibration compass and accelerometer vectors corresponding to this orthogonal orientation. Intended for advanced users.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setOrthoCalibrationDataPointFromVector	(	TSS_Device_Id	device,
		unsigned char	type,
		unsigned char	index,
		const float *	vector3,
		unsigned int *	timestamp
	)

Set ortho-calibration data point from vector.

Directly set a vector corresponding to this orthogonal orientation. First parameter is type, where 0 is for compass and 1 is for accelerometer. Second parameter is index, which indicates the orthogonal orientation. Intended for advanced users.

Input: Type (Byte), Index (Byte), Accelerometer or Compass Vector (float x3)

Output: None

TSS_EXPORT TSS_Error tss_getOrthoCalibrationDataPoint	(	TSS_Device_Id	device,
		unsigned char	type,
		unsigned char	index,
		float *	vector3,
		unsigned int *	timestamp
	)

Get ortho-calibration data point.

Return the vector corresponding to the orthogonal orientation given by index. First parameter is type, where 0 is for compass and 1 is for accelerometer. Second parameter is index, which indicates the orthogonal orientation. Intended for advanced users.

Input: Type (Byte), Index (Byte)

Output: Accelerometer or compass vector (float x3)

TSS_EXPORT TSS_Error tss_performOrthoCalibration	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Perform ortho-calibration.

Stores accelerometer and compass data in the ortho-lookup table for use in the orientation fusion algorithm. For best results, each of the 24 orientations should be filled in with component sensor data. Note also that ortho-calibration data will not be used unless the calibration mode is set to Ortho-Calibration. For more information, refer to Section 3.1.3 Additional Calibration. Intended for advanced users.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_clearOrthoCalibrationData	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Clear ortho-calibration data.

Clear out all ortho-lookup table data. Intended for advanced users.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setWirelessStreamingAutoFlushMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set wireless stream mode.

Set the wireless communication's streaming flush mode. If this value is set to 0 (default), data must be 'released' using manual flush commands. If this value is set to 1, data will be output immediately via the dongle's USB connection. Note that this only exists for wireless communication. For more information, refer to Section 3.2.2 and 3.3.3. This setting can be set to non-volatile flash memory by using the Commit Settings command.

Input: Auto-flush mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessStreamingAutoFlushMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get wireless stream mode.

Returns the wireless communication's current asynchronous flush mode, which can be 0 for auto flush and 1 for manual flush. For more information, refer to Section 3.2.2 and Section 3.3.3.

Input: None

Output: Auto-flush mode (byte)

TSS_EXPORT TSS_Error tss_setWirelessStreamingManualFlushBitfield	(	TSS_Device_Id	device,
		unsigned short	manual_flush_bitfield,
		unsigned int *	timestamp
	)

Set wireless streaming manual flush bitfield.

Allows the dongle to control which wirelessly received data is output via manual flush mode. The parameter represents a bitfield that represents which wireless sensors' logical IDs can currently output data. If a bit for a corresponding sensor is set to 0, no data at all will be output for that sensor in any condition, even if data is received for that sensor. This setting can be set to non-volatile flash memory by using the Commit Settings command.

Input: Manual flush bitfield (short)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessStreamingManualFlushBitfield	(	TSS_Device_Id	device,
		unsigned short *	manual_flush_bitfield,
		unsigned int *	timestamp
	)

Get async flush bitfield.

Returns the current manual flush bitfield representing which logical Ids will respond to asynchronous requests.

Input: None

Output: Manual flush bitfield (short)

TSS_EXPORT TSS_Error tss_getManualFlushSingle	(	TSS_Device_Id	device,
		unsigned char	index,
		char *	data,
		int	in_data_size,
		int *	out_data_size,
		unsigned int *	timestamp
	)

Manual flush single.

Flush data output for a single logical ID. For more information, please refer to Section 3.2.2 and Section 3.2.3

Input: Logical ID (Byte)

Output: None

TSS_EXPORT TSS_Error tss_getManualFlushBulk	(	TSS_Device_Id	device,
		char *	data,
		int	in_data_size,
		int *	out_data_size,
		unsigned int *	timestamp
	)

Manual flush bulk.

Flush data output for all logical Ids. For more information, please refer to Section 3.2.2 and Section 3.2.3

Input: None

Output: None

TSS_EXPORT TSS_Error tss_broadcastSynchronizationPulse	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Broadcast synchronization pulse.

Sends out a timestamp synchronization broadcast message to all wireless sensors that are listening on the same channel and PanID as the dongle. The message will essentially set each receiving sensor's timestamp to the same timestamp as stored in the dongle.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_getSerialNumberAtLogicalID	(	TSS_Device_Id	device,
		unsigned char	logical_id,
		unsigned int *	serial_number,
		unsigned int *	timestamp
	)

Get serial number at logical ID.

Return the mapped serial number for the given logical ID.

Input: Logical ID (Byte)

Output: Serial number (int)

TSS_EXPORT TSS_Error tss_setSerialNumberAtLogicalID	(	TSS_Device_Id	device,
		unsigned char	logical_id,
		unsigned int	serial_number,
		unsigned int *	timestamp
	)

Set serial number at logical ID.

Set the mapped serial number given by the logical ID. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: Logical ID (Byte), Serial number (int)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessChannelNoiseLevels	(	TSS_Device_Id	device,
		unsigned char *	channel_strengths16,
		unsigned int *	timestamp
	)

Get wireless channel noise levels.

Return the noise levels for each of the 16 wireless channels. A higher value corresponds to a noisier channel, which can significantly impact wireless reception and throughput.

Input: None

Output: Channel strengths (byte x16)

TSS_EXPORT TSS_Error tss_setWirelessRetries	(	TSS_Device_Id	device,
		unsigned char	retries,
		unsigned int *	timestamp
	)

Set wireless retries.

Set the number of times a dongle will attempt to re-transmit a data request after timing out. Default value is 3. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: Retries (byte)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessRetries	(	TSS_Device_Id	device,
		unsigned char *	retries,
		unsigned int *	timestamp
	)

Get wireless retries.

Read the number of times a dongle will attempt to re-transmit a data request after timing out. Default value is 3.

Input: None

Output: Retries (byte)

TSS_EXPORT TSS_Error tss_getWirelessSlotsOpen	(	TSS_Device_Id	device,
		unsigned char *	slots_open,
		unsigned int *	timestamp
	)

Get wireless slots open.

The dongle can simultaneously service up to sixteen individual data requests to wireless sensors. As sensors respond, requests are removed from the table. In the case that too many requests are sent to the dongle in too short a period, the dongle will begin tossing them out. This value will return the number of slots currently open. If this value is 0, no more wireless requests will be handled until some are internally processed.

Input: None

Output: Slots open (byte)

TSS_EXPORT TSS_Error tss_getSignalStrength	(	TSS_Device_Id	device,
		unsigned char *	last_packet_signal_strength,
		unsigned int *	timestamp
	)

Get signal strength.

Returns a value indicating the reception strength of the most recently received packet. Higher values indicate a stronger link.

Input: None

Output: Last packet signal strength (byte)

TSS_EXPORT TSS_Error tss_setWirelessResponseHeaderBitfield	(	TSS_Device_Id	device,
		unsigned int	header_bitfield,
		unsigned int *	timestamp
	)

Set wireless response header bitfield.

Configures the response header for data returned over a wireless connection. The only parameter is a four-byte bitfield that determines which data is prepended to all data responses. The following bits are used: 0x1: (1 byte) Success/Failure, with non-zero values representing failure.0x2: (4 bytes) Timestamp, in microseconds.0x4: (1 byte) Command echooutputs the called command. Returns 0xFF for streamed data. 0x8: (1 byte) Additive checksum over returned data, but not including response header.0x10: (1 byte) Logical ID0x20: (4 bytes) Serial number0x40: (1 byte) Data length, returns the length of the requested data, not including response header.This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: Response header bitfield (Unsigned int)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessResponseHeaderBitfield	(	TSS_Device_Id	device,
		unsigned int *	header_bitfield,
		unsigned int *	timestamp
	)

Get wireless response header bitfield.

Return the current wireless response header bitfield.

Input: None

Output: Response header bitfield (Unsigned int)

TSS_EXPORT TSS_Error tss_getWirelessPanID	(	TSS_Device_Id	device,
		unsigned short *	pan_id,
		unsigned int *	timestamp
	)

Get wireless panID.

Return the current panID for this wireless sensor or dongle. For more information, refer to Section 2.9 Wireless Terminology.

Input: None

Output: PanID (short)

TSS_EXPORT TSS_Error tss_setWirelessPanID	(	TSS_Device_Id	device,
		unsigned short	pan_id,
		unsigned int *	timestamp
	)

Set wireless panID.

Set the current panID for this wireless sensor or dongle. Note that the panID for a wireless sensor can only be set via the USB connection. For more information, refer to Section 2.9 Wireless Terminology. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: PanID (short)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessChannel	(	TSS_Device_Id	device,
		unsigned char *	channel,
		unsigned int *	timestamp
	)

Get wireless channel.

Read the current channel for this wireless sensor or dongle. For more information, refer to Section 2.9 Wireless Terminology.

Input: None

Output: Channel (Byte)

TSS_EXPORT TSS_Error tss_setWirelessChannel	(	TSS_Device_Id	device,
		unsigned char	channel,
		unsigned int *	timestamp
	)

Set wireless channel.

Set the current channel for this wireless sensor or dongle. For more information, refer to Section 2.9 Wireless Terminology. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: Channel (byte)

Output: None

TSS_EXPORT TSS_Error tss_commitWirelessSettings	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Commit wireless settings.

Commits all current wireless settings to non-volatile flash memory, which will persist after the sensor is powered off. For more information on which parameters can be stored in this manner, refer to Section 3.4 Sensor Settings.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_getWirelessAddress	(	TSS_Device_Id	device,
		unsigned short *	address,
		unsigned int *	timestamp
	)

Get wireless address.

Read the wireless hardware address for this sensor or dongle.

Input: None

Output: Address (short)

TSS_EXPORT TSS_Error tss_getBatteryVoltage	(	TSS_Device_Id	device,
		float *	battery_voltage,
		unsigned int *	timestamp
	)

Get battery voltage.

Read the current battery level in volts. Note that this value will read as slightly higher than it actually is if it is read via a USB connection.

Input: None

Output: Battery level in voltage (float)

TSS_EXPORT TSS_Error tss_getBatteryPercentRemaining	(	TSS_Device_Id	device,
		unsigned char *	battery_percent,
		unsigned int *	timestamp
	)

Get battery percent remaining.

Read the current battery lifetime as a percentage of the total. Note that this value will read as slightly higher than it actually is if it is read via a USB connection.

Input: None

Output: Battery level as percent (byte)

TSS_EXPORT TSS_Error tss_getBatteryStatus	(	TSS_Device_Id	device,
		unsigned char *	battery_charge_status,
		unsigned int *	timestamp
	)

Get battery status.

Returns a value indicating the current status of the battery, which can be a 3 to indicate that the battery is currently not charging, a 2 to indicate that the battery is charging and thus plugged in, or a 1 to indicate that the sensor is fully charged.

Input: None

Output: Battery charge status (byte)

TSS_EXPORT TSS_Error tss_setLEDMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set LED Mode.

Allows finer-grained control over the sensor LED. Accepts a single parameter that can be 0 for standard, which displays all standard LED status indicators or 1 for static, which displays only the LED color as specified by command 238.

Input: LED mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getLEDMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get LED Mode.

Returns the current sensor LED mode, which can be 0 for standard or 1 for static.

Input: None

Output: LED mode (byte)

TSS_EXPORT TSS_Error tss_setWiredResponseHeaderBitfield	(	TSS_Device_Id	device,
		unsigned int	header_bitfield,
		unsigned int *	timestamp
	)

Set wired response header bitfield.

Configures the response header for data returned over a wired connection. The only parameter is a four-byte bitfield that determines which data is prepended to all data responses. The following bits are used: 0x1: (1 byte) Success/Failure, with non-zero values representing failure.0x2: (4 bytes) Timestamp, in microseconds.0x4: (1 byte) Command echooutputs the called command. Returns 0xFF for streamed data. 0x8: (1 byte) Additive checksum over returned data, but not including response header.0x10: (1 byte) Logical ID, returns 0xFE for wired sensors. Meant to be used with 3-Space Dongle response header (For more info, see command 0xDB). 0x20: (4 bytes) Serial number0x40: (1 byte) Data length, returns the length of the requested data, not including response header.This setting can be committed to non-volatile flash memory by calling the Commit Settings command. For more information on Response Headers, please refer to Section 4.4.

Input: Response header configuration (Unsigned int)

Output: None

TSS_EXPORT TSS_Error tss_getWiredResponseHeaderBitfield	(	TSS_Device_Id	device,
		unsigned int *	header_bitfield,
		unsigned int *	timestamp
	)

Get wired response header bitfield.

Return the current wired response header bitfield. For more information, please refer to Section 4.4.

Input: None

Output: Response header configuration (Unsigned int)

TSS_EXPORT TSS_Error tss_getFirmwareVersionString	(	TSS_Device_Id	device,
		char *	firmware_version13,
		unsigned int *	timestamp
	)

Get firmware version string.

Returns a string indicating the current firmware version.

Input: None

Output: Firmware version (string)

TSS_EXPORT TSS_Error tss_restoreFactorySettings	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Restore factory settings.

Return all non-volatile flash settings to their original, default settings.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_commitSettings	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Commit settings.

Commits all current sensor settings to non-volatile flash memory, which will persist after the sensor is powered off. For more information on which parameters can be stored in this manner, refer to Section 3.4 Sensor Settings.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_softwareReset	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Software reset.

Resets the sensor.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_setSleepMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set sleep mode.

Sets the current sleep mode of the sensor. Supported sleep modes are 0 for NONE and 1 for IDLE. IDLE mode merely skips all filtering steps. NONE is the default state.

Input: Sleep mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getSleepMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get sleep mode.

Reads the current sleep mode of the sensor, which can be 0 for NONE or 1 for IDLE.

Input: None

Output: Sleep mode (byte)

TSS_EXPORT TSS_Error tss_enterBootloaderMode	(	TSS_Device_Id	device,
		unsigned int *	timestamp
	)

Enter bootloader mode.

Places the sensor into a special mode that allows firmware upgrades. This will case normal operation until the firmware update mode is instructed to return the sensor to normal operation. For more information on upgrading firmware, refer to the 3-Space Sensor Suite Quick Start Guide.

Input: None

Output: None

TSS_EXPORT TSS_Error tss_getHardwareVersionString	(	TSS_Device_Id	device,
		char *	hardware_version33,
		unsigned int *	timestamp
	)

Get hardware version string.

Returns a string indicating the current hardware version.

Input: None

Output: Hardware version (string)

TSS_EXPORT TSS_Error tss_setUARTBaudRate	(	TSS_Device_Id	device,
		unsigned int	baud_rate,
		unsigned int *	timestamp
	)

Set UART baud rate.

Sets the baud rate of the physical UART. This setting does not need to be committed, but will not take effect until the sensor is reset. Valid baud rates are 1200, 2400, 4800, 9600, 19200, 28800, 38400, 57600, 115200 (default), 230400, 460800 and 921600. Note that this is only applicable for sensor types that have UART interfaces.

Input: Baud rate (int)

Output: None

TSS_EXPORT TSS_Error tss_getUARTBaudRate	(	TSS_Device_Id	device,
		unsigned int *	baud_rate,
		unsigned int *	timestamp
	)

Get UART baud rate.

Returns the baud rate of the physical UART. Note that this is only applicable for sensor types that have UART interfaces.

Input: None

Output: Baud rate (int)

TSS_EXPORT TSS_Error tss_setUSBMode	(	TSS_Device_Id	device,
		unsigned int	mode,
		unsigned int *	timestamp
	)

Set USB Mode.

Sets the communication mode for USB. Accepts one value that can be 0 for CDC (default) or 1 for FTDI.

Input: USB communication mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getUSBMode	(	TSS_Device_Id	device,
		unsigned int *	mode,
		unsigned int *	timestamp
	)

Get USB Mode.

Returns the current USB communication mode.

Input: None

Output: USB communication mode (byte)

TSS_EXPORT TSS_Error tss_getSerialNumber	(	TSS_Device_Id	device,
		unsigned int *	serial_number,
		unsigned int *	timestamp
	)

Get serial number.

Returns the serial number, which will match the value etched onto the physical sensor.

Input: None

Output: Serial number (int)

TSS_EXPORT TSS_Error tss_setLEDColor	(	TSS_Device_Id	device,
		const float *	rgb_color3,
		unsigned int *	timestamp
	)

Set LED color.

Sets the color of the LED on the sensor to the specified RGB color. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: RGB Color (float x3)

Output: None

TSS_EXPORT TSS_Error tss_getLEDColor	(	TSS_Device_Id	device,
		float *	rgb_color3,
		unsigned int *	timestamp
	)

Get LED color.

Returns the color of the LED on the sensor.

Input: None

Output: RGB Color (float x3)

TSS_EXPORT TSS_Error tss_setWirelessHIDUpdateRate	(	TSS_Device_Id	device,
		unsigned char	HID_update_rate,
		unsigned int *	timestamp
	)

Set wireless HID update rate.

Specify the interval at which HID information is requested by the dongle. The default and minimum value is 15ms in synchronous HID mode. In asynchronous HID mode, the minimum is 5ms. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: HID update rate in milliseconds (byte)

Output: Last packet signal strength (byte)

TSS_EXPORT TSS_Error tss_getWirelessHIDUpdateRate	(	TSS_Device_Id	device,
		unsigned char *	HID_update_rate,
		unsigned int *	timestamp
	)

Get wireless HID update rate.

Return the interval at which HID information is requested by the dongle.

Input: None

Output: HID update rate in milliseconds

TSS_EXPORT TSS_Error tss_setWirelessHIDAsynchronousMode	(	TSS_Device_Id	device,
		unsigned char	HID_communication_mode,
		unsigned int *	timestamp
	)

Set wireless HID asynchronous mode.

Sets the current wireless HID communication mode. Supplying a 0 makes wireless HID communication synchronous, while a 1 makes wireless HID asynchronous. For more information, refer to Section 3.3.4 Wireless Joystick/Mouse. This setting can be committed to non-volatile flash memory by calling the Commit Wireless Settings command.

Input: HID communication mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getWirelessHIDAsynchronousMode	(	TSS_Device_Id	device,
		unsigned char *	HID_communication_mode,
		unsigned int *	timestamp
	)

Get wireless HID asynchronous mode.

Returns the current wireless HID communication mode, which can be a 0 for synchronous wireless HID or a 1 for asynchronous wireless HID.

Input: None

Output: HID communication mode

TSS_EXPORT TSS_Error tss_setJoystickLogicalID	(	TSS_Device_Id	device,
		unsigned char	logical_ID,
		unsigned int *	timestamp
	)

Set joystick logical ID.

Causes the sensor at the specified logical ID to return joystick HID data. Passing a -1 will disable wireless joystick data. For more information, refer to Section 3.3.4 Wireless Joystick/Mouse.

Input: Joystick logical ID (signed byte)

Output: None

TSS_EXPORT TSS_Error tss_setMouseLogicalID	(	TSS_Device_Id	device,
		unsigned char *	logical_ID,
		unsigned int *	timestamp
	)

Set mouse logical ID.

Causes the sensor at the specified logical ID to return mouse HID data. Passing a -1 will disable wireless mouse data. For more information, refer to Section 3.3.4 Wireless Joystick/Mouse.

Input: Mouse logical ID (signed byte)

Output: None

TSS_EXPORT TSS_Error tss_getJoystickLogicalID	(	TSS_Device_Id	device,
		unsigned char *	logical_ID,
		unsigned int *	timestamp
	)

Get joystick logical ID.

Returns the current logical ID of the joystick-enabled sensor or -1 if none exists.

Input: None

Output: Joystick-enabled logical ID (byte)

TSS_EXPORT TSS_Error tss_getMouseLogicalID	(	TSS_Device_Id	device,
		unsigned char *	logical_ID,
		unsigned int *	timestamp
	)

Get mouse logical ID.

Returns the current logical ID of the mouse-enabled sensor or -1 if none exists.

Input: None

Output: Mouse-enabled logical ID (byte)

TSS_EXPORT TSS_Error tss_setJoystickEnabled	(	TSS_Device_Id	device,
		unsigned char	enabled_state,
		unsigned int *	timestamp
	)

Set joystick enabled.

Enable or disable streaming of joystick HID data for this sensor.

Input: Joystick enabled state (byte)

Output: None

TSS_EXPORT TSS_Error tss_setMouseEnabled	(	TSS_Device_Id	device,
		unsigned char	enabled_state,
		unsigned int *	timestamp
	)

Set mouse enabled.

Enable or disable streaming of mouse HID data for this sensor.

Input: Mouse enabled state (byte)

Output: None

TSS_EXPORT TSS_Error tss_getJoystickEnabled	(	TSS_Device_Id	device,
		unsigned char *	enabled_state,
		unsigned int *	timestamp
	)

Get joystick enabled.

Read whether the sensor is currently streaming joystick HID data.

Input: None

Output: Joystick enabled state (byte)

TSS_EXPORT TSS_Error tss_getMouseEnabled	(	TSS_Device_Id	device,
		unsigned char *	enabled_state,
		unsigned int *	timestamp
	)

Get mouse enabled.

Read whether the sensor is currently streaming mouse HID data.

Input: None

Output: Mouse enabled state (byte)

TSS_EXPORT TSS_Error tss_setControlMode	(	TSS_Device_Id	device,
		unsigned char	control_class,
		unsigned char	control_index,
		unsigned char	handler_index,
		unsigned int *	timestamp
	)

Set control mode.

Sets the operation mode for one of the controls. The first parameter is the control class,which can be 0 for Joystick Axis, 1 for Joystick Button, 2 for Mouse Axis or 3 for Mouse Button. There are two axes and eight buttons on the joystick and mouse. The second parameter, the control index, selects which one of these axes or buttons you would like to modify. The third parameter, the handler index, specifies which handler you want to take care of this control. These can be the following:Turn off this control: 255Axes:Global Axis: 0Screen Point: 1Buttons:Hardware Button: 0Orientation Button: 1Shake Button: 2

Input: Control class (byte), control index (byte), handler index (byte)

Output: None

TSS_EXPORT TSS_Error tss_setControlData	(	TSS_Device_Id	device,
		unsigned char	control_class,
		unsigned char	control_index,
		unsigned char	data_point_index,
		float	data_point,
		unsigned int *	timestamp
	)

Set control data.

Sets parameters for the specified control's operation mode. The control classes and indices are the same as described in command 244. Each mode can have up to 10 data points associated with it. How many should be set and what they should be set to is entirely based on which mode is being used.

Input: Control class (byte), control index (byte), data point index (byte), data point (float)

Output: None

TSS_EXPORT TSS_Error tss_getControlMode	(	TSS_Device_Id	device,
		unsigned char	control_class,
		unsigned char	control_index,
		unsigned char *	handler_index,
		unsigned int *	timestamp
	)

Get control mode.

Reads the handler index of this control's mode. The control classes and indices are the same as described in command 244.

Input: Control class (byte), control index (byte)

Output: Handler index (byte)

TSS_EXPORT TSS_Error tss_getControlData	(	TSS_Device_Id	device,
		unsigned char	control_class,
		unsigned char	control_index,
		unsigned char	data_point_index,
		float *	data_point,
		unsigned int *	timestamp
	)

Get control data.

Reads the value of a certain parameter of the specified control's operation mode. The control classes and indices are the same as described in command 244.

Input: Control class (byte), control index (byte), data point index (byte)

Output: Data point (float)

TSS_EXPORT TSS_Error tss_setButtonGyroDisableLength	(	TSS_Device_Id	device,
		unsigned char	number_of_frames,
		unsigned int *	timestamp
	)

Set button gyro disable length.

Determines how long, in frames, the gyros should be disabled after one of the physical buttons on the sensor is pressed. A setting of 0 means they won't be disabled at all. This setting helps to alleviate gyro disturbances cause by the buttons causing small shockwaves in the sensor.

Input: Number of frames (byte)

Output: None

TSS_EXPORT TSS_Error tss_getButtonGyroDisableLength	(	TSS_Device_Id	device,
		unsigned char *	number_of_frames,
		unsigned int *	timestamp
	)

Get button gyro disable lentgh.

Returns the current button gyro disable length.

Input: None

Output: Number of frames (byte)

TSS_EXPORT TSS_Error tss_getButtonState	(	TSS_Device_Id	device,
		unsigned char *	button_state,
		unsigned int *	timestamp
	)

Get button state.

Reads the current state of the sensor's physical buttons. This value returns a byte, where each bit represents the state of the sensor's physical buttons.

Input: None

Output: Button state (byte)

TSS_EXPORT TSS_Error tss_setMouseAbsoluteRelativeMode	(	TSS_Device_Id	device,
		unsigned char	mode,
		unsigned int *	timestamp
	)

Set mouse absolute/relative mode.

Puts the mode in absolute or relative mode. This change will not take effect immediately and the sensor must be reset before the mouse will enter this mode. The only parameter can be 0 for absolute (default) or 1 for relative

Input: Absolute or relative mode (byte)

Output: None

TSS_EXPORT TSS_Error tss_getMouseAbsoluteRelativeMode	(	TSS_Device_Id	device,
		unsigned char *	mode,
		unsigned int *	timestamp
	)

Get mouse absolute/relative mode.

Return the current mouse absolute/relative mode. Note that if the sensor has not been reset since it has been put in this mode, the mouse will not reflect this change yet, even though the command will.

Input: None

Output: Absolute or relative mode (byte)

TSS_EXPORT TSS_Error tss_setJoystickAndMousePresentRemoved	(	TSS_Device_Id	device,
		unsigned char	joystick,
		unsigned char	mouse,
		unsigned int *	timestamp
	)

Set joystick and mouse present/removed.

Sets whether the joystick and mouse are present or removed. The first parameter is for the joystick, and can be 0 for removed or 1 for present. The second parameter is for the mouse. If removed, they will not show up as devices on the target system at all. For these changes to take effect, the sensor driver may need to be reinstalled.

Input: Joystick present/removed (byte), Mouse present/removed (byte)

Output: None

TSS_EXPORT TSS_Error tss_getJoystickAndMousePresentRemoved	(	TSS_Device_Id	device,
		unsigned char *	joystick,
		unsigned char *	mouse,
		unsigned int *	timestamp
	)

Get joystick and mouse present/removed.

Returns whether the joystick and mouse are present or removed.

Input: None

Output: Joystick present/removed (byte), Mouse present/removed (byte)

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