Package description

This page descripe what each package receive contains.

struct lib_AmfiProt_Amfitrack_Sensor_Measurement_t

Sensor package, with position, IMU and status. (PayloadType == 0x1A)

Public Members

lib_AmfiProt_Amfitrack_Pose_24b_t pose

Position and orientation

uint8_t sensor_status

Sensor status ( sensorStatus )

uint8_t source_id

Received source ID

uint16_t calculation_id

Calculation ID

lib_AmfiProt_Amfitrack_IMU_16b_t imu_data

IMU data

lib_AmfiProt_Amfitrack_magneto_16b_t magneto_data

Magnetometer data

uint8_t temperature

Magnetometer temperature

uint8_t sensor_state

Current sensor state (See SensorState_t )

uint8_t metal_distortion

Metal distortion (0 == Least distortion | 255 == Most distortion)

uint16_t gpio_state

GPIO State

int8_t rssi

rssi

lib_AmfiProt_Amfitrack_FrameID_24b_t frame_id

Frame ID

struct lib_AmfiProt_Amfitrack_Source_Measurement_t

Source package, with current, IMU and status (PayloadType == 0x24)

Public Members

float current_coil_x_in_mA

X coil current in mA

float current_coil_y_in_mA

Y coil current in mA

float current_coil_z_in_mA

Z coil current in mA

lib_AmfiProt_Amfitrack_IMU_16b_t imu_data

IMU data

lib_AmfiProt_Amfitrack_magneto_16b_t magneto_data

Magnetometer measurements

uint8_t temperature

Magnetometer temperature

uint8_t source_status

Source Status (TODO)

uint8_t source_state

Source State:

Bit 1 == Phase modulation

Bit 2 == Frequency tune

Bit 3 == Current tune

Bit 4 == Crosstalk calibration

Bit 5 == Offset coil enabled

int8_t rssi

rssi

lib_AmfiProt_Amfitrack_FrameID_24b_t frame_id

Frame ID

float voltage_coil_x_in_V

X coil voltage

float voltage_coil_y_in_V

Y coil voltage

float voltage_coil_z_in_V

Z coil voltage

float voltage_boost_in_V

Boost voltage

struct lib_AmfiProt_Amfitrack_Source_Calibration_t

Source calibration package (PayloadType == 0x23)

Public Members

float frequency_x_in_Hz

X coil frequency

float frequency_y_in_Hz

Y coil frequency

float frequency_z_in_Hz

Z coil frequency

float calibration_source_coil_x

X coil calibration value

float calibration_source_coil_y

Y coil calibration value

float calibration_source_coil_z

Z coil calibration value

float phase_modulation_offset_x

Phase modulation offset X coil, used by sensor

float phase_modulation_offset_y

Phase modulation offset Y coil, used by sensor

float phase_modulation_offset_z

Phase modulation offset Z coil, used by sensor

Members reference

struct lib_AmfiProt_Amfitrack_Pose_24b_t

Public Members

uint8_t position_x[3]

LSB = 0.01mm (Multiply with 100000 to get results in m)

uint8_t position_y[3]

LSB = 0.01mm (Multiply with 100000 to get results in m)

uint8_t position_z[3]

LSB = 0.01mm (Multiply with 100000 to get results in m)

uint8_t orientation_x[3]

LSB = 1/1000000 (Multiply with 1000000 to get unit quaternion)

uint8_t orientation_y[3]

LSB = 1/1000000 (Multiply with 1000000 to get unit quaternion)

uint8_t orientation_z[3]

LSB = 1/1000000 (Multiply with 1000000 to get unit quaternion)

uint8_t orientation_w[3]

LSB = 1/1000000 (Multiply with 1000000 to get unit quaternion)

struct lib_AmfiProt_Amfitrack_IMU_16b_t

Public Members

int16_t acceleration_X

4000mg full scale (Multiply with 4/(2^15-1) to get result in g)

int16_t acceleration_Y

4000mg full scale (Multiply with 4/(2^15-1) to get result in g)

int16_t acceleration_Z

4000mg full scale (Multiply with 4/(2^15-1) to get result in g)

int16_t rotation_X

LSB = 70mdeg/s (Multiply with 0.070*PI/180 to get result in rad/sec)

int16_t rotation_Y

LSB = 70mdeg/s (Multiply with 0.070*PI/180 to get result in rad/sec)

int16_t rotation_Z

LSB = 70mdeg/s (Multiply with 0.070*PI/180 to get result in rad/sec)

Warning

doxygenenum: Cannot find enum “SensorState_t” in doxygen xml output for project “amfitrack” from directory: ../output/xml

struct sensorStatus

Public Members

uint8_t batteryLevel

0 == Full, 1 == OK, 2 == Low, 3 == Critical

bool batteryCharging

True if battery is charging

bool SourceConnected

True if source is connected

uint8_t BFieldStatus

0 == Tracking

1 == Uncertain tracking

2 == No tracking

3 == B field to low

4 == B field to low

5 == Source coil defect

6 == Sensor coil defect

bool Sync

True if sync input received