` Cywee Group Ltd.
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`CyWee Phone API
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`Reference
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` Confidential (Internal Use Only)
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` Limited Release
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` Normal
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`Revision History
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`Version
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`Description
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`Author
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`Date
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`1.0
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`1.1
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`* First Version
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`Henry, Tigran 2009/9/25
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`* Modify some data type of structure
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`Henry
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`2009/9/29
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`cywee_data_t,
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`* Fix Figure notation error
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`* MR sensor Figure error
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`1.2
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`* Modify API definition to fit CyWee Spec
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`Henry, Tigran 2009/12/22
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`* Reserve some API for future release
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`* Modify API to JNI style
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`1.3
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`* Add PC game application API
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`Henry, Tigran 2009/12/25
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`1.4
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`* Change API interface
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`Henry, Tigran 2010/4/7
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`* Change motion API output
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`1.5
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`* Separated JNI and Middleware API
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`Henry, Tigran 2010/04/16
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`descriptions.
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`* Added new APIs for
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`JNI :setMotionThresholdValueFactor,
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`setShakeMotionThresholdValueFactor and
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`getLibVersion.
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`*Added new API for middleware:
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`CYWEE_Control_set_motion_threshold_value_f
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`actor,
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`CYWEE_Control_set_shake_motion_threshold_
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`value_factor.
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` Limited Release ....................................................................................................... 1
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`Revision History ...................................................................................................... 2
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`1.1 Cywee Motion Recognition Tech. .................................................................... 4
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`1.1.1 Usage ........................................................................................................ 4
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`1.1.2 Protocol .................................................................................................... 5
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`1.2 Cywee API introduction ................................................................................... 5
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`1.2.1 Raw mode ................................................................................................. 5
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`1.2.2 Motion mode............................................................................................. 5
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`1.2.3 Orientation mode ...................................................................................... 8
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`1.2.4 PC application mode ................................................................................. 8
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`2 CyWee API description for Java developers ............................................................ 8
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`2.1 cywee.sensor.api package ................................................................................ 8
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`2.2 openSensor ...................................................................................................... 9
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`2.3 closeSensor ...................................................................................................... 9
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`2.4 activateSensorAccelerometer ........................................................................... 9
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`2.5 deactivateSensorAccelerometer ....................................................................... 9
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`2.6 activateSensorMagnetic ................................................................................. 10
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`2.7 deactivateSensorMagnetic.............................................................................. 10
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`2.8 activateSensorOrientation .............................................................................. 10
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`2.9 deactivateSensorOrientation............................................................................ 11
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`2.10 activateSensorGyroscope .............................................................................. 11
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`2.11 deactivateSensorGyroscope ........................................................................... 11
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`2.12 getAllSensorValue ........................................................................................ 11
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`2.13 getRawSensorValue ..................................................................................... 12
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`2.14 getOrientationSensorValue ........................................................................... 12
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`2.15 getMotionValues .......................................................................................... 12
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`2.16 setMotionThresholdValueFactor .................................................................. 13
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`2.17 setShakeMotionThresholdValueFactor ......................................................... 13
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`2.18 resetGyrocalibrationTable ............................................................................ 14
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`2.19 getLibVersion .............................................................................................. 14
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`3 Middleware API Description ................................................................................ 14
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`3.1 Middleware API data structures ..................................................................... 18
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`3.1.1 tCyWeeSensorRawData .......................................................................... 18
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`3.1.2 tCyWeeOrientationAngleData ................................................................. 21
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`3.1.3 tCyWeeMotionData ................................................................................ 24
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`3.1.4 tCyWeeUIData ....................................................................................... 27
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`4 Architecture Block Diagram ................................................................................. 30
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`Introduction
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`1.1 CyWee Motion Recognition Tech.
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`1.1.1 Usage
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`The CyWee motion recognition technology can provide the motion recognition result and 9-axis
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`sensor rawdata output (3-axis accelerometer + 3-axis gyroscope + 3-axis magnetic sensor) by using a
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`3-axis accelerometer (Ax, Ay, Az), a 2-axis gyroscope (Gwx, Gwz) and a 3-axis (Mx, My, Mz)
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`magnetic sensor. The phone coordinate is shown in figure below:
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`Figure 1
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`
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`3-axis accelerometer (Ax, Ay, Az) contains Ax, Ay and Az sensing axes. Each sensing axis aligns
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`to the phone coordinate. The Ax’s “x” means aligning to phone coordinate +x. The Ay’s “y” means
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`aligning to phone coordinate +y. The Az’s “z” means aligning to phone coordinate +z. The gyroscope’s
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`Gwx means aligning to phone coordinate +wx. Gwy means aligning to phone coordinate +wy. Gwz
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`means aligning to phone coordinate +wz. The magnetic sensor ’s Mx means aligning to phone
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`coordinate +x. My means aligning to phone coordinate +y and Mz means aligning to phone coordinate
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`+z.
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`1.1.2 Protocol
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`All sensors’ rawdata can be got from the CyWee library. These data format maybe become
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`different from the original rawdata got directly from each sensor through I2C interface.
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`1.2 CyWee API introduction
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`CyWee provides the API library to access the CyWee sensors data from middleware and Java
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`applications as well. The library name is libcywee_sensorapi_vX.Y.so, where X and Y are the major
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`and minor versions of the library. Library can be linked as a shared library to the middleware
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`application development and also can be use as JIN library for Java APK developers. For Java APK
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`developers CyWee also provides additional helper Java package cywee.sensor.api to manage the
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`sensors data.
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`API is classified into several modes. They are Rawdata mode, Motion mode, Orientation mode
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`and PC application mode.
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`
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`1.2.1 Raw mode
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`This API provides all the sensors rawdata. It contains 3-axis accelerometer, 3-axis gyroscope and
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`3-axis magnetic rawdata.
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`1.2.2 Motion mode
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` This API provides the motion recognition results due to the motion of waving the phone in
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`several directions. The motion can be as Figure 2_1~Figure 2_3 showing:
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`Figure 2_1: X-direction motion output
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`Figure 2_2: Y-direction motion output
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`Figure 2_3: Z-direction motion output
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`If just shake the cell phone with any direction, it will generate shaking signal output. As Figure
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`2_4 showing:
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`Figure 2_4: Shaking motion output
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`It also can provide with the cell phone posture of “Turnover”. As Figure_2_5 showing:
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`Figure 2_5: Shaking motion output
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`1.2.3 Orientation mode
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`
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`This API provides with Roll, Pitch and Yaw three absolutely angles. The orientation definition is
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`defined by CyWee specifications. As Figure 3 showing:
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`Figure 3: Orientation definition
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`1.2.4 PC application mode
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`In this mode, CyWee will prepare for all sensors’ information to the buffer of this API, and content
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`developer can send it to the PC side through WiFi or Bluetooth. Sensor’s rawdata is sent for PC motion
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`game development. Air mouse’s displacement dx and dy on the screen are used for air mouse pointing
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`function.
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`2 CyWee API description for Java developers
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`CyWee API library exports the corresponding API methods to JNI for Java APK developers.
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`CyWee also provide additional helper Java package cywee.sensor.api to manage the sensors data.
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`2.1 cywee.sensor.api package
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`cywee.sensor.api is the helper package to convert the sensors data byte array to the corresponding
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`structures in Java application. It contains four public classes CyWeeMotionData,
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`CyweeOrientationData, CyweeRawData and CyWeeUIData for corresponding sensor data
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`types.
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`2.2 openSensor
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Opens the CyWee interface to the Sensor Fusion Manager.
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`2.3 closeSensor
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Closes the CyWee interface to the Sensor Fusion Manager.
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`2.4 activateSensorAccelerometer
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Activate accelerometer sensor polling in the Sensor Fusion Manager
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`2.5 deactivateSensorAccelerometer
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Deactivate accelerometer sensor polling in the Sensor Fusion Manager
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`2.6 activateSensorMagnetic
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Activate magnetic sensor polling in the Sensor Fusion Manager
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`2.7 deactivateSensorMagnetic
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Deactivate magnetic sensor polling in the Sensor Fusion Manager
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`2.8 activateSensorOrientation
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Activate orientation sensor polling in the Sensor Fusion Manager
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`2.9 deactivateSensorOrientation
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Deactivate Orientation sensor polling in the Sensor Fusion Manager
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`2.10 activateSensorGyroscope
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Activate Gyroscope sensor polling in the Sensor Fusion Manager
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`2.11 deactivateSensorGyroscope
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Deactivate gyroscope sensor polling in the Sensor Fusion Manager
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`2.12 getAllSensorValue
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, returns all sensors value of the phone as an array of the bytes. The
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`CyWeeUIData class from cywee.sensor.api helper package must be used to convert the
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`sensors data byte array to the corresponding structure.
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`Remarks
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`Read all sensors values from sensor Fusion Manager.
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`2.13 getRawSensorValue
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, returns sensors raw data values as an array of the bytes. The
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`CyweeRawData class from cywee.sensor.api helper package must be used to convert the
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`sensors data byte array to the corresponding structure.
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`Remarks
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`Read raw data values from sensor Fusion Manager.
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`2.14 getOrientationSensorValue
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`Parameters
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`No parameters
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`Return Value
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`Returns orientation data values as an array of the bytes. The CyweeOrientationData class
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`from cywee.sensor.api helper package must be used to convert the sensors data byte array
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`to the corresponding structure.
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`Remarks
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`Read orientation data values from Sensor Fusion Manager.
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`2.15 getMotionValues
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`Parameters
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`No parameters
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`Return Value
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`Returns motion data values as an array of the bytes. The CyWeeMotionData class from
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`cywee.sensor.api helper package must be used to convert the sensors data byte array to the
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`corresponding structure.
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`Remarks
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`Read motion data values from Sensor Fusion Manager.
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`
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`2.16 setMotionThresholdValueFactor
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`Parameters
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`The integer value from the range [10: 50]
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Set the motion threshold value factor. CyWee defines the default force threshold for motion
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`output. When doing the motion, how much force can generate the motion output is defined by CyWee
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`internal library. If it is too easy to generate the motion output, it can be set to this threshold factor
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`larger than 1 to let this motion output need more force to generate it. For example, Set 20, it means it
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`needs (20/10 = 2) twice force to generate the motion output from CyWee’s library. Set 15, it means it
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`needs (15/10 = 1.5) 1.5 times force to generate the motion output from CyWee’s library.
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`
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`2.17 setShakeMotionThresholdValueFactor
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`Parameters
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`The integer value from the range [10: 50]
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Set the motion shake threshold value factor. CyWee defines the default force threshold for motion
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`output. When doing the motion, how much force can generate the motion output is defined by CyWee
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`internal library. If it is too easy to generate the motion output, it can be set to this threshold factor
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`larger than 1 to let this motion output need more force to generate it. For example, Set 20, it means it
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`needs (20/10 = 2) twice force to generate the motion output from CyWee’s library. Set 15, it means it
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`needs (15/10 = 1.5) 1.5 times force to generate the motion output from CyWee’s library.
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`2.18 resetGyrocalibrationTable
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is non zero value. If the function fails, the return value
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`is 0.
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`Remarks
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`Reset gyroscope calibration value. This should be set when gyro’s value is in static state, its value
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`still not 0. This function should be called.
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`2.19 getLibVersion
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is byte array of ASCII characters that represent the
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`version of the JNI library.
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`Remarks
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`Return the current version of the JNI library.
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`3 Middleware API Description
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`CyWee provides the API library to access the CyWee sensors data from middleware. Library can
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`be linked as a shared library to the middleware program. The “CyweeSensorApi.h” header file
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`declares the prototypes of APIs. “CyweeDataType.h” header file declared the corresponding data
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`structures which are used by APIs.
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`
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`int CYWEE_Data_data_open(void)
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`It opens the CyWee interface to the Sensor Fusion Manager. This is the first API that must be
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`called before any other API can be called.
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`int CYWEE_Data_data_close (void)
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`Parameters
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`No parameters
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`It closes the interface to the Sensor Fusion Manager. This is the last API that must be called.
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`int CYWEE_Control_activate(int handle, int enabled)
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`Parameters
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`handle
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`specifies sensor to enable or disable. It can be one if the following values:
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`SENSOR_TYPE_ACCELEROMETER 1
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`SENSOR_TYPE_MAGNETIC_FIELD
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`SENSOR_TYPE_GYROSCOPE
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`SENSOR_TYPE_ORIENTATION
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`2
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`3
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`4
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`enabled
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` the flag which specifies to enable or disable the
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`specified sensor. It can be one of the following values:
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`ENABLE
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`DISABLE
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`1
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`2
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`It enables or disables the specified sensor polling in the Sensor Fusion Manager.
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`int CYWEE_Data_poll_data_sensor_raw( tCyWeeSensorRawData* data)
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`Parameters
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`data
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` Pointer to sensors raw data structure. On return this structure contains the sensors raw
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`data.
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Get the sensors raw data value from Sensor Fusion Manager.
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`
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`int CYWEE_Data_poll_data_orientation_angle( tCyWeeOrientationAngleData* data)
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`Parameters
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`data
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` Pointer to orientation angle data structure. On return this structure contains the
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`orientation angle data.
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Get the orientation angle data from Sensor Fusion Manager.
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`int CYWEE_Data_poll_data_motion( tCyWeeMotionData* data)
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`Parameters
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`data
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` Pointer to motion data structure. On return this structure contains the motion data.
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Get the motion data from Sensor Fusion Manager.
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`int CYWEE_Data_poll_data_ui( tCyWeeUIData* data)
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`Parameters
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`data
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` Pointer to Cywee UI data structure. On return this structure contains the Cywee UI
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`data.
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Get the CyWee UI data from Sensor Fusion Manager.
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`NOTE: It is recommended to call this function and send the all sensors to PC side to combine
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`with PC application or games through WiFi/Bluetooth.
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`
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`int CYWEE_Control_set_motion_threshold_value_factor (int value)
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`Parameters
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`value motion threshold factor value. The integer value is from the range [10: 50].
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Set the motion API threshold value factor. CyWee defines the default force threshold for motion
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`output. When doing the motion, how much force can generate the motion output is defined by CyWee
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`internal library. If it is too easy to generate the motion output, it can be set to this threshold factor
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`larger than 1 to let this motion output need more force to generate it. For example, Set 20, it means it
`
`needs (20/10 = 2) twice force to generate the motion output from CyWee’s library. Set 15, it means it
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`needs (15/10 = 1.5) 1.5 times force to generate the motion output from CyWee’s library.
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`int CYWEE_Control_set_shake_motion_threshold_value_factor (int value)
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`Parameters
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`value
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`shake motion threshold factor value. The integer value is from the range [10: 50].
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`Return Value
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`If the function succeeds, the return value is nonzero value. If the function fails, the return value is
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`0.
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`Remarks
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`Set the motion API shake threshold value factor. CyWee defines the default force threshold for
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`motion output. When doing the motion, how much force can generate the motion output is defined by
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`CyWee internal library. If it is too easy to generate the motion output, it can be set to this threshold
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`factor larger than 1 to let this motion output need more force to generate it. For example, Set 20, it
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`means it needs (20/10 = 2) twice force to generate the motion output from CyWee’s library. Set 15, it
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`means it needs (15/10 = 1.5) 1.5 times force to generate the motion output from CyWee’s library.
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`const char* CYWEE_GetVersion (void)
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`Return Value
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`If the function succeeds, the return value is zero terminated string that contains the version.
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`Remarks
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`Return the version of the library.
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`3.1 Middleware API data structures
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`3.1.1 tCyWeeSensorRawData
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`typedef struct _CyWeeSensorRawData
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`{
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`unsigned short
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`G_Sensor_X;
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`unsigned short
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`G_Sensor_Y;
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`unsigned short
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`G_Sensor_Z;
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`short
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`E_Comp_MX;
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`E_Comp_MY;
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`E_Comp_MZ;
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`unsigned short
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`W_X;
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`unsigned short
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`W_Y;
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`unsigned short
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`W_Z;
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` }
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` tCyWeeSensorRawData;
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`Members
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`G sensor: ADI ADI345
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`G_Sensor_X:
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` Accelerometer rawdata toward x-axis. Data range: 0 ~ 4096, 2048 is the 0G
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`output. For CyWee phone’s spec, you must transfer your
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`data (G_Sensor_X_Output) by using this formula:
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`G_Sensor_X_Output = ((float)G_Sensor_X – (float) 2048) / (float) 256.0
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`Uint: G => compared with gravity
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`Then you’ll see the G_Sensor_X_Output will be like this in
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`“CySensorDataTest” APK:
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`Figure 4: G sensor x output
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`G_Sensor_Y: Accelerometer rawdata toward y-axis. Data range: 0 ~ 4096, 2048 is the 0G
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`output. For CyWee phone’s spec, you must transfer your
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`data (G_Sensor_Y_Output) by using this formula:
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`G_Sensor_Y_Output = ((float)G_Sensor_Y – (float) 2048) / (float) 256.0
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`Uint: G => compared with gravity
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`Then you’ll see the G_Sensor_Y_Output will be like this in
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`“CySensorDataTest” APK
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`Figure 5: G sensor y output
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`
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`G_Sensor_Z: Accelerometer rawdata toward z-axis. Data range: 0 ~ 4096, 2048 is the 0G
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`
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`output. For CyWee phone’s spec, you must transfer your
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`data(G_Sensor_Z_Output) by using this formula:
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`G_Sensor_Z_Output = ((float)G_Sensor_Z – (float) 2048) / (float) 256.0
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`Uint: G => compared with gravity
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`Then you’ll see the G_Sensor_Z_Output will be like this in
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`“CySensorDataTest” APK
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`Figure 6: G sensor z output
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`
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` Magnetic sensor: YAMAHA YAS529
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`E_comp_MX: Magnetic sensor’s rawdata toward x-axis. The magnetic sensor data is
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`calibrated. For CyWee phone’s spec, you must transfer your
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`data(E_Comp_MX_Output) by using this formula:
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`E_Comp_MX_Output = E_Comp_MX / 10000
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`Uint: Gauss
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`Remark:
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`Before using this value, make sure that the magnetic sensor calibration is
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`Done
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`E_comp_MY: Magnetic sensor’s rawdata toward y-axis. The magnetic sensor data is
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`calibrated. For CyWee phone’s spec, you must transfer your
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`data(E_Comp_MY_Output) by using this formula:
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`E_Comp_MY_Output = E_Comp_MY / 10000
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`Uint: Gauss
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`Remark:
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`Before using this value, make sure that the magnetic sensor calibration is
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`done
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`E_comp_MZ: Magnetic sensor’s rawdata toward z-axis. The magnetic sensor data is
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`calibrated. For CyWee phone’s spec, you must transfer your
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`data(E_Comp_MZ_Output) by using this formula:
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`E_Comp_MZ_Output = E_Comp_MZ / 10000
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`Uint: Gauss
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`Remark:
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`Before using this value, make sure that the magnetic sensor calibration is
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`Done
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` Gyro: Invensense IXZ650
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`W_X:
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`Gyroscope’s rawdata toward wx-axis. 0 is the static output without any rotation
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`motion. For CyWee phone’s spec, you must transfer your data (W_X_Output)
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`by using this formula:
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`W_X_Output = W_X * 3.141592 / 180
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`Uint: radian / second
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`W_Y:
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`Gyroscope’s rawdata toward wy-axis. 0 is the static output without any rotation
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`motion. For CyWee phone’s spec, you must transfer your data (W_Y_Output)
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`by using this formula:
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`W_Y_Output = W_Y * 3.141592 / 180
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`Uint: radian / second
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`W_Z:
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`Gyroscope’s rawdata toward wz-axis. 0 is the static output without any rotation
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`motion. For CyWee phone’s spec, you must transfer your data (W_Z_Output)
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`by using this formula:
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`W_Z_Output = W_Z * 3.141592 / 180
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`Uint: radian / second
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`3.1.2 tCyWeeOrientationAngleData
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`typedef struct _CyWeeOrientationAngleData
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`{
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`short
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`short
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`short
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`short
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`short
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`short
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`Roll;
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`Pitch;
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`Azimuth;
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`Roll_fast;
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`Pitch_fast;
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`Azimuth_fast;
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`} tCyWeeOrientationAngleData;
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`
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`CyWee’s spec orientation definition
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`Members
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`
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`Figure 7: CyWee’s spec of orientation
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`
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`Azimuth:
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`
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`The absolute angle output range is from 0 ~ 360. This output is used for
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`low angular velocity rotation motion for Azimuth(Yaw) angle rotation.
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`Figure 8: Azimuth (Yaw) absolute angle output
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`Pitch:
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` The absolute angle output range is from -180 ~ 180. This output is used
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`for low angular velocity rotation motion for Pitch angle rotation.
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`Figure 9: Pitch absolute angle output
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`Roll:
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`The absolute angle output range is from -90 ~ 90. This output is used for low
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`angular velocity rotation motion for Roll angle rotation.
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`Figure 10: Roll absolute angle output
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`Azimuth_fast:
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`The absolute angle output range is from -180 ~ 180. This output is
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`used for high angular velocity rotation motion for Azimuth angle rotation.
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`Make sure that the magnetic sensor has been calibrated. Otherwise, this
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`value will become inaccurate.
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`Figure 11: Azimuth_fast absolute angle output
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`
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`Pitch_fast: The absolute angle output range is from -90 ~ 90. This output is used for
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`high angular velocity rotation motion for Pitch angle rotation. Make sure that
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`the magnetic sensor has been calibrated. Otherwise, this value will become
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`inaccurate.
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`Figure 12: Pitch_fast absolute angle output
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`Roll_fast:
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` The abso