VMR R12 Reference

Data Stream Source List

0. vector – [f32] Vector magnetic field (nT), 3 columns: x, y, z
1. accel – [f32] Acceleration (m/s^2), 3 columns: x, y, z
2. gyro – [f32] Angular velocity (rad/s), 3 columns: x, y, z
3. bar – [f32] Atmospheric pressure (mbar) (1 column)
4. therm – [f32] Ambient temperature (C) (1 column)

Command List

Vector magnetometer

• vector.data.active – [u8] Set to 1 to include magnetic field in data stream.
• vector.data.decimation – [u32] Decimation of magnetic field relative to previous data source.
• vector.data.autocutoff – [u8] Set to 1 to automaticaly configure magnetic field IIR lowpass filter according to decimation.
• vector.data.cutoff – [f32] Manually control magnetic field IIR lowpass filter cutoff.
• vector.data.id – [u16] Returns stream ID of magnetic field.
• vector.cal.x0 – [f32] Magnetometer calibration, offset compensation, x axis.
• vector.cal.y0 – [f32] Magnetometer calibration, offset compensation, y axis.
• vector.cal.z0 – [f32] Magnetometer calibration, offset compensation, z axis.
• vector.cal.xx – [f32] Magnetometer calibration, scale factor, x axis.
• vector.cal.yy – [f32] Magnetometer calibration, scale factor, y axis.
• vector.cal.zz – [f32] Magnetometer calibration, scale factor, z axis.
• vector.cal.xy – [f32] Magnetometer calibration, cross axis, xy.
• vector.cal.xz – [f32] Magnetometer calibration, cross axis, xz.
• vector.cal.yx – [f32] Magnetometer calibration, cross axis, yx.
• vector.cal.yz – [f32] Magnetometer calibration, cross axis, yz.
• vector.cal.zx – [f32] Magnetometer calibration, cross axis, zx.
• vector.cal.zy – [f32] Magnetometer calibration, cross axis, zy.
• vector.cal.reset – Magnetometer calibration reset to scale 1.0, 0.0 all other parameters. Useful for calibration.

Accelerometer

• accel.data.active – [u8] Set to 1 to include accelerometer in data stream.
• accel.data.decimation – [u32] Decimation of accelerometer relative to previous data source.
• accel.data.autocutoff – [u8] Set to 1 to automaticaly configure accelerometer IIR lowpass filter according to decimation.
• accel.data.cutoff – [f32] Manually control accelerometer IIR lowpass filter cutoff.
• accel.data.id – [u16] Returns stream ID of accelerometer.
• accel.cal.x0 – [f32] Accelerometer calibration, offset compensation, x axis.
• accel.cal.y0 – [f32] Accelerometer calibration, offset compensation, y axis.
• accel.cal.z0 – [f32] Accelerometer calibration, offset compensation, z axis.
• accel.cal.xx – [f32] Accelerometer calibration, scale factor, x axis.
• accel.cal.yy – [f32] Accelerometer calibration, scale factor, y axis.
• accel.cal.zz – [f32] Accelerometer calibration, scale factor, z axis.
• accel.cal.xy – [f32] Accelerometer calibration, cross axis, xy.
• accel.cal.xz – [f32] Accelerometer calibration, cross axis, xz.
• accel.cal.yx – [f32] Accelerometer calibration, cross axis, yx.
• accel.cal.yz – [f32] Accelerometer calibration, cross axis, yz.
• accel.cal.zx – [f32] Accelerometer calibration, cross axis, zx.
• accel.cal.zy – [f32] Accelerometer calibration, cross axis, zy.
• accel.cal.reset – Accelerometer calibration reset to scale 1.0, 0.0 all other parameters. Useful for calibration.

Gyroscope

• gyro.data.active – [u8] Set to 1 to include gyroscope in data stream.
• gyro.data.decimation – [u32] Decimation of gyroscope relative to previous data source.
• gyro.data.autocutoff – [u8] Set to 1 to automaticaly configure gyroscope IIR lowpass filter according to decimation.
• gyro.data.cutoff – [f32] Manually control gyroscope IIR lowpass filter cutoff.
• gyro.data.id – [u16] Returns stream ID of gyroscope.
• gyro.cal.x0 – [f32] Gyroscope calibration, offset compensation, x axis.
• gyro.cal.y0 – [f32] Gyroscope calibration, offset compensation, y axis.
• gyro.cal.z0 – [f32] Gyroscope calibration, offset compensation, z axis.
• gyro.cal.xx – [f32] Gyroscope calibration, scale factor, x axis.
• gyro.cal.yy – [f32] Gyroscope calibration, scale factor, y axis.
• gyro.cal.zz – [f32] Gyroscope calibration, scale factor, z axis.
• gyro.cal.xy – [f32] Gyroscope calibration, cross axis, xy.
• gyro.cal.xz – [f32] Gyroscope calibration, cross axis, xz.
• gyro.cal.yx – [f32] Gyroscope calibration, cross axis, yx.
• gyro.cal.yz – [f32] Gyroscope calibration, cross axis, yz.
• gyro.cal.zx – [f32] Gyroscope calibration, cross axis, zx.
• gyro.cal.zy – [f32] Gyroscope calibration, cross axis, zy.
• gyro.cal.reset – Gyroscope calibration reset to scale 1.0, 0.0 all other parameters. Useful for calibration.

Barometer

• bar.data.active – [u8] Set to 1 to include pressure in data stream.
• bar.data.decimation – [u32] Decimation of pressure relative to previous data source.
• bar.data.autocutoff – [u8] Set to 1 to automaticaly configure pressure IIR lowpass filter according to decimation.
• bar.data.cutoff – [f32] Manually control pressure IIR lowpass filter cutoff.
• bar.data.id – [u16] Returns stream ID of pressure.

Thermal

• therm.data.active – [u8] Set to 1 to include temperature in data stream.
• therm.data.decimation – [u32] Decimation of temperature relative to previous data source.
• therm.data.autocutoff – [u8] Set to 1 to automaticaly configure temperature IIR lowpass filter according to decimation.
• therm.data.cutoff – [f32] Manually control temperature IIR lowpass filter cutoff.
• therm.data.id – [u16] Returns stream ID of temperature.

Device configuration memory

• dev.conf.autosave – [i16] Automatically save configuration specified number of seconds after changes; -1 disables. Maximum 10,000 writes.
• dev.conf.save – Save configuration. Configuration is used on next power cycle.
• dev.conf.load – Load configuration from last saved version.
• dev.conf.verbose – [u8] Send a log message every time settings are saved.

Device information

• dev.name – Short name of device.
• dev.model – Short name of device.
• dev.desc – Description of device.
• dev.serial – Serial number assigned to device.
• dev.revision – [u16] Hardware revision number.
• dev.version_major – [u16] Software version, major rev number in major.minor format.
• dev.version_minor – [u16] Software version, minor rev number in major.minor format.
• dev.lock – Attempts to secure advisory lock. No effect in device; useful for multi-client access control.
• dev.unlock – Unlock the advisory lock. No effective in device; useful for multi-client access control.
• dev.systime – [u64] Time elapsed since boot counted by microcontroller.
• dev.loglevel – [u8] Set max level of log messages sent by device.
• dev.session – [u32] Random number set at power on.
• dev.start – Start or restart operation. Synchronization: provide a tl_timebase_info struct and deliver an external clock.
• dev.stop – Halt operation.
• dev.reboot – Restart device controller.
• dev.synctime – Updates the timebase properties for an external clock. Expects a tl_timebase_info struct.
• dev.firmware.upload – Used to upload firmware into RAM. Must issue dev.stop first. See the tio-firmware-upgrade in tio-tools.
• dev.firmware.upgrade – Used to commit firmware to flash. See the tio-firmware-upgrade in tio-tools.
• dev.firmware.serial – Serial number/identifier of firmware.

Data stream introspection

Devices have multiple data sources, sampled on specific timebases, which can be selected for streaming.

• data.rate – Specify primary source data rate (Hz)
• data.timebase.list – Number of timebases availbale on device; internal clock, external clock, etc.
• data.timebase.info – Request with timebase ID, reply with timebase metadata.
• data.timebase.send – Request with timebase ID, sends timebase metadata.
• data.source.list – Number of data sources available on device.
• data.source.info – Request with data source ID, reply with source metadata.
• data.source.send – Request with data source ID, sends soure metadata as source update.
• data.stream.list – Number of data streams. Most systems have only one data stream.
• data.stream.info – Request with data stream ID, reply with stream metadata.
• data.stream.send – Request with data stream ID, sends data stream metadata as stream update.
• data.stream.columns – Number of active columns in stream.
• data.list – List active streams. Request with ID to enumerate stream names.
• data.send_all – Iteratively sends metadata on all timebases, sources, and streams.
• data.atomic – Preface a set of atomic data stream changes.
• data.apply – Apply data stream changes atomically.

Command introspection

• rpc.list – No argument: List number of RPCs. Pass [u16] ID number: returns name of RPC.
• rpc.info – [u16] Return RPC metadata, 16 bits.
• rpc.listinfo – Same as rpc.list, but prepends rpc.info metadata.
• rpc.id – Return 16 bit ID number for named RPC.
• rpc.name – [u16] Return RPC name string for 16 bit ID number.

Communications port configuration

• dev.port.boot_mode – [u8] Startup mode of this port 1=text, 0=binary.
• dev.port.text – Change mode of this port to text.
• dev.port.binary – Change mode of this port to binary.
• dev.port.count – [u32] Number of control ports.