Notes and Documentation
The VectorNav Support Library is licensed under the LGPLv3. Please adhere to the license terms. If you wish to contribute code to the project, please contact us.
Considering the library is under constant development, things may break in the library from time to time. Please be mindful of that.
The current API is documented at: http://vnsupport.sourceforge.net/documentation/
There are a few things to keep in mind with the current version of the library:
Baud Rates
-Only standard POSIX baud rates that are listed in the VectorNav manual work with the libraries initialization function. This only affects Unix based systems and Cygwin. We use termios to set the baud rate on the serial port. This means we only can setup the termio structure using standard baud rates. Hopefully we will find a fix for this soon.
-There is no initialization function for MinGW currently. You’ll have to open a link to the serial port yourself. Take a look at the sample program vntest.c to see how this works.
-All baud rates work using MinGW and Cygwin. You must set the baud rate via Control Panel in Windows though. If you use the built in initialization function in vnsupportlib with Cygwin, you will only be able to use standard POSIX baud rates. If you need higher baud rates, you will need to open a link to the serial port yourself.
-Currently baud rate switching via the vnsupportlib does not work. So make sure your VN-100 is setup properly before you communicate with it. You can set it up via Sensor Explorer.
Functions
There is a problem when executing various commands while you capture asynchronous data from the VN-100. If you call a function during the capture phase of your program (eg, tareDevice, setAsyncFrequency, getBaudrate, etc), valid data that is in the serial buffer will be lost. This is because these functions search for the expected return values in the buffer while discarding any data that it isn’t searching for. This will be fixed in a future release.
Other
If you find a bug in the library, feel free to contact us or file a bug report on our sourceforge bug tracker at https://sourceforge.net/tracker/?group_id=302707&atid=1276207