Definition:

#include <aCMPS03.h>
object code: aCMPS03.c



aErr aCMPS03_GetHeading(

aStemLib stemLib, const unsigned char router, const unsigned char units, float* pVal);

Parameters:

stemLib	-	An opaque library reference representing the aStem library which manages the communication with the BrainStem modules.
router	-	The IIC address of the module that is to be used to communicate with the CMPS03 compass.  This need not be the router.
units	-	There are three units available.  There are defines for each: aCMPS03_RADIANS, aCMPS03_DEGREES, and aCMPS03_ROTATIONS for measurement in radians, degrees, and complete rotations.
pVal	-	This is storage where the result will be stored as a float.

Return Value:

This routine returns aErrNone when there are no errors.  It returns aErrNotFound when there is no CMPS03 compass properly configured to communicate through a router.

Description:

This routine manages the BrainStem packets needed to initiate and retrieve an CMPS03 compass heading.  The data retrieved is in the requested units.  Keep in mind the result is the current heading.  This sensor does not integrate or accumulate rotations.

Related:

cmdVAL_SET, aStem_GetLibRef, aStem_ReleaseLibRef