Example setup program for streaming IMU data on 5-series devices using C++. More...

Functions
static void	logCallback (void _user, const microstrain_log_level _level, const char _format, va_list _args)
	Custom logging callback for MIP SDK message formatting and output. More...

static mip::Timestamp	getCurrentTimestamp ()
	Gets the current system timestamp in milliseconds. More...

static void	initializeDevice (mip::Interface &_device)
	Initializes and configures a MIP device interface. More...

static bool	isDescriptorSupported (const mip::CompositeDescriptor &_compositeDescriptor, const uint16_t *_supportedDescriptors, const uint8_t _supportedDescriptorCount)
	Determines if the device supports a specific descriptor. More...

static void	configureSensorMessageFormat (mip::Interface &_device, const uint16_t *_supportedDescriptors, const uint8_t _supportedDescriptorCount)
	Configures message format for sensor data streaming. More...

static void	packetCallback (void *_user, const mip::PacketView &_packetView, mip::Timestamp _timestamp)
	Callback function that processes received MIP packets. More...

static void	accelFieldCallback (void *_user, const mip::FieldView &_fieldView, mip::Timestamp _timestamp)
	Callback handler for accelerometer data fields. More...

static void	gyroFieldCallback (void *_user, const mip::FieldView &_fieldView, mip::Timestamp _timestamp)
	Callback handler for gyroscope data fields. More...

static void	magFieldCallback (void *_user, const mip::FieldView &_fieldView, mip::Timestamp _timestamp)
	Callback handler for magnetometer data fields. More...

static void	terminate (microstrain::Connection _connection, const char _message, const bool _successful)
	Handles graceful program termination and cleanup. More...

static void	terminate (mip::Interface &_device, const mip::CmdResult _cmdResult, const char *_format,...)
	Handles graceful program termination and command failure cleanup. More...

Variables
static constexpr const char *	PORT_NAME = "/dev/ttyACM0"
	Set the port name for the connection (Serial/USB) More...

static constexpr uint32_t	BAUDRATE = 115200
	Set the baudrate for the connection (Serial/USB) More...

static constexpr uint16_t	SAMPLE_RATE_HZ = 1
	Streaming rate in Hz. More...

static constexpr uint32_t	RUN_TIME_SECONDS = 30
	Example run time. More...

Detailed Description

This example shows a basic setup for streaming IMU data on 5-series devices using C++. This is not an exhaustive example of all streaming options for those devices. If this example does not meet your specific setup needs, please consult the MIP SDK API documentation for the proper commands.

License

Copyright: Copyright (c) 2025 MicroStrain by HBK Licensed under MIT License

Function Documentation

◆ logCallback()

static void logCallback	(	void *	_user,
		const microstrain_log_level	_level,
		const char *	_format,
		va_list	_args
	)

static

Processes and formats log messages from the MIP SDK based on severity level. Routes messages to appropriate output streams - errors and fatal messages go to stderr while other levels go to stdout. Each message is prefixed with its severity level name.

Parameters

_user	Pointer to user data (unused in this implementation)
_level	Log message severity level from microstrain_log_level enum
_format	Printf-style format string for the message
_args	Variable argument list containing message parameters

◆ getCurrentTimestamp()

static mip::Timestamp getCurrentTimestamp ( )

static

Provides system time measurement using std::chrono for milliseconds since epoch. Uses system_clock to get wall-clock time that corresponds to calendar time and can be synchronized with external time sources.

Note: Update this function to use a different time source if needed for your specific application requirements

Returns: Current timestamp in milliseconds since epoch

◆ initializeDevice()

static void initializeDevice ( mip::Interface & _device )

static

Performs a complete device initialization sequence:

Verifies device communication with a ping command
Sets the device to idle mode to ensure reliable configuration
Queries and displays detailed device information
Loads default device settings for a known state

Parameters

_device Reference to a MIP device interface to initialize

◆ isDescriptorSupported()

static bool isDescriptorSupported	(	const mip::CompositeDescriptor &	_compositeDescriptor,
		const uint16_t *	_supportedDescriptors,
		const uint8_t	_supportedDescriptorCount
	)

static

Checks if a given composite descriptor is supported by comparing against an array of supported descriptors. The device returns descriptors as composite values (e.g., 0x8001 from 0x80,0x01).

Parameters

_compositeDescriptor	Reference to the composite descriptor to check.
_supportedDescriptors	Array of supported descriptors from the device
_supportedDescriptorCount	Number of entries in the array

Returns: true if the descriptor is supported, false otherwise

◆ configureSensorMessageFormat()

static void configureSensorMessageFormat	(	mip::Interface &	_device,
		const uint16_t *	_supportedDescriptors,
		const uint8_t	_supportedDescriptorCount
	)

static

Sets up sensor data output by:

Querying device base rate
Validating desired sample rate against base rate
Calculating proper decimation
Configuring message format with:
- Scaled accelerometer
- Scaled gyroscope
- Scaled magnetometer

Parameters

_device	Reference to the initialized MIP device interface
_supportedDescriptors	Array of descriptors supported by the device
_supportedDescriptorCount	Number of descriptors in the array

◆ packetCallback()

static void packetCallback	(	void *	_user,
		const mip::PacketView &	_packetView,
		mip::Timestamp	_timestamp
	)

static

This function is called whenever a MIP packet is received from the device. It processes the packet by:

Extracting all fields from the packet
Building a formatted string of field descriptors
Logging packet information including timestamp, descriptor set, and field descriptors

Parameters

_user	Pointer to user data (unused in this implementation)
_packetView	Reference to the received MIP packet
_timestamp	Timestamp when the packet was received

◆ accelFieldCallback()

static void accelFieldCallback	(	void *	_user,
		const mip::FieldView &	_fieldView,
		mip::Timestamp	_timestamp
	)

static

Processes scaled accelerometer data fields by:

Extracting the scaled acceleration vector from the field
Logging the X, Y, Z acceleration values with descriptors

Parameters

_user	Pointer to user data (unused in this implementation)
_fieldView	Reference to the field containing accelerometer data
_timestamp	Timestamp indicating when the field was received from the device (unused in this implementation)

◆ gyroFieldCallback()

static void gyroFieldCallback	(	void *	_user,
		const mip::FieldView &	_fieldView,
		mip::Timestamp	_timestamp
	)

static

Processes scaled gyroscope data fields by:

Extracting the scaled angular rates from the field
Logging the X, Y, Z angular rate values with descriptors

Parameters

_user	Pointer to user data (unused in this implementation)
_fieldView	Reference to the field containing gyroscope data
_timestamp	Timestamp indicating when the field was received from the device (unused in this implementation)

◆ magFieldCallback()

static void magFieldCallback	(	void *	_user,
		const mip::FieldView &	_fieldView,
		mip::Timestamp	_timestamp
	)

static

Processes scaled magnetometer data fields by:

Extracting the scaled magnetic field vector from the field
Logging the X, Y, Z magnetic field values with descriptors

Parameters

_user	Pointer to user data (unused in this implementation)
_fieldView	Reference to the field containing magnetometer data
_timestamp	Timestamp indicating when the field was received from the device (unused in this implementation)

◆ terminate() [1/2]

static void terminate	(	microstrain::Connection *	_connection,
		const char *	_message,
		const bool	_successful
	)

static

Handles graceful shutdown when errors occur:

Outputs provided error message
Closes device connection if open
Exits with appropriate status code

Parameters

_connection	Pointer to the device connection to close
_message	Error message to display
_successful	Whether termination is due to success or failure

◆ terminate() [2/2]

static void terminate	(	mip::Interface &	_device,
		const mip::CmdResult	_cmdResult,
		const char *	_format,
			...
	)

static

Handles command failure scenarios:

Formats and displays an error message with command result
Closes device connection
Exits with failure status

Parameters

_device	MIP device interface for the command that failed
_cmdResult	Result code from a failed command
_format	Printf-style format string for error message
...	Variable arguments for format string

Variable Documentation

◆ PORT_NAME

constexpr const char* PORT_NAME = "/dev/ttyACM0"

staticconstexpr

◆ BAUDRATE

constexpr uint32_t BAUDRATE = 115200

staticconstexpr

Note: For native serial connections this needs to be 115200 due to the device default settings command Use mip::commands_3dm::*UartBaudrate() to write and save the baudrate on the device

◆ SAMPLE_RATE_HZ

constexpr uint16_t SAMPLE_RATE_HZ = 1

staticconstexpr

◆ RUN_TIME_SECONDS

constexpr uint32_t RUN_TIME_SECONDS = 30

staticconstexpr

Functions

Variables

Detailed Description

License

Function Documentation

◆ logCallback()

◆ getCurrentTimestamp()

◆ initializeDevice()

◆ isDescriptorSupported()

◆ configureSensorMessageFormat()

◆ packetCallback()

◆ accelFieldCallback()

◆ gyroFieldCallback()

◆ magFieldCallback()

◆ terminate() [1/2]

◆ terminate() [2/2]

Variable Documentation

◆ PORT_NAME

◆ BAUDRATE

◆ SAMPLE_RATE_HZ

◆ RUN_TIME_SECONDS