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cmtdef.h File Reference
#include <mrpt/utils/mrpt_stdint.h>
#include <mrpt/utils/mrpt_macros.h>
#include <time.h>
#include "xsens_std.h"
#include "xsens_time.h"
#include "cmtf.h"
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Classes

struct  CmtDeviceConfiguration
 Structure containing a full device configuration as returned by the ReqConfig message. More...
 
struct  CmtDeviceConfiguration::_devInfo
 
struct  CmtDataFormat
 A structure for storing data formats. More...
 
struct  CmtVersion
 A structure for storing the firmware version. More...
 
struct  CmtSyncInSettings
 A structure for storing sync in settings. More...
 
struct  CmtSyncOutSettings
 A structure for storing sync out settings. More...
 
struct  CmtUtcTime
 A structure for storing UTC Time values. More...
 
struct  CmtDeviceMode
 A structure for storing device modes. More...
 
struct  CmtDeviceMode2
 A structure for storing device modes using period and skip factor (new default) More...
 
struct  CmtScenario
 A structure for storing scenario information. More...
 
struct  CmtBinaryData
 
struct  CmtPortInfo
 Structure for storing information about a serial port. More...
 
struct  CmtShortVector
 
struct  CmtRawData
 
struct  CmtRawGpsData
 
struct  CmtAnalogInData
 
struct  CmtVector
 
struct  CmtCalData
 
struct  CmtQuat
 
struct  CmtEuler
 
struct  CmtMatrix
 
struct  CmtGpsSatelliteInfo
 
struct  CmtGpsStatus
 

Macros

#define CMT_IND_PREAMBLE   0
 
#define CMT_IND_BID   1
 
#define CMT_IND_MID   2
 
#define CMT_IND_LEN   3
 
#define CMT_IND_DATA0   4
 
#define CMT_IND_LENEXTH   4
 
#define CMT_IND_LENEXTL   5
 
#define CMT_IND_DATAEXT0   6
 
#define CMT_PREAMBLE   0xFA
 
#define CMT_BID_MASTER   0xFF
 
#define CMT_BID_MT   0x01
 
#define CMT_EXTLENCODE   0xFF
 
#define CMT_LEN_MSGHEADER   4
 
#define CMT_LEN_MSGEXTHEADER   6
 
#define CMT_LEN_MSGHEADERCS   5
 
#define CMT_LEN_MSGEXTHEADERCS   7
 
#define CMT_LEN_CHECKSUM   1
 
#define CMT_LEN_UNSIGSHORT   2
 
#define CMT_LEN_UNSIGINT   4
 
#define CMT_LEN_FLOAT   4
 
#define CMT_MAXDATALEN   8192
 
#define CMT_MAXSHORTDATALEN   254
 
#define CMT_MAXMSGLEN   (CMT_MAXDATALEN+7)
 
#define CMT_MAXSHORTMSGLEN   (CMT_MAXSHORTDATALEN+5)
 
#define CMT_MAXGARBAGE   (CMT_MAXMSGLEN+1)
 
#define CMT_DID_TYPEH_MASK   0x00F00000
 
#define CMT_DID_TYPEH_MT   0x00000000
 
#define CMT_DID_TYPEH_XM   0x00100000
 
#define CMT_DID_TYPEH_MTI_MTX   0x00300000
 
#define CMT_DID_TYPEH_MTIG   0x00500000
 
#define CMT_MID_WAKEUP   0x3E
 
#define CMT_MID_WAKEUPACK   0x3F
 
#define CMT_MID_REQDID   0x00
 
#define CMT_MID_DEVICEID   0x01
 
#define CMT_LEN_DEVICEID   4
 
#define CMT_MID_INITBUS   0x02
 
#define CMT_MID_INITBUSRESULTS   0x03
 
#define CMT_LEN_INITBUSRESULTS   4
 
#define CMT_MID_REQPERIOD   0x04
 
#define CMT_MID_REQPERIODACK   0x05
 
#define CMT_LEN_PERIOD   2
 
#define CMT_MID_SETPERIOD   0x04
 
#define CMT_MID_SETPERIODACK   0x05
 
#define CMT_MID_SETBID   0x06
 
#define CMT_MID_SETBIDACK   0x07
 
#define CMT_MID_AUTOSTART   0x06
 
#define CMT_MID_AUTOSTARTACK   0x07
 
#define CMT_MID_BUSPWR   0x08
 
#define CMT_LEN_BUSPWR   2
 
#define CMT_MID_BUSPWRACK   0x09
 
#define CMT_MID_REQDATALENGTH   0x0A
 
#define CMT_MID_DATALENGTH   0x0B
 
#define CMT_LEN_DATALENGTH   2
 
#define CMT_MID_REQCONFIGURATION   0x0C
 
#define CMT_MID_CONFIGURATION   0x0D
 
#define CMT_LEN_CONFIGURATION   118
 
#define CMT_MID_RESTOREFACTORYDEF   0x0E
 
#define CMT_MID_RESTOREFACTORYDEFACK   0x0F
 
#define CMT_MID_GOTOMEASUREMENT   0x10
 
#define CMT_MID_GOTOMEASUREMENTACK   0x11
 
#define CMT_MID_REQFWREV   0x12
 
#define CMT_MID_FIRMWAREREV   0x13
 
#define CMT_LEN_FIRMWAREREV   3
 
#define CMT_MID_REQBTDISABLE   0x14
 
#define CMT_MID_REQBTDISABLEACK   0x15
 
#define CMT_LEN_BTDISABLE   1
 
#define CMT_MID_DISABLEBT   0x14
 
#define CMT_MID_DISABLEBTACK   0x15
 
#define CMT_MID_REQOPMODE   0x16
 
#define CMT_MID_REQOPMODEACK   0x17
 
#define CMT_LEN_OPMODE   1
 
#define CMT_MID_SETOPMODE   0x16
 
#define CMT_MID_SETOPMODEACK   0x17
 
#define CMT_MID_REQBAUDRATE   0x18
 
#define CMT_MID_REQBAUDRATEACK   0x19
 
#define CMT_LEN_BAUDRATE   1
 
#define CMT_MID_SETBAUDRATE   0x18
 
#define CMT_MID_SETBAUDRATEACK   0x19
 
#define CMT_MID_REQSYNCMODE   0x1A
 
#define CMT_MID_REQSYNCMODEACK   0x1B
 
#define CMT_LEN_SYNCMODE   1
 
#define CMT_MID_SETSYNCMODE   0x1A
 
#define CMT_MID_SETSYNCMODEACK   0x1B
 
#define CMT_MID_REQPRODUCTCODE   0x1C
 
#define CMT_MID_PRODUCTCODE   0x1D
 
#define CMT_LEN_PRODUCTCODE   20
 
#define CMT_MID_XMPWROFF   0x44
 
#define CMT_LEN_XMPWROFF   0
 
#define CMT_MID_REQOUTPUTMODE   0xD0
 
#define CMT_MID_REQOUTPUTMODEACK   0xD1
 
#define CMT_LEN_OUTPUTMODE   2
 
#define CMT_MID_SETOUTPUTMODE   0xD0
 
#define CMT_MID_SETOUTPUTMODEACK   0xD1
 
#define CMT_MID_REQOUTPUTSETTINGS   0xD2
 
#define CMT_MID_REQOUTPUTSETTINGSACK   0xD3
 
#define CMT_LEN_OUTPUTSETTINGS   4
 
#define CMT_MID_SETOUTPUTSETTINGS   0xD2
 
#define CMT_MID_SETOUTPUTSETTINGSACK   0xD3
 
#define CMT_MID_REQOUTPUTSKIPFACTOR   0xD4
 
#define CMT_MID_REQOUTPUTSKIPFACTORACK   0xD5
 
#define CMT_LEN_OUTPUTSKIPFACTOR   2
 
#define CMT_MID_SETOUTPUTSKIPFACTOR   0xD4
 
#define CMT_MID_SETOUTPUTSKIPFACTORACK   0xD5
 
#define CMT_MID_REQSYNCINSETTINGS   0xD6
 
#define CMT_MID_REQSYNCINSETTINGSACK   0xD7
 
#define CMT_LEN_SYNCINMODE   2
 
#define CMT_LEN_SYNCINSKIPFACTOR   2
 
#define CMT_LEN_SYNCINOFFSET   4
 
#define CMT_MID_SETSYNCINSETTINGS   0xD6
 
#define CMT_MID_SETSYNCINSETTINGSACK   0xD7
 
#define CMT_MID_REQSYNCOUTSETTINGS   0xD8
 
#define CMT_MID_REQSYNCOUTSETTINGSACK   0xD9
 
#define CMT_LEN_SYNCOUTMODE   2
 
#define CMT_LEN_SYNCOUTSKIPFACTOR   2
 
#define CMT_LEN_SYNCOUTOFFSET   4
 
#define CMT_LEN_SYNCOUTPULSEWIDTH   4
 
#define CMT_MID_SETSYNCOUTSETTINGS   0xD8
 
#define CMT_MID_SETSYNCOUTSETTINGSACK   0xD9
 
#define CMT_MID_REQERRORMODE   0xDA
 
#define CMT_MID_REQERRORMODEACK   0xDB
 
#define CMT_LEN_ERRORMODE   2
 
#define CMT_MID_SETERRORMODE   0xDA
 
#define CMT_MID_SETERRORMODEACK   0xDB
 
#define CMT_MID_REQTRANSMITDELAY   0xDC
 
#define CMT_MID_REQTRANSMITDELAYACK   0xDD
 
#define CMT_LEN_TRANSMITDELAY   2
 
#define CMT_MID_SETTRANSMITDELAY   0xDC
 
#define CMT_MID_SETTRANSMITDELAYACK   0xDD
 
#define CMT_MID_REQXMERRORMODE   0x82
 
#define CMT_MID_REQXMERRORMODEACK   0x83
 
#define CMT_LEN_XMERRORMODE   2
 
#define CMT_MID_SETXMERRORMODE   0x82
 
#define CMT_MID_SETXMERRORMODEACK   0x83
 
#define CMT_MID_REQBUFFERSIZE   0x84
 
#define CMT_MID_REQBUFFERSIZEACK   0x85
 
#define CMT_LEN_BUFFERSIZE   2
 
#define CMT_MID_SETBUFFERSIZE   0x84
 
#define CMT_MID_SETBUFFERSIZEACK   0x85
 
#define CMT_MID_REQHEADING   0x82
 
#define CMT_MID_REQHEADINGACK   0x83
 
#define CMT_LEN_HEADING   4
 
#define CMT_MID_SETHEADING   0x82
 
#define CMT_MID_SETHEADINGACK   0x83
 
#define CMT_MID_REQMAGNETICDECLINATION   0x6A
 
#define CMT_MID_REQMAGNETICDECLINATIONACK   0x6B
 
#define CMT_LEN_MAGNETICDECLINATION   4
 
#define CMT_MID_SETMAGNETICDECLINATION   0x6A
 
#define CMT_MID_SETMAGNETICDECLINATIONACK   0x6B
 
#define CMT_MID_REQLOCATIONID   0x84
 
#define CMT_MID_REQLOCATIONIDACK   0x85
 
#define CMT_LEN_LOCATIONID   2
 
#define CMT_MID_SETLOCATIONID   0x84
 
#define CMT_MID_SETLOCATIONIDACK   0x85
 
#define CMT_MID_REQEXTOUTPUTMODE   0x86
 
#define CMT_MID_REQEXTOUTPUTMODEACK   0x87
 
#define CMT_LEN_EXTOUTPUTMODE   2
 
#define CMT_MID_SETEXTOUTPUTMODE   0x86
 
#define CMT_MID_SETEXTOUTPUTMODEACK   0x87
 
#define CMT_MID_REQBATLEVEL   0x88
 
#define CMT_MID_BATLEVEL   0x89
 
#define CMT_MID_REQINITTRACKMODE   0x88
 
#define CMT_MID_REQINITTRACKMODEACK   0x89
 
#define CMT_LEN_INITTRACKMODE   2
 
#define CMT_MID_SETINITTRACKMODE   0x88
 
#define CMT_MID_SETINITTRACKMODEACK   0x89
 
#define CMT_MID_STOREXKFSTATE   0x8A
 
#define CMT_LEN_STOREXKFSTATE   0
 
#define CMT_MID_STOREXKFSTATEACK   0x8B
 
#define CMT_MID_REQUTCTIME   0x60
 
#define CMT_MID_UTCTIME   0x61
 
#define CMT_LEN_UTCTIME   12
 
#define CMT_LEN_SCENARIOLABEL   20
 
#define CMT_LEN_SCENARIOFULL   (1+1+CMT_LEN_SCENARIOLABEL)
 
#define CMT_MID_REQAVAILABLESCENARIOS   0x62
 
#define CMT_MID_AVAILABLESCENARIOS   0x63
 
#define CMT_LEN_AVAILABLESCENARIOS   (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)
 
#define CMT_MID_REQSCENARIO   0x64
 
#define CMT_MID_REQSCENARIOACK   0x65
 
#define CMT_LEN_REQSCENARIOACK   2
 
#define CMT_MID_SETSCENARIO   0x64
 
#define CMT_MID_SETSCENARIOACK   0x65
 
#define CMT_LEN_SETSCENARIO   1
 
#define CMT_MID_REQGRAVITYMAGNITUDE   0x66
 
#define CMT_MID_REQGRAVITYMAGNITUDEACK   0x67
 
#define CMT_MID_SETGRAVITYMAGNITUDE   0x66
 
#define CMT_MID_SETGRAVITYMAGNITUDEACK   0x67
 
#define CMT_LEN_GRAVITYMAGNITUDE   4
 
#define CMT_MID_REQGPSLEVERARM   0x68
 
#define CMT_MID_REQGPSLEVERARMACK   0x69
 
#define CMT_MID_SETGPSLEVERARM   0x68
 
#define CMT_MID_SETGPSLEVERARMACK   0x69
 
#define CMT_LEN_GPSLEVERARM   12
 
#define CMT_MID_GOTOCONFIG   0x30
 
#define CMT_MID_GOTOCONFIGACK   0x31
 
#define CMT_MID_BUSDATA   0x32
 
#define CMT_MID_MTDATA   0x32
 
#define CMT_MID_PREPAREDATA   0x32
 
#define CMT_MID_REQDATA   0x34
 
#define CMT_MID_REQDATAACK   0x35
 
#define CMT_LEN_RAWDATA   20
 
#define CMT_LEN_CALIBDATA   36
 
#define CMT_LEN_CALIB_ACCDATA   12
 
#define CMT_LEN_CALIB_GYRDATA   12
 
#define CMT_LEN_CALIB_MAGDATA   12
 
#define CMT_LEN_ORIENT_QUATDATA   16
 
#define CMT_LEN_ORIENT_EULERDATA   12
 
#define CMT_LEN_ORIENT_MATRIXDATA   36
 
#define CMT_LEN_SAMPLECNT   2
 
#define CMT_LEN_TEMPDATA   4
 
#define CMT_LEN_CALIBDATA_FLT   9
 
#define CMT_LEN_ORIENT_QUATDATA_FLT   4
 
#define CMT_LEN_ORIENT_EULERDATA_FLT   3
 
#define CMT_LEN_ORIENT_MATRIXDATA_FLT   9
 
#define CMT_IND_RAW_ACCX   0
 
#define CMT_IND_RAW_ACCY   2
 
#define CMT_IND_RAW_ACCZ   4
 
#define CMT_IND_RAW_GYRX   6
 
#define CMT_IND_RAW_GYRY   8
 
#define CMT_IND_RAW_GYRZ   10
 
#define CMT_IND_RAW_MAGX   12
 
#define CMT_IND_RAW_MAGY   14
 
#define CMT_IND_RAW_MAGZ   16
 
#define CMT_IND_RAW_TEMP   18
 
#define CMT_IND_CALIB_ACCX   0
 
#define CMT_IND_CALIB_ACCY   4
 
#define CMT_IND_CALIB_ACCZ   8
 
#define CMT_IND_CALIB_GYRX   12
 
#define CMT_IND_CALIB_GYRY   16
 
#define CMT_IND_CALIB_GYRZ   20
 
#define CMT_IND_CALIB_MAGX   24
 
#define CMT_IND_CALIB_MAGY   28
 
#define CMT_IND_CALIB_MAGZ   32
 
#define CMT_IND_ORIENT_Q0   0
 
#define CMT_IND_ORIENT_Q1   4
 
#define CMT_IND_ORIENT_Q2   8
 
#define CMT_IND_ORIENT_Q3   12
 
#define CMT_IND_ORIENT_ROLL   0
 
#define CMT_IND_ORIENT_PITCH   4
 
#define CMT_IND_ORIENT_YAW   8
 
#define CMT_IND_ORIENT_A   0
 
#define CMT_IND_ORIENT_B   4
 
#define CMT_IND_ORIENT_C   8
 
#define CMT_IND_ORIENT_D   12
 
#define CMT_IND_ORIENT_E   16
 
#define CMT_IND_ORIENT_F   20
 
#define CMT_IND_ORIENT_G   24
 
#define CMT_IND_ORIENT_H   28
 
#define CMT_IND_ORIENT_I   32
 
#define CMT_IND_SAMPLECNTH   0
 
#define CMT_IND_SAMPLECNTL   1
 
#define CMT_FLDNUM_RAW_ACCX   0
 
#define CMT_FLDNUM_RAW_ACCY   1
 
#define CMT_FLDNUM_RAW_ACCZ   2
 
#define CMT_FLDNUM_RAW_GYRX   3
 
#define CMT_FLDNUM_RAW_GYRY   4
 
#define CMT_FLDNUM_RAW_GYRZ   5
 
#define CMT_FLDNUM_RAW_MAGX   6
 
#define CMT_FLDNUM_RAW_MAGY   7
 
#define CMT_FLDNUM_RAW_MAGZ   8
 
#define CMT_FLDNUM_RAW_TEMP   9
 
#define CMT_FLDNUM_CALIB_ACCX   0
 
#define CMT_FLDNUM_CALIB_ACCY   1
 
#define CMT_FLDNUM_CALIB_ACCZ   2
 
#define CMT_FLDNUM_CALIB_GYRX   3
 
#define CMT_FLDNUM_CALIB_GYRY   4
 
#define CMT_FLDNUM_CALIB_GYRZ   5
 
#define CMT_FLDNUM_CALIB_MAGX   6
 
#define CMT_FLDNUM_CALIB_MAGY   7
 
#define CMT_FLDNUM_CALIB_MAGZ   8
 
#define CMT_FLDNUM_ORIENT_Q0   0
 
#define CMT_FLDNUM_ORIENT_Q1   1
 
#define CMT_FLDNUM_ORIENT_Q2   2
 
#define CMT_FLDNUM_ORIENT_Q3   3
 
#define CMT_FLDNUM_ORIENT_ROLL   0
 
#define CMT_FLDNUM_ORIENT_PITCH   1
 
#define CMT_FLDNUM_ORIENT_YAW   2
 
#define CMT_FLDNUM_ORIENT_A   0
 
#define CMT_FLDNUM_ORIENT_B   1
 
#define CMT_FLDNUM_ORIENT_C   2
 
#define CMT_FLDNUM_ORIENT_D   3
 
#define CMT_FLDNUM_ORIENT_E   4
 
#define CMT_FLDNUM_ORIENT_F   5
 
#define CMT_FLDNUM_ORIENT_G   6
 
#define CMT_FLDNUM_ORIENT_H   7
 
#define CMT_FLDNUM_ORIENT_I   8
 
#define CMT_LEN_RAW_ACCX   2
 
#define CMT_LEN_RAW_ACCY   2
 
#define CMT_LEN_RAW_ACCZ   2
 
#define CMT_LEN_RAW_GYRX   2
 
#define CMT_LEN_RAW_GYRY   2
 
#define CMT_LEN_RAW_GYRZ   2
 
#define CMT_LEN_RAW_MAGX   2
 
#define CMT_LEN_RAW_MAGY   2
 
#define CMT_LEN_RAW_MAGZ   2
 
#define CMT_LEN_RAW_TEMP   2
 
#define CMT_LEN_CALIB_ACCX   4
 
#define CMT_LEN_CALIB_ACCY   4
 
#define CMT_LEN_CALIB_ACCZ   4
 
#define CMT_LEN_CALIB_GYRX   4
 
#define CMT_LEN_CALIB_GYRY   4
 
#define CMT_LEN_CALIB_GYRZ   4
 
#define CMT_LEN_CALIB_MAGX   4
 
#define CMT_LEN_CALIB_MAGY   4
 
#define CMT_LEN_CALIB_MAGZ   4
 
#define CMT_LEN_ORIENT_Q0   4
 
#define CMT_LEN_ORIENT_Q1   4
 
#define CMT_LEN_ORIENT_Q2   4
 
#define CMT_LEN_ORIENT_Q3   4
 
#define CMT_LEN_ORIENT_ROLL   4
 
#define CMT_LEN_ORIENT_PITCH   4
 
#define CMT_LEN_ORIENT_YAW   4
 
#define CMT_LEN_ORIENT_A   4
 
#define CMT_LEN_ORIENT_B   4
 
#define CMT_LEN_ORIENT_C   4
 
#define CMT_LEN_ORIENT_D   4
 
#define CMT_LEN_ORIENT_E   4
 
#define CMT_LEN_ORIENT_F   4
 
#define CMT_LEN_ORIENT_G   4
 
#define CMT_LEN_ORIENT_H   4
 
#define CMT_LEN_ORIENT_I   4
 
#define CMT_VALUE_RAW_ACC   0
 
#define CMT_VALUE_RAW_GYR   1
 
#define CMT_VALUE_RAW_MAG   2
 
#define CMT_VALUE_RAW_TEMP   3
 
#define CMT_VALUE_CALIB_ACC   4
 
#define CMT_VALUE_CALIB_GYR   5
 
#define CMT_VALUE_CALIB_MAG   6
 
#define CMT_VALUE_ORIENT_QUAT   7
 
#define CMT_VALUE_ORIENT_EULER   8
 
#define CMT_VALUE_ORIENT_MATRIX   9
 
#define CMT_VALUE_SAMPLECNT   10
 
#define CMT_VALUE_TEMP   11
 
#define CMT_INVALIDSETTINGVALUE   0xFFFFFFFF
 
#define CMT_MID_RESET   0x40
 
#define CMT_MID_RESETACK   0x41
 
#define CMT_MID_ERROR   0x42
 
#define CMT_MID_XMPWROFF   0x44
 
#define CMT_MID_REQFILTERSETTINGS   0xA0
 
#define CMT_MID_REQFILTERSETTINGSACK   0xA1
 
#define CMT_LEN_FILTERSETTINGS   4
 
#define CMT_MID_SETFILTERSETTINGS   0xA0
 
#define CMT_MID_SETFILTERSETTINGSACK   0xA1
 
#define CMT_MID_REQAMD   0xA2
 
#define CMT_MID_REQAMDACK   0xA3
 
#define CMT_LEN_AMD   2
 
#define CMT_MID_SETAMD   0xA2
 
#define CMT_MID_SETAMDACK   0xA3
 
#define CMT_MID_RESETORIENTATION   0xA4
 
#define CMT_MID_RESETORIENTATIONACK   0xA5
 
#define CMT_LEN_RESETORIENTATION   2
 
#define CMT_MID_REQGPSSTATUS   0xA6
 
#define CMT_MID_GPSSTATUS   0xA7
 
#define CMT_LEN_GPSSTATUS   (1+5*16)
 
#define CMT_BAUDCODE_9K6   0x09
 
#define CMT_BAUDCODE_19K2   0x07
 
#define CMT_BAUDCODE_38K4   0x05
 
#define CMT_BAUDCODE_57K6   0x04
 
#define CMT_BAUDCODE_115K2   0x02
 
#define CMT_BAUDCODE_230K4   0x01
 
#define CMT_BAUDCODE_460K8   0x00
 
#define CMT_BAUDCODE_921K6   0x80
 
#define CMT_ERROR_NOBUSCOMM   0x01
 
#define CMT_ERROR_BUSNOTREADY   0x02
 
#define CMT_ERROR_PERIODINVALID   0x03
 
#define CMT_ERROR_MESSAGEINVALID   0x04
 
#define CMT_ERROR_INITOFBUSFAILED1   0x10
 
#define CMT_ERROR_INITOFBUSFAILED2   0x11
 
#define CMT_ERROR_INITOFBUSFAILED3   0x12
 
#define CMT_ERROR_SETBIDPROCFAILED1   0x14
 
#define CMT_ERROR_SETBIDPROCFAILED2   0x15
 
#define CMT_ERROR_MEASUREMENTFAILED1   0x18
 
#define CMT_ERROR_MEASUREMENTFAILED2   0x19
 
#define CMT_ERROR_MEASUREMENTFAILED3   0x1A
 
#define CMT_ERROR_MEASUREMENTFAILED4   0x1B
 
#define CMT_ERROR_MEASUREMENTFAILED5   0x1C
 
#define CMT_ERROR_MEASUREMENTFAILED6   0x1D
 
#define CMT_ERROR_TIMEROVERFLOW   0x1E
 
#define CMT_ERROR_BAUDRATEINVALID   0x20
 
#define CMT_ERROR_PARAMETERINVALID   0x21
 
#define CMT_ERROR_MEASUREMENTFAILED7   0x23
 
#define CMT_ERRORMODE_IGNORE   0x0000
 
#define CMT_ERRORMODE_INCSAMPLECNT   0x0001
 
#define CMT_ERRORMODE_INCSAMPLECNT_SENDERROR   0x0002
 
#define CMT_ERRORMODE_SENDERROR_GOTOCONFIG   0x0003
 
#define CMT_CONF_MASTERDID   0
 
#define CMT_CONF_PERIOD   4
 
#define CMT_CONF_OUTPUTSKIPFACTOR   6
 
#define CMT_CONF_SYNCIN_MODE   8
 
#define CMT_CONF_SYNCIN_SKIPFACTOR   10
 
#define CMT_CONF_SYNCIN_OFFSET   12
 
#define CMT_CONF_DATE   16
 
#define CMT_CONF_TIME   24
 
#define CMT_CONF_NUMDEVICES   96
 
#define CMT_CONF_DID   98
 
#define CMT_CONF_DATALENGTH   102
 
#define CMT_CONF_OUTPUTMODE   104
 
#define CMT_CONF_OUTPUTSETTINGS   106
 
#define CMT_CONF_BLOCKLEN   20
 
#define CMT_CONF_MASTERDIDLEN   4
 
#define CMT_CONF_PERIODLEN   2
 
#define CMT_CONF_OUTPUTSKIPFACTORLEN   2
 
#define CMT_CONF_SYNCIN_MODELEN   2
 
#define CMT_CONF_SYNCIN_SKIPFACTORLEN   2
 
#define CMT_CONF_SYNCIN_OFFSETLEN   4
 
#define CMT_CONF_DATELEN   8
 
#define CMT_CONF_TIMELEN   8
 
#define CMT_CONF_RESERVED_CLIENTLEN   32
 
#define CMT_CONF_RESERVED_HOSTLEN   32
 
#define CMT_CONF_NUMDEVICESLEN   2
 
#define CMT_CONF_DIDLEN   4
 
#define CMT_CONF_DATALENGTHLEN   2
 
#define CMT_CONF_OUTPUTMODELEN   2
 
#define CMT_CONF_OUTPUTSETTINGSLEN   4
 
#define CMT_SYNC_CLOCKFREQMHZ   29.4912
 
#define CMT_SYNC_CLOCK_NS_TO_TICKS   (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)
 
#define CMT_SYNC_CLOCK_TICKS_TO_NS   (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)
 
#define CMT_PARAM_SYNCIN_MODE   0x00
 
#define CMT_PARAM_SYNCIN_SKIPFACTOR   0x01
 
#define CMT_PARAM_SYNCIN_OFFSET   0x02
 
#define CMT_SYNCIN_DISABLED   0x0000
 
#define CMT_SYNCIN_EDGE_RISING   0x0001
 
#define CMT_SYNCIN_EDGE_FALLING   0x0002
 
#define CMT_SYNCIN_EDGE_BOTH   0x0003
 
#define CMT_SYNCIN_EDGE_MASK   0x0003
 
#define CMT_SYNCIN_TYPE_DOSAMPLING   0x0000
 
#define CMT_SYNCIN_TYPE_SENDLASTDATA   0x0004
 
#define CMT_SYNCIN_TYPE_CLOCK   0x0010
 
#define CMT_SYNCIN_TYPE_MASK   0x001C
 
#define CMT_PARAM_SYNCOUT_MODE   0x00
 
#define CMT_PARAM_SYNCOUT_SKIPFACTOR   0x01
 
#define CMT_PARAM_SYNCOUT_OFFSET   0x02
 
#define CMT_PARAM_SYNCOUT_PULSEWIDTH   0x03
 
#define CMT_SYNCOUT_DISABLED   0x0000
 
#define CMT_SYNCOUT_TYPE_TOGGLE   0x0001
 
#define CMT_SYNCOUT_TYPE_PULSE   0x0002
 
#define CMT_SYNCOUT_POL_NEG   0x0000
 
#define CMT_SYNCOUT_POL_POS   0x0010
 
#define CMT_SYNCOUT_TYPE_MASK   0x000F
 
#define CMT_SYNCOUT_POL_MASK   0x0010
 
#define CMT_OUTPUTMODE_MT9   0x8000
 
#define CMT_OUTPUTMODE_XM   0x0000
 
#define CMT_OUTPUTMODE_RAW   0x4000
 
#define CMT_OUTPUTMODE_RAWGPSPRINT   0x1000
 
#define CMT_OUTPUTMODE_TEMP   0x0001
 
#define CMT_OUTPUTMODE_CALIB   0x0002
 
#define CMT_OUTPUTMODE_ORIENT   0x0004
 
#define CMT_OUTPUTMODE_AUXILIARY   0x0008
 
#define CMT_OUTPUTMODE_POSITION   0x0010
 
#define CMT_OUTPUTMODE_VELOCITY   0x0020
 
#define CMT_OUTPUTMODE_STATUS   0x0800
 
#define CMT_OUTPUTSETTINGS_XM   0x00000001
 
#define CMT_OUTPUTSETTINGS_TIMESTAMP_NONE   0x00000000
 
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT   0x00000001
 
#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION   0x00000000
 
#define CMT_OUTPUTSETTINGS_ORIENTMODE_EULER   0x00000004
 
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX   0x00000008
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG   0x00000000
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC   0x00000060
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR   0x00000040
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG   0x00000020
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR   0x00000050
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG   0x00000010
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG   0x00000030
 
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT   0x00000000
 
#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220   0x00000100
 
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632   0x00000200
 
#define CMT_OUTPUTSETTINGS_DATAFORMAT_DOUBLE   0x00000300
 
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1   0x00000800
 
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2   0x00000400
 
#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84   0x00000000
 
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_NED   0x00000000
 
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_ORIENT   0x00100000
 
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_POS   0x00200000
 
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_VEL   0x00400000
 
#define CMT_OUTPUTSETTINGS_TIMESTAMP_MASK   0x00000003
 
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MASK   0x0000000C
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK   0x00000010
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK   0x00000020
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK   0x00000040
 
#define CMT_OUTPUTSETTINGS_CALIBMODE_MASK   0x00000070
 
#define CMT_OUTPUTSETTINGS_DATAFORMAT_MASK   0x00000300
 
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK   0x00000400
 
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK   0x00000800
 
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK   0x00000C00
 
#define CMT_OUTPUTSETTINGS_POSITIONMODE_MASK   0x0001C000
 
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK   0x00060000
 
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_MASK   0x00F00000
 
#define CMT_OUTPUTSETTINGS_COORDINATES_NED   0x80000000
 
#define CMT_EXTOUTPUTMODE_DISABLED   0x0000
 
#define CMT_EXTOUTPUTMODE_EULER   0x0001
 
#define CMT_FACTORYOUTPUTMODE_DISABLE   0x0000
 
#define CMT_FACTORYOUTPUTMODE_DEFAULT   0x0001
 
#define CMT_FACTORYOUTPUTMODE_CUSTOM   0x0002
 
#define CMT_INITTRACKMODE_DISABLED   0x0000
 
#define CMT_INITTRACKMODE_ENABLED   0x0001
 
#define CMT_PARAM_FILTER_GAIN   0x00
 
#define CMT_PARAM_FILTER_RHO   0x01
 
#define CMT_DONOTSTORE   0x00
 
#define CMT_STORE   0x01
 
#define CMT_AMDSETTING_DISABLED   0x0000
 
#define CMT_AMDSETTING_ENABLED   0x0001
 
#define CMT_SENDRAWSTRING_INIT   0
 
#define CMT_SENDRAWSTRING_DEFAULT   1
 
#define CMT_SENDRAWSTRING_SEND   2
 
#define CMT_TO_DEFAULT   500
 
#define CMT_TO_INIT   250
 
#define CMT_TO_RETRY   50
 
#define CMT_PERIOD_10HZ   11520
 
#define CMT_PERIOD_12HZ   9600
 
#define CMT_PERIOD_15HZ   7680
 
#define CMT_PERIOD_16HZ   7200
 
#define CMT_PERIOD_18HZ   6400
 
#define CMT_PERIOD_20HZ   5760
 
#define CMT_PERIOD_24HZ   4800
 
#define CMT_PERIOD_25HZ   4608
 
#define CMT_PERIOD_30HZ   3840
 
#define CMT_PERIOD_32HZ   3600
 
#define CMT_PERIOD_36HZ   3200
 
#define CMT_PERIOD_40HZ   2880
 
#define CMT_PERIOD_45HZ   2560
 
#define CMT_PERIOD_48HZ   2400
 
#define CMT_PERIOD_50HZ   2304
 
#define CMT_PERIOD_60HZ   1920
 
#define CMT_PERIOD_64HZ   1800
 
#define CMT_PERIOD_72HZ   1600
 
#define CMT_PERIOD_75HZ   1536
 
#define CMT_PERIOD_80HZ   1440
 
#define CMT_PERIOD_90HZ   1280
 
#define CMT_PERIOD_96HZ   1200
 
#define CMT_PERIOD_100HZ   1152
 
#define CMT_PERIOD_120HZ   960
 
#define CMT_PERIOD_128HZ   900
 
#define CMT_PERIOD_144HZ   800
 
#define CMT_PERIOD_150HZ   768
 
#define CMT_PERIOD_160HZ   720
 
#define CMT_PERIOD_180HZ   640
 
#define CMT_PERIOD_192HZ   600
 
#define CMT_PERIOD_200HZ   576
 
#define CMT_PERIOD_225HZ   512
 
#define CMT_PERIOD_240HZ   480
 
#define CMT_PERIOD_256HZ   450
 
#define CMT_PERIOD_288HZ   400
 
#define CMT_PERIOD_300HZ   384
 
#define CMT_PERIOD_320HZ   360
 
#define CMT_PERIOD_360HZ   320
 
#define CMT_PERIOD_384HZ   300
 
#define CMT_PERIOD_400HZ   288
 
#define CMT_PERIOD_450HZ   256
 
#define CMT_PERIOD_480HZ   240
 
#define CMT_PERIOD_512HZ   225
 
#define CMT_BAUD_RATE_9600   CBR_9600
 
#define CMT_BAUD_RATE_19K2   CBR_19200
 
#define CMT_BAUD_RATE_38K4   CBR_38400
 
#define CMT_BAUD_RATE_57K6   CBR_57600
 
#define CMT_BAUD_RATE_115K2   CBR_115200
 
#define CMT_BAUD_RATE_230K4   230400
 
#define CMT_BAUD_RATE_460K8   460800
 
#define CMT_BAUD_RATE_921K6   921600
 
#define CMT_DEFAULT_OUTPUT_MODE   CMT_OUTPUTMODE_ORIENT
 
#define CMT_DEFAULT_OUTPUT_SETTINGS
 
#define CMT_GOTO_CONFIG_TRIES   3
 
#define CMT_MAX_DEVICES_PER_PORT   11
 
#define CMT_DEFAULT_SAMPLE_FREQUENCY   100
 
#define CMT_DEFAULT_PERIOD   1152
 
#define CMT_DEFAULT_SKIP   0
 
#define CMT_DEFAULT_FILTER_GAIN   1.0f
 
#define CMT_DEFAULT_FILTER_WEIGHTING   1.0f
 
#define CMT_SYNCOUT_DEFAULT_PULSE_WIDTH   1000000
 
#define CMT_MAX_PORTS_PER_THREAD   20
 
#define CMT_MAX_FILES_PER_THREAD   20
 
#define CMT_MAX_DEVICES   (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)
 
#define CMT_MAX_PACKETS_PER_BUNDLE   CMT_MAX_PORTS_PER_THREAD
 
#define CMT_BUNDLE_QUEUE_SIZE   256
 
#define CMT_MAX_ITEMS_IN_PACKET   10
 
#define CMT_DEFAULT_READ_BUFFER_SIZE   (CMT_MAXDATALEN*8)
 The default size of the serial read buffer in bytes. More...
 
#define CMT_DEFAULT_WRITE_BUFFER_SIZE   CMT_MAXDATALEN
 The default size of the serial write buffer in bytes. More...
 
#define CMT_DEFAULT_BAUD_RATE   CMT_BAUD_RATE_115K2
 The default baud rate of the Cmt1s serial communication. More...
 
#define CMT2_DATA_QUEUE_SIZE   60
 The size of the L2 data-message fifo-queue. More...
 
#define CMT3_CONFIG_TIMEOUT   100
 The timeout value for "goto config"-message acknowledgement. More...
 
#define CMT1_DEFAULT_TIMEOUT   10
 The default timeout value for blocking CMT1s operations in ms. More...
 
#define CMT2_DEFAULT_TIMEOUT   50
 Timeout in ms for level 2. More...
 
#define CMT3_DEFAULT_TIMEOUT_MEAS   16
 The default timeout value for L3 data reading. More...
 
#define CMT3_DEFAULT_TIMEOUT_CONF   3000
 The default timeout value for L3 configuration settings. More...
 
#define CMT4_DEFAULT_TIMEOUT_MEAS   1
 The default timeout value for L4 data reading at L2 and 3. More...
 
#define CMT4_DEFAULT_TIMEOUT_CONF   CMT3_DEFAULT_TIMEOUT_CONF
 The default timeout value for L4 configuration settings. More...
 
#define CMT4_MEASUREMENT_REQ_TIMEOUT   100
 The timeout to use for requests during measurement mode. More...
 
#define CMT4_DEFAULT_TIMEOUT_DATA   3000
 The standard timeout to use for data receipt in measurement mode. More...
 
#define CMT_MAX_FILENAME_LENGTH   512
 
#define CMT_DID_BROADCAST   0x80000000
 
#define CMT_DID_MASTER   0
 
#define CMT_MAX_SCENARIOS_IN_MT   5
 
#define CMT_MAX_SCENARIOS   254
 
#define CMT_MAX_OBJECTS   20
 
#define CMT_MAX_SVINFO   16
 
#define CMT_AUTO_SAVE_FRAMES   5000
 
#define CMT_FILE_LAST_FRAME   0xFFFFFFFF
 
#define CMT_BID_BROADCAST   (const uint8_t)0x00
 
#define CMT_BID_INVALID   (const uint8_t)0xFE
 
#define CMT_MID_REQEMTS   (const uint8_t)0x90
 
#define CMT_MID_EMTSDATA   (const uint8_t)0x91
 
#define CMT_EMTS_SIZE   1056
 

Typedefs

typedef uint32_t CmtDeviceId
 The type of a Device Id. More...
 
typedef uint32_t CmtOutputMode
 An output mode bit-field. More...
 
typedef uint64_t CmtOutputSettings
 An output settings bit-field. More...
 
typedef uint16_t CmtMtTimeStamp
 An MT timestamp (sample count) More...
 
typedef XsensResultValue(__cdecl * CmtCallbackFunction )(int32_t, CmtCallbackSelector, void *, void *)
 
typedef uint64_t CmtTimeStamp
 

Enumerations

enum  CmtControlLine {
  CMT_CONTROL_DCD = 0x0001, CMT_CONTROL_RD = 0x0002, CMT_CONTROL_TD = 0x0004, CMT_CONTROL_DTR = 0x0008,
  CMT_CONTROL_GND = 0x0010, CMT_CONTROL_DSR = 0x0020, CMT_CONTROL_RTS = 0x0040, CMT_CONTROL_CTS = 0x0080,
  CMT_CONTROL_RI = 0x0100
}
 
enum  CmtResetMethod {
  CMT_RESETORIENTATION_STORE = 0, CMT_RESETORIENTATION_HEADING, CMT_RESETORIENTATION_GLOBAL, CMT_RESETORIENTATION_OBJECT,
  CMT_RESETORIENTATION_ALIGN
}
 
enum  CmtXmSyncMode {
  CMT_XM_SYNC_OFF = 0x00, CMT_XM_SYNC_PWM = 0x01, CMT_XM_SYNC_MASTER = 0x10, CMT_XM_SYNC_SLAVE = 0x20,
  CMT_XM_SYNC_TOGGLE = 0x40
}
 
enum  CmtCallbackSelector {
  CMT_CALLBACK_ONMEASUREMENTPREPARE = 0, CMT_CALLBACK_ONMEASUREMENTSTART = 1, CMT_CALLBACK_ONMEASUREMENTSTOP = 2, CMT_CALLBACK_ONPOSTPROCESS = 3,
  CMT_CALLBACK_ONBYTESRECEIVED = 4, CMT_CALLBACK_ONMESSAGERECEIVED = 5, CMT_CALLBACK_ONMESSAGESENT = 6
}
 
enum  CmtQueueMode { CMT_QM_FIFO = 0, CMT_QM_LAST = 1, CMT_QM_RAW = 2 }
 

Macro Definition Documentation

#define CMT1_DEFAULT_TIMEOUT   10

The default timeout value for blocking CMT1s operations in ms.

Definition at line 805 of file cmtdef.h.

Referenced by xsens::Cmt1s::Cmt1s().

#define CMT2_DATA_QUEUE_SIZE   60

The size of the L2 data-message fifo-queue.

Definition at line 800 of file cmtdef.h.

#define CMT2_DEFAULT_TIMEOUT   50

Timeout in ms for level 2.

Definition at line 807 of file cmtdef.h.

Referenced by xsens::Cmt2s::Cmt2s().

#define CMT3_CONFIG_TIMEOUT   100

The timeout value for "goto config"-message acknowledgement.

Definition at line 803 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoConfig().

#define CMT3_DEFAULT_TIMEOUT_CONF   3000

The default timeout value for L3 configuration settings.

Definition at line 811 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT3_DEFAULT_TIMEOUT_MEAS   16

The default timeout value for L3 data reading.

Definition at line 809 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT4_DEFAULT_TIMEOUT_CONF   CMT3_DEFAULT_TIMEOUT_CONF

The default timeout value for L4 configuration settings.

Definition at line 815 of file cmtdef.h.

#define CMT4_DEFAULT_TIMEOUT_DATA   3000

The standard timeout to use for data receipt in measurement mode.

Definition at line 819 of file cmtdef.h.

#define CMT4_DEFAULT_TIMEOUT_MEAS   1

The default timeout value for L4 data reading at L2 and 3.

Definition at line 813 of file cmtdef.h.

#define CMT4_MEASUREMENT_REQ_TIMEOUT   100

The timeout to use for requests during measurement mode.

Definition at line 817 of file cmtdef.h.

#define CMT_AMDSETTING_DISABLED   0x0000

Definition at line 684 of file cmtdef.h.

#define CMT_AMDSETTING_ENABLED   0x0001

Definition at line 685 of file cmtdef.h.

#define CMT_AUTO_SAVE_FRAMES   5000

Definition at line 1190 of file cmtdef.h.

#define CMT_BAUD_RATE_115K2   CBR_115200
#define CMT_BAUD_RATE_19K2   CBR_19200
#define CMT_BAUD_RATE_230K4   230400
#define CMT_BAUD_RATE_38K4   CBR_38400
#define CMT_BAUD_RATE_460K8   460800
#define CMT_BAUD_RATE_57K6   CBR_57600
#define CMT_BAUD_RATE_921K6   921600
#define CMT_BAUD_RATE_9600   CBR_9600
#define CMT_BAUDCODE_115K2   0x02

Definition at line 505 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_19K2   0x07

Definition at line 500 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_230K4   0x01

Definition at line 506 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_38K4   0x05

Definition at line 502 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_460K8   0x00

Definition at line 507 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_57K6   0x04

Definition at line 503 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_921K6   0x80

Definition at line 508 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BAUDCODE_9K6   0x09

Definition at line 498 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_BID_BROADCAST   (const uint8_t)0x00
#define CMT_BID_INVALID   (const uint8_t)0xFE
#define CMT_BID_MASTER   0xFF
#define CMT_BID_MT   0x01

Definition at line 60 of file cmtdef.h.

#define CMT_BUNDLE_QUEUE_SIZE   256

Definition at line 790 of file cmtdef.h.

#define CMT_CONF_BLOCKLEN   20

Definition at line 552 of file cmtdef.h.

Referenced by xsens::Cmt3::getConfiguration().

#define CMT_CONF_DATALENGTH   102

Definition at line 549 of file cmtdef.h.

#define CMT_CONF_DATALENGTHLEN   2

Definition at line 568 of file cmtdef.h.

#define CMT_CONF_DATE   16

Definition at line 544 of file cmtdef.h.

#define CMT_CONF_DATELEN   8

Definition at line 561 of file cmtdef.h.

#define CMT_CONF_DID   98

Definition at line 548 of file cmtdef.h.

#define CMT_CONF_DIDLEN   4

Definition at line 567 of file cmtdef.h.

#define CMT_CONF_MASTERDID   0

Definition at line 538 of file cmtdef.h.

#define CMT_CONF_MASTERDIDLEN   4

Definition at line 555 of file cmtdef.h.

#define CMT_CONF_NUMDEVICES   96

Definition at line 546 of file cmtdef.h.

#define CMT_CONF_NUMDEVICESLEN   2

Definition at line 565 of file cmtdef.h.

#define CMT_CONF_OUTPUTMODE   104

Definition at line 550 of file cmtdef.h.

#define CMT_CONF_OUTPUTMODELEN   2

Definition at line 569 of file cmtdef.h.

#define CMT_CONF_OUTPUTSETTINGS   106

Definition at line 551 of file cmtdef.h.

#define CMT_CONF_OUTPUTSETTINGSLEN   4

Definition at line 570 of file cmtdef.h.

#define CMT_CONF_OUTPUTSKIPFACTOR   6

Definition at line 540 of file cmtdef.h.

#define CMT_CONF_OUTPUTSKIPFACTORLEN   2

Definition at line 557 of file cmtdef.h.

#define CMT_CONF_PERIOD   4

Definition at line 539 of file cmtdef.h.

#define CMT_CONF_PERIODLEN   2

Definition at line 556 of file cmtdef.h.

#define CMT_CONF_RESERVED_CLIENTLEN   32

Definition at line 563 of file cmtdef.h.

#define CMT_CONF_RESERVED_HOSTLEN   32

Definition at line 564 of file cmtdef.h.

#define CMT_CONF_SYNCIN_MODE   8

Definition at line 541 of file cmtdef.h.

#define CMT_CONF_SYNCIN_MODELEN   2

Definition at line 558 of file cmtdef.h.

#define CMT_CONF_SYNCIN_OFFSET   12

Definition at line 543 of file cmtdef.h.

#define CMT_CONF_SYNCIN_OFFSETLEN   4

Definition at line 560 of file cmtdef.h.

#define CMT_CONF_SYNCIN_SKIPFACTOR   10

Definition at line 542 of file cmtdef.h.

#define CMT_CONF_SYNCIN_SKIPFACTORLEN   2

Definition at line 559 of file cmtdef.h.

#define CMT_CONF_TIME   24

Definition at line 545 of file cmtdef.h.

#define CMT_CONF_TIMELEN   8

Definition at line 562 of file cmtdef.h.

#define CMT_DEFAULT_BAUD_RATE   CMT_BAUD_RATE_115K2

The default baud rate of the Cmt1s serial communication.

Definition at line 798 of file cmtdef.h.

Referenced by xsens::Cmt2s::Cmt2s().

#define CMT_DEFAULT_FILTER_GAIN   1.0f

Definition at line 777 of file cmtdef.h.

#define CMT_DEFAULT_FILTER_WEIGHTING   1.0f

Definition at line 778 of file cmtdef.h.

#define CMT_DEFAULT_OUTPUT_MODE   CMT_OUTPUTMODE_ORIENT

Definition at line 767 of file cmtdef.h.

#define CMT_DEFAULT_OUTPUT_SETTINGS
Value:
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT
Definition: cmtdef.h:625
#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION
Definition: cmtdef.h:626

Definition at line 768 of file cmtdef.h.

#define CMT_DEFAULT_PERIOD   1152

Definition at line 775 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT_DEFAULT_READ_BUFFER_SIZE   (CMT_MAXDATALEN*8)

The default size of the serial read buffer in bytes.

Definition at line 794 of file cmtdef.h.

#define CMT_DEFAULT_SAMPLE_FREQUENCY   100

Definition at line 774 of file cmtdef.h.

#define CMT_DEFAULT_SKIP   0

Definition at line 776 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT_DEFAULT_WRITE_BUFFER_SIZE   CMT_MAXDATALEN

The default size of the serial write buffer in bytes.

Definition at line 796 of file cmtdef.h.

#define CMT_DID_BROADCAST   0x80000000
#define CMT_DID_MASTER   0
#define CMT_DID_TYPEH_MASK   0x00F00000
#define CMT_DID_TYPEH_MT   0x00000000

Definition at line 82 of file cmtdef.h.

#define CMT_DID_TYPEH_MTI_MTX   0x00300000

Definition at line 84 of file cmtdef.h.

Referenced by xsens::Cmt3::getAvailableScenarios().

#define CMT_DID_TYPEH_MTIG   0x00500000

Definition at line 85 of file cmtdef.h.

Referenced by xsens::Cmt3::getAvailableScenarios().

#define CMT_DID_TYPEH_XM   0x00100000

Definition at line 83 of file cmtdef.h.

Referenced by xsens::Cmt3::isXm(), and xsens::Cmt3::setDeviceMode2().

#define CMT_DONOTSTORE   0x00

Definition at line 680 of file cmtdef.h.

#define CMT_EMTS_SIZE   1056

Definition at line 1197 of file cmtdef.h.

Referenced by xsens::Cmt3::createLogFile(), and xsens::Cmt3::getEMtsData().

#define CMT_ERROR_BAUDRATEINVALID   0x20

Definition at line 527 of file cmtdef.h.

#define CMT_ERROR_BUSNOTREADY   0x02

Definition at line 512 of file cmtdef.h.

#define CMT_ERROR_INITOFBUSFAILED1   0x10

Definition at line 515 of file cmtdef.h.

#define CMT_ERROR_INITOFBUSFAILED2   0x11

Definition at line 516 of file cmtdef.h.

#define CMT_ERROR_INITOFBUSFAILED3   0x12

Definition at line 517 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED1   0x18

Definition at line 520 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED2   0x19

Definition at line 521 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED3   0x1A

Definition at line 522 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED4   0x1B

Definition at line 523 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED5   0x1C

Definition at line 524 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED6   0x1D

Definition at line 525 of file cmtdef.h.

#define CMT_ERROR_MEASUREMENTFAILED7   0x23

Definition at line 529 of file cmtdef.h.

#define CMT_ERROR_MESSAGEINVALID   0x04

Definition at line 514 of file cmtdef.h.

#define CMT_ERROR_NOBUSCOMM   0x01

Definition at line 511 of file cmtdef.h.

#define CMT_ERROR_PARAMETERINVALID   0x21

Definition at line 528 of file cmtdef.h.

#define CMT_ERROR_PERIODINVALID   0x03

Definition at line 513 of file cmtdef.h.

#define CMT_ERROR_SETBIDPROCFAILED1   0x14

Definition at line 518 of file cmtdef.h.

#define CMT_ERROR_SETBIDPROCFAILED2   0x15

Definition at line 519 of file cmtdef.h.

#define CMT_ERROR_TIMEROVERFLOW   0x1E

Definition at line 526 of file cmtdef.h.

#define CMT_ERRORMODE_IGNORE   0x0000

Definition at line 532 of file cmtdef.h.

#define CMT_ERRORMODE_INCSAMPLECNT   0x0001

Definition at line 533 of file cmtdef.h.

#define CMT_ERRORMODE_INCSAMPLECNT_SENDERROR   0x0002

Definition at line 534 of file cmtdef.h.

#define CMT_ERRORMODE_SENDERROR_GOTOCONFIG   0x0003

Definition at line 535 of file cmtdef.h.

#define CMT_EXTLENCODE   0xFF
#define CMT_EXTOUTPUTMODE_DISABLED   0x0000

Definition at line 665 of file cmtdef.h.

#define CMT_EXTOUTPUTMODE_EULER   0x0001

Definition at line 666 of file cmtdef.h.

#define CMT_FACTORYOUTPUTMODE_CUSTOM   0x0002

Definition at line 671 of file cmtdef.h.

#define CMT_FACTORYOUTPUTMODE_DEFAULT   0x0001

Definition at line 670 of file cmtdef.h.

#define CMT_FACTORYOUTPUTMODE_DISABLE   0x0000

Definition at line 669 of file cmtdef.h.

#define CMT_FILE_LAST_FRAME   0xFFFFFFFF

Definition at line 1191 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_ACCX   0

Definition at line 383 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_ACCY   1

Definition at line 384 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_ACCZ   2

Definition at line 385 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_GYRX   3

Definition at line 386 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_GYRY   4

Definition at line 387 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_GYRZ   5

Definition at line 388 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_MAGX   6

Definition at line 389 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_MAGY   7

Definition at line 390 of file cmtdef.h.

#define CMT_FLDNUM_CALIB_MAGZ   8

Definition at line 391 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_A   0

Definition at line 402 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_B   1

Definition at line 403 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_C   2

Definition at line 404 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_D   3

Definition at line 405 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_E   4

Definition at line 406 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_F   5

Definition at line 407 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_G   6

Definition at line 408 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_H   7

Definition at line 409 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_I   8

Definition at line 410 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_PITCH   1

Definition at line 399 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_Q0   0

Definition at line 393 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_Q1   1

Definition at line 394 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_Q2   2

Definition at line 395 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_Q3   3

Definition at line 396 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_ROLL   0

Definition at line 398 of file cmtdef.h.

#define CMT_FLDNUM_ORIENT_YAW   2

Definition at line 400 of file cmtdef.h.

#define CMT_FLDNUM_RAW_ACCX   0

Definition at line 372 of file cmtdef.h.

#define CMT_FLDNUM_RAW_ACCY   1

Definition at line 373 of file cmtdef.h.

#define CMT_FLDNUM_RAW_ACCZ   2

Definition at line 374 of file cmtdef.h.

#define CMT_FLDNUM_RAW_GYRX   3

Definition at line 375 of file cmtdef.h.

#define CMT_FLDNUM_RAW_GYRY   4

Definition at line 376 of file cmtdef.h.

#define CMT_FLDNUM_RAW_GYRZ   5

Definition at line 377 of file cmtdef.h.

#define CMT_FLDNUM_RAW_MAGX   6

Definition at line 378 of file cmtdef.h.

#define CMT_FLDNUM_RAW_MAGY   7

Definition at line 379 of file cmtdef.h.

#define CMT_FLDNUM_RAW_MAGZ   8

Definition at line 380 of file cmtdef.h.

#define CMT_FLDNUM_RAW_TEMP   9

Definition at line 381 of file cmtdef.h.

#define CMT_GOTO_CONFIG_TRIES   3

Definition at line 771 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT_IND_BID   1

Definition at line 50 of file cmtdef.h.

#define CMT_IND_CALIB_ACCX   0

Definition at line 338 of file cmtdef.h.

#define CMT_IND_CALIB_ACCY   4

Definition at line 339 of file cmtdef.h.

#define CMT_IND_CALIB_ACCZ   8

Definition at line 340 of file cmtdef.h.

#define CMT_IND_CALIB_GYRX   12

Definition at line 341 of file cmtdef.h.

#define CMT_IND_CALIB_GYRY   16

Definition at line 342 of file cmtdef.h.

#define CMT_IND_CALIB_GYRZ   20

Definition at line 343 of file cmtdef.h.

#define CMT_IND_CALIB_MAGX   24

Definition at line 344 of file cmtdef.h.

#define CMT_IND_CALIB_MAGY   28

Definition at line 345 of file cmtdef.h.

#define CMT_IND_CALIB_MAGZ   32

Definition at line 346 of file cmtdef.h.

#define CMT_IND_DATA0   4

Definition at line 53 of file cmtdef.h.

#define CMT_IND_DATAEXT0   6

Definition at line 56 of file cmtdef.h.

#define CMT_IND_LEN   3

Definition at line 52 of file cmtdef.h.

#define CMT_IND_LENEXTH   4

Definition at line 54 of file cmtdef.h.

#define CMT_IND_LENEXTL   5

Definition at line 55 of file cmtdef.h.

#define CMT_IND_MID   2

Definition at line 51 of file cmtdef.h.

#define CMT_IND_ORIENT_A   0

Definition at line 357 of file cmtdef.h.

#define CMT_IND_ORIENT_B   4

Definition at line 358 of file cmtdef.h.

#define CMT_IND_ORIENT_C   8

Definition at line 359 of file cmtdef.h.

#define CMT_IND_ORIENT_D   12

Definition at line 360 of file cmtdef.h.

#define CMT_IND_ORIENT_E   16

Definition at line 361 of file cmtdef.h.

#define CMT_IND_ORIENT_F   20

Definition at line 362 of file cmtdef.h.

#define CMT_IND_ORIENT_G   24

Definition at line 363 of file cmtdef.h.

#define CMT_IND_ORIENT_H   28

Definition at line 364 of file cmtdef.h.

#define CMT_IND_ORIENT_I   32

Definition at line 365 of file cmtdef.h.

#define CMT_IND_ORIENT_PITCH   4

Definition at line 354 of file cmtdef.h.

#define CMT_IND_ORIENT_Q0   0

Definition at line 348 of file cmtdef.h.

#define CMT_IND_ORIENT_Q1   4

Definition at line 349 of file cmtdef.h.

#define CMT_IND_ORIENT_Q2   8

Definition at line 350 of file cmtdef.h.

#define CMT_IND_ORIENT_Q3   12

Definition at line 351 of file cmtdef.h.

#define CMT_IND_ORIENT_ROLL   0

Definition at line 353 of file cmtdef.h.

#define CMT_IND_ORIENT_YAW   8

Definition at line 355 of file cmtdef.h.

#define CMT_IND_PREAMBLE   0

Definition at line 49 of file cmtdef.h.

#define CMT_IND_RAW_ACCX   0

Definition at line 327 of file cmtdef.h.

#define CMT_IND_RAW_ACCY   2

Definition at line 328 of file cmtdef.h.

#define CMT_IND_RAW_ACCZ   4

Definition at line 329 of file cmtdef.h.

#define CMT_IND_RAW_GYRX   6

Definition at line 330 of file cmtdef.h.

#define CMT_IND_RAW_GYRY   8

Definition at line 331 of file cmtdef.h.

#define CMT_IND_RAW_GYRZ   10

Definition at line 332 of file cmtdef.h.

#define CMT_IND_RAW_MAGX   12

Definition at line 333 of file cmtdef.h.

#define CMT_IND_RAW_MAGY   14

Definition at line 334 of file cmtdef.h.

#define CMT_IND_RAW_MAGZ   16

Definition at line 335 of file cmtdef.h.

#define CMT_IND_RAW_TEMP   18

Definition at line 336 of file cmtdef.h.

#define CMT_IND_SAMPLECNTH   0

Definition at line 367 of file cmtdef.h.

#define CMT_IND_SAMPLECNTL   1

Definition at line 368 of file cmtdef.h.

#define CMT_INITTRACKMODE_DISABLED   0x0000

Definition at line 674 of file cmtdef.h.

#define CMT_INITTRACKMODE_ENABLED   0x0001

Definition at line 675 of file cmtdef.h.

#define CMT_INVALIDSETTINGVALUE   0xFFFFFFFF

Definition at line 467 of file cmtdef.h.

#define CMT_LEN_AMD   2

Definition at line 486 of file cmtdef.h.

#define CMT_LEN_AVAILABLESCENARIOS   (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)

Definition at line 273 of file cmtdef.h.

#define CMT_LEN_BAUDRATE   1

Definition at line 141 of file cmtdef.h.

Referenced by xsens::Cmt3::setBaudrate().

#define CMT_LEN_BTDISABLE   1

Definition at line 130 of file cmtdef.h.

Referenced by xsens::Cmt3::setBluetoothState().

#define CMT_LEN_BUFFERSIZE   2

Definition at line 216 of file cmtdef.h.

#define CMT_LEN_BUSPWR   2

Definition at line 110 of file cmtdef.h.

Referenced by xsens::Cmt3::setBusPowerState().

#define CMT_LEN_CALIB_ACCDATA   12

Definition at line 309 of file cmtdef.h.

#define CMT_LEN_CALIB_ACCX   4

Definition at line 424 of file cmtdef.h.

#define CMT_LEN_CALIB_ACCY   4

Definition at line 425 of file cmtdef.h.

#define CMT_LEN_CALIB_ACCZ   4

Definition at line 426 of file cmtdef.h.

#define CMT_LEN_CALIB_GYRDATA   12

Definition at line 310 of file cmtdef.h.

#define CMT_LEN_CALIB_GYRX   4

Definition at line 427 of file cmtdef.h.

#define CMT_LEN_CALIB_GYRY   4

Definition at line 428 of file cmtdef.h.

#define CMT_LEN_CALIB_GYRZ   4

Definition at line 429 of file cmtdef.h.

#define CMT_LEN_CALIB_MAGDATA   12

Definition at line 311 of file cmtdef.h.

#define CMT_LEN_CALIB_MAGX   4

Definition at line 430 of file cmtdef.h.

#define CMT_LEN_CALIB_MAGY   4

Definition at line 431 of file cmtdef.h.

#define CMT_LEN_CALIB_MAGZ   4

Definition at line 432 of file cmtdef.h.

#define CMT_LEN_CALIBDATA   36

Definition at line 308 of file cmtdef.h.

#define CMT_LEN_CALIBDATA_FLT   9

Definition at line 319 of file cmtdef.h.

#define CMT_LEN_CHECKSUM   1

Definition at line 67 of file cmtdef.h.

#define CMT_LEN_CONFIGURATION   118

Definition at line 118 of file cmtdef.h.

#define CMT_LEN_DATALENGTH   2

Definition at line 115 of file cmtdef.h.

#define CMT_LEN_DEVICEID   4

Definition at line 95 of file cmtdef.h.

#define CMT_LEN_ERRORMODE   2

Definition at line 197 of file cmtdef.h.

Referenced by xsens::Cmt3::setErrorMode().

#define CMT_LEN_EXTOUTPUTMODE   2

Definition at line 241 of file cmtdef.h.

#define CMT_LEN_FILTERSETTINGS   4

Definition at line 481 of file cmtdef.h.

#define CMT_LEN_FIRMWAREREV   3

Definition at line 126 of file cmtdef.h.

#define CMT_LEN_FLOAT   4

Definition at line 70 of file cmtdef.h.

#define CMT_LEN_GPSLEVERARM   12

Definition at line 292 of file cmtdef.h.

Referenced by xsens::Cmt3::setGpsLeverArm().

#define CMT_LEN_GPSSTATUS   (1+5*16)

Definition at line 495 of file cmtdef.h.

#define CMT_LEN_GRAVITYMAGNITUDE   4

Definition at line 286 of file cmtdef.h.

Referenced by xsens::Cmt3::setGravityMagnitude().

#define CMT_LEN_HEADING   4

Definition at line 223 of file cmtdef.h.

Referenced by xsens::Cmt3::setHeading().

#define CMT_LEN_INITBUSRESULTS   4

Definition at line 98 of file cmtdef.h.

#define CMT_LEN_INITTRACKMODE   2

Definition at line 252 of file cmtdef.h.

#define CMT_LEN_LOCATIONID   2

Definition at line 235 of file cmtdef.h.

Referenced by xsens::Cmt3::setLocationId().

#define CMT_LEN_MAGNETICDECLINATION   4

Definition at line 229 of file cmtdef.h.

Referenced by xsens::Cmt3::setMagneticDeclination().

#define CMT_LEN_MSGEXTHEADER   6

Definition at line 64 of file cmtdef.h.

Referenced by xsens::Message::Message().

#define CMT_LEN_MSGEXTHEADERCS   7
#define CMT_LEN_MSGHEADER   4
#define CMT_LEN_MSGHEADERCS   5
#define CMT_LEN_OPMODE   1

Definition at line 135 of file cmtdef.h.

Referenced by xsens::Cmt3::setXmOutputMode().

#define CMT_LEN_ORIENT_A   4

Definition at line 443 of file cmtdef.h.

#define CMT_LEN_ORIENT_B   4

Definition at line 444 of file cmtdef.h.

#define CMT_LEN_ORIENT_C   4

Definition at line 445 of file cmtdef.h.

#define CMT_LEN_ORIENT_D   4

Definition at line 446 of file cmtdef.h.

#define CMT_LEN_ORIENT_E   4

Definition at line 447 of file cmtdef.h.

#define CMT_LEN_ORIENT_EULERDATA   12

Definition at line 313 of file cmtdef.h.

#define CMT_LEN_ORIENT_EULERDATA_FLT   3

Definition at line 321 of file cmtdef.h.

#define CMT_LEN_ORIENT_F   4

Definition at line 448 of file cmtdef.h.

#define CMT_LEN_ORIENT_G   4

Definition at line 449 of file cmtdef.h.

#define CMT_LEN_ORIENT_H   4

Definition at line 450 of file cmtdef.h.

#define CMT_LEN_ORIENT_I   4

Definition at line 451 of file cmtdef.h.

#define CMT_LEN_ORIENT_MATRIXDATA   36

Definition at line 314 of file cmtdef.h.

#define CMT_LEN_ORIENT_MATRIXDATA_FLT   9

Definition at line 322 of file cmtdef.h.

#define CMT_LEN_ORIENT_PITCH   4

Definition at line 440 of file cmtdef.h.

#define CMT_LEN_ORIENT_Q0   4

Definition at line 434 of file cmtdef.h.

#define CMT_LEN_ORIENT_Q1   4

Definition at line 435 of file cmtdef.h.

#define CMT_LEN_ORIENT_Q2   4

Definition at line 436 of file cmtdef.h.

#define CMT_LEN_ORIENT_Q3   4

Definition at line 437 of file cmtdef.h.

#define CMT_LEN_ORIENT_QUATDATA   16

Definition at line 312 of file cmtdef.h.

#define CMT_LEN_ORIENT_QUATDATA_FLT   4

Definition at line 320 of file cmtdef.h.

#define CMT_LEN_ORIENT_ROLL   4

Definition at line 439 of file cmtdef.h.

#define CMT_LEN_ORIENT_YAW   4

Definition at line 441 of file cmtdef.h.

#define CMT_LEN_OUTPUTMODE   2

Definition at line 162 of file cmtdef.h.

#define CMT_LEN_OUTPUTSETTINGS   4

Definition at line 168 of file cmtdef.h.

#define CMT_LEN_OUTPUTSKIPFACTOR   2

Definition at line 174 of file cmtdef.h.

#define CMT_LEN_PERIOD   2

Definition at line 101 of file cmtdef.h.

#define CMT_LEN_PRODUCTCODE   20

Definition at line 153 of file cmtdef.h.

#define CMT_LEN_RAW_ACCX   2

Definition at line 413 of file cmtdef.h.

#define CMT_LEN_RAW_ACCY   2

Definition at line 414 of file cmtdef.h.

#define CMT_LEN_RAW_ACCZ   2

Definition at line 415 of file cmtdef.h.

#define CMT_LEN_RAW_GYRX   2

Definition at line 416 of file cmtdef.h.

#define CMT_LEN_RAW_GYRY   2

Definition at line 417 of file cmtdef.h.

#define CMT_LEN_RAW_GYRZ   2

Definition at line 418 of file cmtdef.h.

#define CMT_LEN_RAW_MAGX   2

Definition at line 419 of file cmtdef.h.

#define CMT_LEN_RAW_MAGY   2

Definition at line 420 of file cmtdef.h.

#define CMT_LEN_RAW_MAGZ   2

Definition at line 421 of file cmtdef.h.

#define CMT_LEN_RAW_TEMP   2

Definition at line 422 of file cmtdef.h.

#define CMT_LEN_RAWDATA   20

Definition at line 307 of file cmtdef.h.

#define CMT_LEN_REQSCENARIOACK   2

Definition at line 277 of file cmtdef.h.

#define CMT_LEN_RESETORIENTATION   2

Definition at line 491 of file cmtdef.h.

Referenced by xsens::Cmt3::resetOrientation().

#define CMT_LEN_SAMPLECNT   2

Definition at line 315 of file cmtdef.h.

#define CMT_LEN_SCENARIOFULL   (1+1+CMT_LEN_SCENARIOLABEL)

Definition at line 270 of file cmtdef.h.

#define CMT_LEN_SCENARIOLABEL   20

Definition at line 269 of file cmtdef.h.

Referenced by xsens::Cmt3::getAvailableScenarios().

#define CMT_LEN_SETSCENARIO   1

Definition at line 280 of file cmtdef.h.

Referenced by xsens::Cmt3::setScenario().

#define CMT_LEN_STOREXKFSTATE   0

Definition at line 262 of file cmtdef.h.

Referenced by xsens::Cmt3::storeXkfState().

#define CMT_LEN_SYNCINMODE   2

Definition at line 180 of file cmtdef.h.

#define CMT_LEN_SYNCINOFFSET   4

Definition at line 182 of file cmtdef.h.

#define CMT_LEN_SYNCINSKIPFACTOR   2

Definition at line 181 of file cmtdef.h.

#define CMT_LEN_SYNCMODE   1

Definition at line 147 of file cmtdef.h.

Referenced by xsens::Cmt3::setSyncMode().

#define CMT_LEN_SYNCOUTMODE   2

Definition at line 188 of file cmtdef.h.

#define CMT_LEN_SYNCOUTOFFSET   4

Definition at line 190 of file cmtdef.h.

#define CMT_LEN_SYNCOUTPULSEWIDTH   4

Definition at line 191 of file cmtdef.h.

#define CMT_LEN_SYNCOUTSKIPFACTOR   2

Definition at line 189 of file cmtdef.h.

#define CMT_LEN_TEMPDATA   4

Definition at line 316 of file cmtdef.h.

#define CMT_LEN_TRANSMITDELAY   2

Definition at line 203 of file cmtdef.h.

#define CMT_LEN_UNSIGINT   4

Definition at line 69 of file cmtdef.h.

#define CMT_LEN_UNSIGSHORT   2

Definition at line 68 of file cmtdef.h.

#define CMT_LEN_UTCTIME   12

Definition at line 267 of file cmtdef.h.

#define CMT_LEN_XMERRORMODE   2

Definition at line 210 of file cmtdef.h.

#define CMT_LEN_XMPWROFF   0

Definition at line 157 of file cmtdef.h.

#define CMT_MAX_DEVICES   (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)

Definition at line 785 of file cmtdef.h.

#define CMT_MAX_DEVICES_PER_PORT   11

Definition at line 773 of file cmtdef.h.

Referenced by xsens::Cmt3::refreshCache(), and xsens::Cmt3::~Cmt3().

#define CMT_MAX_FILENAME_LENGTH   512
#define CMT_MAX_FILES_PER_THREAD   20

Definition at line 783 of file cmtdef.h.

#define CMT_MAX_ITEMS_IN_PACKET   10

Definition at line 791 of file cmtdef.h.

#define CMT_MAX_OBJECTS   20

Definition at line 1066 of file cmtdef.h.

#define CMT_MAX_PACKETS_PER_BUNDLE   CMT_MAX_PORTS_PER_THREAD

Definition at line 789 of file cmtdef.h.

#define CMT_MAX_PORTS_PER_THREAD   20

Definition at line 782 of file cmtdef.h.

#define CMT_MAX_SCENARIOS   254

Definition at line 1055 of file cmtdef.h.

#define CMT_MAX_SCENARIOS_IN_MT   5

Definition at line 1054 of file cmtdef.h.

Referenced by xsens::Cmt3::getAvailableScenarios().

#define CMT_MAX_SVINFO   16

Definition at line 1177 of file cmtdef.h.

Referenced by xsens::Cmt3::getGpsStatus().

#define CMT_MAXDATALEN   8192
#define CMT_MAXGARBAGE   (CMT_MAXMSGLEN+1)

Definition at line 77 of file cmtdef.h.

#define CMT_MAXMSGLEN   (CMT_MAXDATALEN+7)
#define CMT_MAXSHORTDATALEN   254

Definition at line 74 of file cmtdef.h.

#define CMT_MAXSHORTMSGLEN   (CMT_MAXSHORTDATALEN+5)

Definition at line 76 of file cmtdef.h.

#define CMT_MID_AUTOSTART   0x06

Definition at line 107 of file cmtdef.h.

#define CMT_MID_AUTOSTARTACK   0x07

Definition at line 108 of file cmtdef.h.

#define CMT_MID_AVAILABLESCENARIOS   0x63

Definition at line 272 of file cmtdef.h.

#define CMT_MID_BATLEVEL   0x89

Definition at line 247 of file cmtdef.h.

#define CMT_MID_BUSDATA   0x32

Definition at line 297 of file cmtdef.h.

#define CMT_MID_BUSPWR   0x08

Definition at line 109 of file cmtdef.h.

Referenced by xsens::Cmt3::getBusPowerState(), and xsens::Cmt3::setBusPowerState().

#define CMT_MID_BUSPWRACK   0x09

Definition at line 111 of file cmtdef.h.

#define CMT_MID_CONFIGURATION   0x0D

Definition at line 117 of file cmtdef.h.

Referenced by xsens::Cmt3::getConfiguration(), and xsens::Cmt3::refreshCache().

#define CMT_MID_DATALENGTH   0x0B

Definition at line 114 of file cmtdef.h.

#define CMT_MID_DEVICEID   0x01

Definition at line 94 of file cmtdef.h.

#define CMT_MID_DISABLEBT   0x14

Definition at line 131 of file cmtdef.h.

#define CMT_MID_DISABLEBTACK   0x15

Definition at line 132 of file cmtdef.h.

#define CMT_MID_EMTSDATA   (const uint8_t)0x91

Definition at line 1196 of file cmtdef.h.

Referenced by xsens::Cmt3::getEMtsData().

#define CMT_MID_ERROR   0x42
#define CMT_MID_FIRMWAREREV   0x13

Definition at line 125 of file cmtdef.h.

#define CMT_MID_GOTOCONFIG   0x30

Definition at line 295 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoConfig().

#define CMT_MID_GOTOCONFIGACK   0x31

Definition at line 296 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoConfig().

#define CMT_MID_GOTOMEASUREMENT   0x10

Definition at line 122 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoMeasurement().

#define CMT_MID_GOTOMEASUREMENTACK   0x11

Definition at line 123 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoMeasurement().

#define CMT_MID_GPSSTATUS   0xA7

Definition at line 494 of file cmtdef.h.

#define CMT_MID_INITBUS   0x02

Definition at line 96 of file cmtdef.h.

Referenced by xsens::Cmt3::initBus().

#define CMT_MID_INITBUSRESULTS   0x03

Definition at line 97 of file cmtdef.h.

#define CMT_MID_MTDATA   0x32

Definition at line 298 of file cmtdef.h.

Referenced by xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

#define CMT_MID_PREPAREDATA   0x32

Definition at line 301 of file cmtdef.h.

#define CMT_MID_PRODUCTCODE   0x1D

Definition at line 152 of file cmtdef.h.

#define CMT_MID_REQAMD   0xA2

Definition at line 484 of file cmtdef.h.

#define CMT_MID_REQAMDACK   0xA3

Definition at line 485 of file cmtdef.h.

#define CMT_MID_REQAVAILABLESCENARIOS   0x62

Definition at line 271 of file cmtdef.h.

Referenced by xsens::Cmt3::getAvailableScenarios().

#define CMT_MID_REQBATLEVEL   0x88

Definition at line 246 of file cmtdef.h.

Referenced by xsens::Cmt3::getBatteryLevel().

#define CMT_MID_REQBAUDRATE   0x18

Definition at line 139 of file cmtdef.h.

Referenced by xsens::Cmt3::getSerialBaudrate(), and xsens::Cmt3::setBaudrate().

#define CMT_MID_REQBAUDRATEACK   0x19

Definition at line 140 of file cmtdef.h.

#define CMT_MID_REQBTDISABLE   0x14

Definition at line 128 of file cmtdef.h.

Referenced by xsens::Cmt3::getBluetoothState(), and xsens::Cmt3::setBluetoothState().

#define CMT_MID_REQBTDISABLEACK   0x15

Definition at line 129 of file cmtdef.h.

#define CMT_MID_REQBUFFERSIZE   0x84

Definition at line 214 of file cmtdef.h.

#define CMT_MID_REQBUFFERSIZEACK   0x85

Definition at line 215 of file cmtdef.h.

#define CMT_MID_REQCONFIGURATION   0x0C

Definition at line 116 of file cmtdef.h.

Referenced by xsens::Cmt3::refreshCache().

#define CMT_MID_REQDATA   0x34

Definition at line 302 of file cmtdef.h.

Referenced by xsens::Cmt3::requestData().

#define CMT_MID_REQDATAACK   0x35

Definition at line 303 of file cmtdef.h.

#define CMT_MID_REQDATALENGTH   0x0A

Definition at line 113 of file cmtdef.h.

Referenced by xsens::Cmt3::getDataLength().

#define CMT_MID_REQDID   0x00

Definition at line 93 of file cmtdef.h.

#define CMT_MID_REQEMTS   (const uint8_t)0x90

Definition at line 1195 of file cmtdef.h.

Referenced by xsens::Cmt3::getEMtsData().

#define CMT_MID_REQERRORMODE   0xDA

Definition at line 195 of file cmtdef.h.

Referenced by xsens::Cmt3::getErrorMode(), and xsens::Cmt3::setErrorMode().

#define CMT_MID_REQERRORMODEACK   0xDB

Definition at line 196 of file cmtdef.h.

#define CMT_MID_REQEXTOUTPUTMODE   0x86

Definition at line 239 of file cmtdef.h.

#define CMT_MID_REQEXTOUTPUTMODEACK   0x87

Definition at line 240 of file cmtdef.h.

#define CMT_MID_REQFILTERSETTINGS   0xA0

Definition at line 479 of file cmtdef.h.

#define CMT_MID_REQFILTERSETTINGSACK   0xA1

Definition at line 480 of file cmtdef.h.

#define CMT_MID_REQFWREV   0x12

Definition at line 124 of file cmtdef.h.

Referenced by xsens::Cmt3::getFirmwareRevision().

#define CMT_MID_REQGPSLEVERARM   0x68

Definition at line 288 of file cmtdef.h.

Referenced by xsens::Cmt3::getGpsLeverArm().

#define CMT_MID_REQGPSLEVERARMACK   0x69

Definition at line 289 of file cmtdef.h.

#define CMT_MID_REQGPSSTATUS   0xA6

Definition at line 493 of file cmtdef.h.

Referenced by xsens::Cmt3::getGpsStatus().

#define CMT_MID_REQGRAVITYMAGNITUDE   0x66

Definition at line 282 of file cmtdef.h.

Referenced by xsens::Cmt3::getGravityMagnitude().

#define CMT_MID_REQGRAVITYMAGNITUDEACK   0x67

Definition at line 283 of file cmtdef.h.

#define CMT_MID_REQHEADING   0x82

Definition at line 221 of file cmtdef.h.

Referenced by xsens::Cmt3::getHeading(), and xsens::Cmt3::setHeading().

#define CMT_MID_REQHEADINGACK   0x83

Definition at line 222 of file cmtdef.h.

#define CMT_MID_REQINITTRACKMODE   0x88

Definition at line 250 of file cmtdef.h.

#define CMT_MID_REQINITTRACKMODEACK   0x89

Definition at line 251 of file cmtdef.h.

#define CMT_MID_REQLOCATIONID   0x84

Definition at line 233 of file cmtdef.h.

Referenced by xsens::Cmt3::getLocationId(), and xsens::Cmt3::setLocationId().

#define CMT_MID_REQLOCATIONIDACK   0x85

Definition at line 234 of file cmtdef.h.

#define CMT_MID_REQMAGNETICDECLINATION   0x6A

Definition at line 227 of file cmtdef.h.

Referenced by xsens::Cmt3::getMagneticDeclination().

#define CMT_MID_REQMAGNETICDECLINATIONACK   0x6B

Definition at line 228 of file cmtdef.h.

#define CMT_MID_REQOPMODE   0x16

Definition at line 133 of file cmtdef.h.

Referenced by xsens::Cmt3::getXmOutputMode(), and xsens::Cmt3::setXmOutputMode().

#define CMT_MID_REQOPMODEACK   0x17

Definition at line 134 of file cmtdef.h.

#define CMT_MID_REQOUTPUTMODE   0xD0

Definition at line 160 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQOUTPUTMODEACK   0xD1

Definition at line 161 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQOUTPUTSETTINGS   0xD2

Definition at line 166 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQOUTPUTSETTINGSACK   0xD3

Definition at line 167 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQOUTPUTSKIPFACTOR   0xD4

Definition at line 172 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQOUTPUTSKIPFACTORACK   0xD5

Definition at line 173 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQPERIOD   0x04

Definition at line 99 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQPERIODACK   0x05

Definition at line 100 of file cmtdef.h.

Referenced by xsens::Cmt3::setDeviceMode2().

#define CMT_MID_REQPRODUCTCODE   0x1C

Definition at line 151 of file cmtdef.h.

Referenced by xsens::Cmt3::getProductCode().

#define CMT_MID_REQSCENARIO   0x64

Definition at line 275 of file cmtdef.h.

Referenced by xsens::Cmt3::getScenario().

#define CMT_MID_REQSCENARIOACK   0x65

Definition at line 276 of file cmtdef.h.

#define CMT_MID_REQSYNCINSETTINGS   0xD6
#define CMT_MID_REQSYNCINSETTINGSACK   0xD7
#define CMT_MID_REQSYNCMODE   0x1A

Definition at line 145 of file cmtdef.h.

Referenced by xsens::Cmt3::getSyncMode(), and xsens::Cmt3::setSyncMode().

#define CMT_MID_REQSYNCMODEACK   0x1B

Definition at line 146 of file cmtdef.h.

#define CMT_MID_REQSYNCOUTSETTINGS   0xD8
#define CMT_MID_REQSYNCOUTSETTINGSACK   0xD9
#define CMT_MID_REQTRANSMITDELAY   0xDC

Definition at line 201 of file cmtdef.h.

#define CMT_MID_REQTRANSMITDELAYACK   0xDD

Definition at line 202 of file cmtdef.h.

#define CMT_MID_REQUTCTIME   0x60

Definition at line 265 of file cmtdef.h.

Referenced by xsens::Cmt3::getUtcTime().

#define CMT_MID_REQXMERRORMODE   0x82

Definition at line 208 of file cmtdef.h.

Referenced by xsens::Cmt3::getErrorMode(), and xsens::Cmt3::setErrorMode().

#define CMT_MID_REQXMERRORMODEACK   0x83

Definition at line 209 of file cmtdef.h.

#define CMT_MID_RESET   0x40

Definition at line 471 of file cmtdef.h.

Referenced by xsens::Cmt3::reset(), and xsens::Cmt3::setBaudrate().

#define CMT_MID_RESETACK   0x41

Definition at line 472 of file cmtdef.h.

Referenced by xsens::Cmt3::reset(), and xsens::Cmt3::setBaudrate().

#define CMT_MID_RESETORIENTATION   0xA4

Definition at line 489 of file cmtdef.h.

Referenced by xsens::Cmt3::resetOrientation().

#define CMT_MID_RESETORIENTATIONACK   0xA5

Definition at line 490 of file cmtdef.h.

#define CMT_MID_RESTOREFACTORYDEF   0x0E

Definition at line 119 of file cmtdef.h.

Referenced by xsens::Cmt3::restoreFactoryDefaults().

#define CMT_MID_RESTOREFACTORYDEFACK   0x0F

Definition at line 120 of file cmtdef.h.

#define CMT_MID_SETAMD   0xA2

Definition at line 487 of file cmtdef.h.

#define CMT_MID_SETAMDACK   0xA3

Definition at line 488 of file cmtdef.h.

#define CMT_MID_SETBAUDRATE   0x18

Definition at line 142 of file cmtdef.h.

#define CMT_MID_SETBAUDRATEACK   0x19

Definition at line 143 of file cmtdef.h.

#define CMT_MID_SETBID   0x06

Definition at line 105 of file cmtdef.h.

#define CMT_MID_SETBIDACK   0x07

Definition at line 106 of file cmtdef.h.

#define CMT_MID_SETBUFFERSIZE   0x84

Definition at line 217 of file cmtdef.h.

#define CMT_MID_SETBUFFERSIZEACK   0x85

Definition at line 218 of file cmtdef.h.

#define CMT_MID_SETERRORMODE   0xDA

Definition at line 198 of file cmtdef.h.

#define CMT_MID_SETERRORMODEACK   0xDB

Definition at line 199 of file cmtdef.h.

#define CMT_MID_SETEXTOUTPUTMODE   0x86

Definition at line 242 of file cmtdef.h.

#define CMT_MID_SETEXTOUTPUTMODEACK   0x87

Definition at line 243 of file cmtdef.h.

#define CMT_MID_SETFILTERSETTINGS   0xA0

Definition at line 482 of file cmtdef.h.

#define CMT_MID_SETFILTERSETTINGSACK   0xA1

Definition at line 483 of file cmtdef.h.

#define CMT_MID_SETGPSLEVERARM   0x68

Definition at line 290 of file cmtdef.h.

Referenced by xsens::Cmt3::setGpsLeverArm().

#define CMT_MID_SETGPSLEVERARMACK   0x69

Definition at line 291 of file cmtdef.h.

Referenced by xsens::Cmt3::setGpsLeverArm().

#define CMT_MID_SETGRAVITYMAGNITUDE   0x66

Definition at line 284 of file cmtdef.h.

Referenced by xsens::Cmt3::setGravityMagnitude().

#define CMT_MID_SETGRAVITYMAGNITUDEACK   0x67

Definition at line 285 of file cmtdef.h.

#define CMT_MID_SETHEADING   0x82

Definition at line 224 of file cmtdef.h.

#define CMT_MID_SETHEADINGACK   0x83

Definition at line 225 of file cmtdef.h.

#define CMT_MID_SETINITTRACKMODE   0x88

Definition at line 253 of file cmtdef.h.

#define CMT_MID_SETINITTRACKMODEACK   0x89

Definition at line 254 of file cmtdef.h.

#define CMT_MID_SETLOCATIONID   0x84

Definition at line 236 of file cmtdef.h.

#define CMT_MID_SETLOCATIONIDACK   0x85

Definition at line 237 of file cmtdef.h.

#define CMT_MID_SETMAGNETICDECLINATION   0x6A

Definition at line 230 of file cmtdef.h.

Referenced by xsens::Cmt3::setMagneticDeclination().

#define CMT_MID_SETMAGNETICDECLINATIONACK   0x6B

Definition at line 231 of file cmtdef.h.

#define CMT_MID_SETOPMODE   0x16

Definition at line 136 of file cmtdef.h.

#define CMT_MID_SETOPMODEACK   0x17

Definition at line 137 of file cmtdef.h.

#define CMT_MID_SETOUTPUTMODE   0xD0

Definition at line 163 of file cmtdef.h.

#define CMT_MID_SETOUTPUTMODEACK   0xD1

Definition at line 164 of file cmtdef.h.

#define CMT_MID_SETOUTPUTSETTINGS   0xD2

Definition at line 169 of file cmtdef.h.

#define CMT_MID_SETOUTPUTSETTINGSACK   0xD3

Definition at line 170 of file cmtdef.h.

#define CMT_MID_SETOUTPUTSKIPFACTOR   0xD4

Definition at line 175 of file cmtdef.h.

#define CMT_MID_SETOUTPUTSKIPFACTORACK   0xD5

Definition at line 176 of file cmtdef.h.

#define CMT_MID_SETPERIOD   0x04

Definition at line 102 of file cmtdef.h.

#define CMT_MID_SETPERIODACK   0x05

Definition at line 103 of file cmtdef.h.

#define CMT_MID_SETSCENARIO   0x64

Definition at line 278 of file cmtdef.h.

Referenced by xsens::Cmt3::setScenario().

#define CMT_MID_SETSCENARIOACK   0x65

Definition at line 279 of file cmtdef.h.

#define CMT_MID_SETSYNCINSETTINGS   0xD6

Definition at line 183 of file cmtdef.h.

#define CMT_MID_SETSYNCINSETTINGSACK   0xD7

Definition at line 184 of file cmtdef.h.

#define CMT_MID_SETSYNCMODE   0x1A

Definition at line 148 of file cmtdef.h.

#define CMT_MID_SETSYNCMODEACK   0x1B

Definition at line 149 of file cmtdef.h.

#define CMT_MID_SETSYNCOUTSETTINGS   0xD8

Definition at line 192 of file cmtdef.h.

#define CMT_MID_SETSYNCOUTSETTINGSACK   0xD9

Definition at line 193 of file cmtdef.h.

#define CMT_MID_SETTRANSMITDELAY   0xDC

Definition at line 204 of file cmtdef.h.

#define CMT_MID_SETTRANSMITDELAYACK   0xDD

Definition at line 205 of file cmtdef.h.

#define CMT_MID_SETXMERRORMODE   0x82

Definition at line 211 of file cmtdef.h.

#define CMT_MID_SETXMERRORMODEACK   0x83

Definition at line 212 of file cmtdef.h.

#define CMT_MID_STOREXKFSTATE   0x8A

Definition at line 261 of file cmtdef.h.

Referenced by xsens::Cmt3::storeXkfState().

#define CMT_MID_STOREXKFSTATEACK   0x8B

Definition at line 263 of file cmtdef.h.

Referenced by xsens::Cmt3::storeXkfState().

#define CMT_MID_UTCTIME   0x61

Definition at line 266 of file cmtdef.h.

#define CMT_MID_WAKEUP   0x3E

Definition at line 89 of file cmtdef.h.

#define CMT_MID_WAKEUPACK   0x3F

Definition at line 90 of file cmtdef.h.

#define CMT_MID_XMPWROFF   0x44

Definition at line 476 of file cmtdef.h.

Referenced by xsens::Cmt3::setXmPowerOff().

#define CMT_MID_XMPWROFF   0x44

Definition at line 476 of file cmtdef.h.

#define CMT_OUTPUTMODE_AUXILIARY   0x0008

Definition at line 616 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_CALIB   0x0002

Definition at line 614 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize(), and mrpt::hwdrivers::CIMUXSens::initialize().

#define CMT_OUTPUTMODE_MT9   0x8000

Definition at line 609 of file cmtdef.h.

#define CMT_OUTPUTMODE_ORIENT   0x0004

Definition at line 615 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize(), and mrpt::hwdrivers::CIMUXSens::initialize().

#define CMT_OUTPUTMODE_POSITION   0x0010

Definition at line 617 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_RAW   0x4000

Definition at line 611 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_RAWGPSPRINT   0x1000

Definition at line 612 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_STATUS   0x0800

Definition at line 619 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_TEMP   0x0001

Definition at line 613 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_VELOCITY   0x0020

Definition at line 618 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTMODE_XM   0x0000

Definition at line 610 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1   0x00000800

Definition at line 640 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK   0x00000400

Definition at line 654 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2   0x00000400

Definition at line 641 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK   0x00000800

Definition at line 655 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK   0x00000C00

Definition at line 656 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC   0x00000060

Definition at line 630 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK   0x00000010

Definition at line 649 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR   0x00000040

Definition at line 631 of file cmtdef.h.

Referenced by mrpt::hwdrivers::CIMUXSens::initialize().

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG   0x00000000

Definition at line 629 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG   0x00000020

Definition at line 632 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR   0x00000050

Definition at line 633 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK   0x00000020

Definition at line 650 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG   0x00000010

Definition at line 634 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG   0x00000030

Definition at line 635 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK   0x00000040

Definition at line 651 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_CALIBMODE_MASK   0x00000070

Definition at line 652 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_COORDINATES_NED   0x80000000

Definition at line 660 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_DATAFORMAT_DOUBLE   0x00000300
#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220   0x00000100
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT   0x00000000
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632   0x00000200
#define CMT_OUTPUTSETTINGS_DATAFORMAT_MASK   0x00000300
#define CMT_OUTPUTSETTINGS_ORIENTMODE_EULER   0x00000004

Definition at line 627 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize(), and mrpt::hwdrivers::CIMUXSens::initialize().

#define CMT_OUTPUTSETTINGS_ORIENTMODE_MASK   0x0000000C

Definition at line 648 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX   0x00000008

Definition at line 628 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION   0x00000000

Definition at line 626 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84   0x00000000

Definition at line 642 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_POSITIONMODE_MASK   0x0001C000

Definition at line 657 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_TIMESTAMP_MASK   0x00000003

Definition at line 647 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize(), and xsens::Cmt3::setDeviceMode2().

#define CMT_OUTPUTSETTINGS_TIMESTAMP_NONE   0x00000000

Definition at line 624 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT   0x00000001

Definition at line 625 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize(), and mrpt::hwdrivers::CIMUXSens::initialize().

#define CMT_OUTPUTSETTINGS_UNCERTAINTY_MASK   0x00F00000

Definition at line 659 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_UNCERTAINTY_ORIENT   0x00100000

Definition at line 644 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_UNCERTAINTY_POS   0x00200000

Definition at line 645 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_UNCERTAINTY_VEL   0x00400000

Definition at line 646 of file cmtdef.h.

#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK   0x00060000

Definition at line 658 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_VELOCITYMODE_NED   0x00000000

Definition at line 643 of file cmtdef.h.

Referenced by xsens::Packet::getDataSize().

#define CMT_OUTPUTSETTINGS_XM   0x00000001

Definition at line 623 of file cmtdef.h.

#define CMT_PARAM_FILTER_GAIN   0x00

Definition at line 678 of file cmtdef.h.

#define CMT_PARAM_FILTER_RHO   0x01

Definition at line 679 of file cmtdef.h.

#define CMT_PARAM_SYNCIN_MODE   0x00
#define CMT_PARAM_SYNCIN_OFFSET   0x02
#define CMT_PARAM_SYNCIN_SKIPFACTOR   0x01
#define CMT_PARAM_SYNCOUT_MODE   0x00
#define CMT_PARAM_SYNCOUT_OFFSET   0x02
#define CMT_PARAM_SYNCOUT_PULSEWIDTH   0x03
#define CMT_PARAM_SYNCOUT_SKIPFACTOR   0x01
#define CMT_PERIOD_100HZ   1152

Definition at line 720 of file cmtdef.h.

#define CMT_PERIOD_10HZ   11520

Definition at line 697 of file cmtdef.h.

#define CMT_PERIOD_120HZ   960

Definition at line 721 of file cmtdef.h.

#define CMT_PERIOD_128HZ   900

Definition at line 722 of file cmtdef.h.

#define CMT_PERIOD_12HZ   9600

Definition at line 698 of file cmtdef.h.

#define CMT_PERIOD_144HZ   800

Definition at line 723 of file cmtdef.h.

#define CMT_PERIOD_150HZ   768

Definition at line 724 of file cmtdef.h.

#define CMT_PERIOD_15HZ   7680

Definition at line 699 of file cmtdef.h.

#define CMT_PERIOD_160HZ   720

Definition at line 725 of file cmtdef.h.

#define CMT_PERIOD_16HZ   7200

Definition at line 700 of file cmtdef.h.

#define CMT_PERIOD_180HZ   640

Definition at line 726 of file cmtdef.h.

#define CMT_PERIOD_18HZ   6400

Definition at line 701 of file cmtdef.h.

#define CMT_PERIOD_192HZ   600

Definition at line 727 of file cmtdef.h.

#define CMT_PERIOD_200HZ   576

Definition at line 728 of file cmtdef.h.

#define CMT_PERIOD_20HZ   5760

Definition at line 702 of file cmtdef.h.

#define CMT_PERIOD_225HZ   512

Definition at line 729 of file cmtdef.h.

#define CMT_PERIOD_240HZ   480

Definition at line 730 of file cmtdef.h.

#define CMT_PERIOD_24HZ   4800

Definition at line 703 of file cmtdef.h.

#define CMT_PERIOD_256HZ   450

Definition at line 731 of file cmtdef.h.

#define CMT_PERIOD_25HZ   4608

Definition at line 704 of file cmtdef.h.

#define CMT_PERIOD_288HZ   400

Definition at line 732 of file cmtdef.h.

#define CMT_PERIOD_300HZ   384

Definition at line 733 of file cmtdef.h.

#define CMT_PERIOD_30HZ   3840

Definition at line 705 of file cmtdef.h.

#define CMT_PERIOD_320HZ   360

Definition at line 734 of file cmtdef.h.

#define CMT_PERIOD_32HZ   3600

Definition at line 706 of file cmtdef.h.

#define CMT_PERIOD_360HZ   320

Definition at line 735 of file cmtdef.h.

#define CMT_PERIOD_36HZ   3200

Definition at line 707 of file cmtdef.h.

#define CMT_PERIOD_384HZ   300

Definition at line 736 of file cmtdef.h.

#define CMT_PERIOD_400HZ   288

Definition at line 737 of file cmtdef.h.

#define CMT_PERIOD_40HZ   2880

Definition at line 708 of file cmtdef.h.

#define CMT_PERIOD_450HZ   256

Definition at line 738 of file cmtdef.h.

#define CMT_PERIOD_45HZ   2560

Definition at line 709 of file cmtdef.h.

#define CMT_PERIOD_480HZ   240

Definition at line 739 of file cmtdef.h.

#define CMT_PERIOD_48HZ   2400

Definition at line 710 of file cmtdef.h.

#define CMT_PERIOD_50HZ   2304

Definition at line 711 of file cmtdef.h.

#define CMT_PERIOD_512HZ   225

Definition at line 740 of file cmtdef.h.

#define CMT_PERIOD_60HZ   1920

Definition at line 712 of file cmtdef.h.

#define CMT_PERIOD_64HZ   1800

Definition at line 713 of file cmtdef.h.

#define CMT_PERIOD_72HZ   1600

Definition at line 714 of file cmtdef.h.

#define CMT_PERIOD_75HZ   1536

Definition at line 715 of file cmtdef.h.

#define CMT_PERIOD_80HZ   1440

Definition at line 716 of file cmtdef.h.

#define CMT_PERIOD_90HZ   1280

Definition at line 717 of file cmtdef.h.

#define CMT_PERIOD_96HZ   1200

Definition at line 718 of file cmtdef.h.

#define CMT_PREAMBLE   0xFA
#define CMT_SENDRAWSTRING_DEFAULT   1

Definition at line 689 of file cmtdef.h.

#define CMT_SENDRAWSTRING_INIT   0

Definition at line 688 of file cmtdef.h.

#define CMT_SENDRAWSTRING_SEND   2

Definition at line 690 of file cmtdef.h.

#define CMT_STORE   0x01

Definition at line 681 of file cmtdef.h.

#define CMT_SYNC_CLOCK_NS_TO_TICKS   (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)
#define CMT_SYNC_CLOCK_TICKS_TO_NS   (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)
#define CMT_SYNC_CLOCKFREQMHZ   29.4912

Definition at line 573 of file cmtdef.h.

#define CMT_SYNCIN_DISABLED   0x0000

Definition at line 583 of file cmtdef.h.

#define CMT_SYNCIN_EDGE_BOTH   0x0003

Definition at line 586 of file cmtdef.h.

#define CMT_SYNCIN_EDGE_FALLING   0x0002

Definition at line 585 of file cmtdef.h.

#define CMT_SYNCIN_EDGE_MASK   0x0003

Definition at line 587 of file cmtdef.h.

#define CMT_SYNCIN_EDGE_RISING   0x0001

Definition at line 584 of file cmtdef.h.

#define CMT_SYNCIN_TYPE_CLOCK   0x0010

Definition at line 590 of file cmtdef.h.

#define CMT_SYNCIN_TYPE_DOSAMPLING   0x0000

Definition at line 588 of file cmtdef.h.

#define CMT_SYNCIN_TYPE_MASK   0x001C

Definition at line 591 of file cmtdef.h.

#define CMT_SYNCIN_TYPE_SENDLASTDATA   0x0004

Definition at line 589 of file cmtdef.h.

#define CMT_SYNCOUT_DEFAULT_PULSE_WIDTH   1000000

Definition at line 779 of file cmtdef.h.

#define CMT_SYNCOUT_DISABLED   0x0000

Definition at line 600 of file cmtdef.h.

#define CMT_SYNCOUT_POL_MASK   0x0010

Definition at line 606 of file cmtdef.h.

#define CMT_SYNCOUT_POL_NEG   0x0000

Definition at line 603 of file cmtdef.h.

#define CMT_SYNCOUT_POL_POS   0x0010

Definition at line 604 of file cmtdef.h.

#define CMT_SYNCOUT_TYPE_MASK   0x000F

Definition at line 605 of file cmtdef.h.

#define CMT_SYNCOUT_TYPE_PULSE   0x0002

Definition at line 602 of file cmtdef.h.

#define CMT_SYNCOUT_TYPE_TOGGLE   0x0001

Definition at line 601 of file cmtdef.h.

#define CMT_TO_DEFAULT   500

Definition at line 693 of file cmtdef.h.

#define CMT_TO_INIT   250

Definition at line 694 of file cmtdef.h.

#define CMT_TO_RETRY   50

Definition at line 695 of file cmtdef.h.

#define CMT_VALUE_CALIB_ACC   4

Definition at line 458 of file cmtdef.h.

#define CMT_VALUE_CALIB_GYR   5

Definition at line 459 of file cmtdef.h.

#define CMT_VALUE_CALIB_MAG   6

Definition at line 460 of file cmtdef.h.

#define CMT_VALUE_ORIENT_EULER   8

Definition at line 462 of file cmtdef.h.

#define CMT_VALUE_ORIENT_MATRIX   9

Definition at line 463 of file cmtdef.h.

#define CMT_VALUE_ORIENT_QUAT   7

Definition at line 461 of file cmtdef.h.

#define CMT_VALUE_RAW_ACC   0

Definition at line 454 of file cmtdef.h.

#define CMT_VALUE_RAW_GYR   1

Definition at line 455 of file cmtdef.h.

#define CMT_VALUE_RAW_MAG   2

Definition at line 456 of file cmtdef.h.

#define CMT_VALUE_RAW_TEMP   3

Definition at line 457 of file cmtdef.h.

#define CMT_VALUE_SAMPLECNT   10

Definition at line 464 of file cmtdef.h.

#define CMT_VALUE_TEMP   11

Definition at line 465 of file cmtdef.h.

Typedef Documentation

typedef XsensResultValue(__cdecl * CmtCallbackFunction)(int32_t, CmtCallbackSelector, void *, void *)

Definition at line 1091 of file cmtdef.h.

The type of a Device Id.

Definition at line 851 of file cmtdef.h.

An MT timestamp (sample count)

Definition at line 913 of file cmtdef.h.

An output mode bit-field.

Definition at line 895 of file cmtdef.h.

An output settings bit-field.

Definition at line 897 of file cmtdef.h.

Definition at line 1188 of file cmtdef.h.

Enumeration Type Documentation

Enumerator
CMT_CALLBACK_ONMEASUREMENTPREPARE 

Callback function, called right before sending a GotoMeasurement message.

CMT_CALLBACK_ONMEASUREMENTSTART 

Callback function, called right after successfully switching to Measurement mode.

CMT_CALLBACK_ONMEASUREMENTSTOP 

Callback function, called right before switching from Measurement mode to Config mode.

CMT_CALLBACK_ONPOSTPROCESS 

Callback function, called when a full data bundle is available and has been processed by the CMT. The first void* parameter supplied to this function can be handed as the bundle parameter in cmtData... functions to manipulate the newly received bundle.

CMT_CALLBACK_ONBYTESRECEIVED 

Callback function, called when bytes have been read from a port.

CMT_CALLBACK_ONMESSAGERECEIVED 

Callback function, called when a full message has been received from a port.

CMT_CALLBACK_ONMESSAGESENT 

Callback function, called when a full message has been sent by a port.

Definition at line 1068 of file cmtdef.h.

Enumerator
CMT_CONTROL_DCD 
CMT_CONTROL_RD 
CMT_CONTROL_TD 
CMT_CONTROL_DTR 
CMT_CONTROL_GND 
CMT_CONTROL_DSR 
CMT_CONTROL_RTS 
CMT_CONTROL_CTS 
CMT_CONTROL_RI 

Definition at line 821 of file cmtdef.h.

Enumerator
CMT_QM_FIFO 
CMT_QM_LAST 
CMT_QM_RAW 

Definition at line 1078 of file cmtdef.h.

Enumerator
CMT_RESETORIENTATION_STORE 
CMT_RESETORIENTATION_HEADING 
CMT_RESETORIENTATION_GLOBAL 
CMT_RESETORIENTATION_OBJECT 
CMT_RESETORIENTATION_ALIGN 

Definition at line 834 of file cmtdef.h.

Enumerator
CMT_XM_SYNC_OFF 
CMT_XM_SYNC_PWM 
CMT_XM_SYNC_MASTER 
CMT_XM_SYNC_SLAVE 
CMT_XM_SYNC_TOGGLE 

Definition at line 842 of file cmtdef.h.




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