Main MRPT website > C++ reference for MRPT 1.5.6
xsdid.h
Go to the documentation of this file.
1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef XSDID_H
10 #define XSDID_H
11 
12 // DID Type (high nibble)
13 #define XS_DID_TYPEL_MASK 0x000F0000
14 #define XS_DID_TYPEH_MASK 0x00F00000
15 #define XS_DID_GPL_MASK 0x0F000000
16 #define XS_DID_GPH_MASK 0xF0000000
17 #define XS_DID_TYPE_MASK (XS_DID_TYPEH_MASK | XS_DID_TYPEL_MASK)
18 #define XS_DID_MK4TYPE_MASK (XS_DID_TYPEH_MASK | XS_DID_GPL_MASK)
19 
20 #define XS_DID_TYPEL_SHIFT 16
21 #define XS_DID_TYPEH_SHIFT 20
22 #define XS_DID_GPL_SHIFT 24
23 #define XS_DID_GPH_SHIFT 28
24 
25 #define XS_DID_TYPEH_XM 0x00100000
26 #define XS_DID_TYPEH_AWINDAMASTER 0x00200000
27 #define XS_DID_TYPEH_MTI_MTX 0x00300000
28 #define XS_DID_TYPEH_MTIG 0x00500000
29 #define XS_DID_TYPEH_MT_X0 0x00600000
30 #define XS_DID_TYPEH_MT_X00 0x00700000
31 #define XS_DID_TYPEH_MTX2_MTW2 0x00800000
32 
33 #define XS_DID_TYPEL_STATION 0x00000000
34 #define XS_DID_TYPEL_DONGLE 0x00010000
35 #define XS_DID_TYPEL_OEM 0x00020000
36 
37 #define XS_DID_TYPEL_RS232 0x00000000
38 #define XS_DID_TYPEL_RS422 0x00010000
39 #define XS_DID_TYPEL_RS485XM 0x00020000
40 #define XS_DID_TYPEL_RS485 0x00030000
41 #define XS_DID_TYPEL_WIRELESS 0x00040000
42 
43 #define XS_DID_GPL_10 0x01000000
44 #define XS_DID_GPL_20 0x02000000
45 #define XS_DID_GPL_30 0x03000000
46 #define XS_DID_GPL_100 0x01000000
47 #define XS_DID_GPL_200 0x02000000
48 #define XS_DID_GPL_300 0x03000000
49 #define XS_DID_GPL_400 0x04000000
50 #define XS_DID_GPL_500 0x05000000
51 #define XS_DID_GPL_600 0x06000000
52 #define XS_DID_GPL_700 0x07000000
53 #define XS_DID_GPL_800 0x08000000
54 #define XS_DID_GPL_900 0x09000000
55 #define XS_DID_GPL_IMU 0x01000000
56 #define XS_DID_GPL_VRU 0x02000000
57 #define XS_DID_GPL_AHRS 0x03000000
58 #define XS_DID_GPL_AHRSGPS XS_DID_GPL_400
59 #define XS_DID_GPL_AHRSGPSG XS_DID_GPL_500
60 #define XS_DID_GPL_GPSINS XS_DID_GPL_600
61 #define XS_DID_GPL_GPSINSG XS_DID_GPL_700
62 
63 #define XS_DID_TYPE_AWINDA_STATION (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_STATION)
64 #define XS_DID_TYPE_AWINDA_DONGLE (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_DONGLE)
65 #define XS_DID_TYPE_AWINDA_OEM (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_OEM)
66 
67 #define XS_DID_TYPE_MTW (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_WIRELESS)
68 #define XS_DID_TYPE_MTIX_RS232 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS232)
69 #define XS_DID_TYPE_MTIX_RS422 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS422)
70 #define XS_DID_TYPE_MTIX_RS485 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS485)
71 #define XS_DID_TYPE_MTX_XBUS (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS485XM)
72 #define XS_DID_TYPE_MTW2 (XS_DID_TYPEH_MTX2_MTW2 | XS_DID_TYPEL_WIRELESS)
73 
74 #define XS_DID_MK4TYPE_MT_10 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_10)
75 #define XS_DID_MK4TYPE_MT_20 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_20)
76 #define XS_DID_MK4TYPE_MT_30 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_30)
77 #define XS_DID_MK4TYPE_MT_100 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_100)
78 #define XS_DID_MK4TYPE_MT_200 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_200)
79 #define XS_DID_MK4TYPE_MT_300 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_300)
80 #define XS_DID_MK4TYPE_MT_400 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_400)
81 #define XS_DID_MK4TYPE_MT_500 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_500)
82 #define XS_DID_MK4TYPE_MT_600 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_600)
83 #define XS_DID_MK4TYPE_MT_700 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_700)
84 #define XS_DID_MK4TYPE_MT_800 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_800)
85 #define XS_DID_MK4TYPE_MT_900 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_900)
86 
87 #define XS_DID_BROADCAST 0x80000000
88 #define XS_DID_MASTER 0x00000000
89 
90 #define XS_DID_XM(did) ((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_XM)
91 #define XS_DID_NOXM(did) ((did & XS_DID_TYPEH_MASK) != XS_DID_TYPEH_XM)
92 #define XS_DID_WM(did) ((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_AWINDAMASTER)
93 #define XS_DID_NOWM(did) ((did & XS_DID_TYPEH_MASK) != XS_DID_TYPEH_AWINDAMASTER)
94 #define XS_DID_WMMT(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MTW)
95 #define XS_DID_NOWMMT(did) ((did & XS_DID_TYPE_MASK) != XS_DID_TYPE_MTW)
96 #define XS_DID_XMMT(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MASK_MT_XM)
97 #define XS_DID_NOXMMT(did) ((did & XS_DID_TYPE_MASK) != XS_DID_TYPE_MASK_MT_XM)
98 #define XS_DID_MTIX(did) (((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_MTI_MTX) && XS_DID_NOWMMT(did))
99 #define XS_DID_MTIG(did) (((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_MTIG) || ((did & XS_DID_MK4TYPE_MASK) == XS_DID_MK4TYPE_MT_700))
100 #define XS_DID_MTW2(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MTW2)
101 
102 #define XS_DID_AWINDA_STATION(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_STATION)
103 #define XS_DID_AWINDA_DONGLE(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_DONGLE)
104 #define XS_DID_AWINDA_OEM(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_OEM)
105 
106 #endif // file guard



Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018