cmt3.cpp File Reference

Detailed Description

For information about objects in this file, see the appropriate header: Cmt3.h

Copyright Notice

Copyright (C) Xsens Technologies B.V., 2006. All rights reserved.

This source code is intended for use only by Xsens Technologies BV and those that have explicit written permission to use it from Xsens Technologies BV.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Changelog

2006-04-28, v0.0.1

• Job Mulder: Created

2006-07-21, v0.1.0

• Job Mulder: Updated file for release 0.1.0

Definition in file cmt3.cpp.

#include "cmt3.h"
#include <math.h>
#include "xsens_janitors.h"

Include dependency graph for cmt3.cpp:

Go to the source code of this file.

Namespaces
	xsens
	The namespace of all Xsens software since 2006.

Macros
#define	CMT3LOG(...)
#define	CMT3EXITLOG
#define	CMT3LOGDAT(...)
#define	CMT3EXITLOGDAT
#define	CMT3F_DEVINFO_SIZE   (sizeof(CmtDeviceId) + sizeof(CmtDataFormat))
#define	DO_DATA_REQUEST_BID(req, bid)
#define	DO_DATA_REQUEST(req)
#define	DO_DATA_SET_BID(req, size, type, data, bid)
#define	DO_DATA_SET(req, size, type, data)
#define	HANDLE_ERR_RESULT

Macro Definition Documentation

CMT3EXITLOG

#define CMT3EXITLOG

Definition at line 43 of file cmt3.cpp.

Referenced by xsens::Cmt3::closeLogFile(), xsens::Cmt3::closePort(), xsens::Cmt3::createLogFile(), xsens::Cmt3::getAvailableScenarios(), xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusId(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDataLength(), xsens::Cmt3::getDeviceId(), xsens::Cmt3::getDeviceMode(), xsens::Cmt3::getDeviceMode2(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getFirmwareRevision(), xsens::Cmt3::getGpsLeverArm(), xsens::Cmt3::getGpsStatus(), xsens::Cmt3::getGravityMagnitude(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getLogFileName(), xsens::Cmt3::getLogFileReadPosition(), xsens::Cmt3::getLogFileSize(), xsens::Cmt3::getMagneticDeclination(), xsens::Cmt3::getMtDeviceId(), xsens::Cmt3::getPortNr(), xsens::Cmt3::getProductCode(), xsens::Cmt3::getScenario(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::getUtcTime(), xsens::Cmt3::getXmOutputMode(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::initBus(), xsens::Cmt3::openLogFile(), xsens::Cmt3::openPort(), xsens::Cmt3::peekLogMessageId(), xsens::Cmt3::refreshCache(), xsens::Cmt3::reset(), xsens::Cmt3::resetLogFileReadPos(), xsens::Cmt3::resetOrientation(), xsens::Cmt3::restoreFactoryDefaults(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setBluetoothState(), xsens::Cmt3::setBusPowerState(), xsens::Cmt3::setDataSource(), xsens::Cmt3::setDeviceMode(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setErrorMode(), xsens::Cmt3::setGotoConfigTries(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setLogMode(), xsens::Cmt3::setMagneticDeclination(), xsens::Cmt3::setScenario(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncMode(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::setTimeoutConfig(), xsens::Cmt3::setTimeoutMeasurement(), xsens::Cmt3::setXmOutputMode(), xsens::Cmt3::setXmPowerOff(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::writeMessageToLogFile().

CMT3EXITLOGDAT

#define CMT3EXITLOGDAT

Definition at line 51 of file cmt3.cpp.

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

CMT3F_DEVINFO_SIZE

#define CMT3F_DEVINFO_SIZE   (sizeof(CmtDeviceId) + sizeof(CmtDataFormat))

Definition at line 54 of file cmt3.cpp.

CMT3LOG

#define CMT3LOG

(

...

)

Definition at line 42 of file cmt3.cpp.

Referenced by xsens::Cmt3::closeLogFile(), xsens::Cmt3::closePort(), xsens::Cmt3::createLogFile(), xsens::Cmt3::getAvailableScenarios(), xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusId(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDataLength(), xsens::Cmt3::getDeviceCount(), xsens::Cmt3::getDeviceId(), xsens::Cmt3::getDeviceMode(), xsens::Cmt3::getDeviceMode2(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getFirmwareRevision(), xsens::Cmt3::getGpsLeverArm(), xsens::Cmt3::getGpsStatus(), xsens::Cmt3::getGravityMagnitude(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getLogFileName(), xsens::Cmt3::getLogFileReadPosition(), xsens::Cmt3::getLogFileSize(), xsens::Cmt3::getMagneticDeclination(), xsens::Cmt3::getMasterId(), xsens::Cmt3::getMtDeviceId(), xsens::Cmt3::getPortNr(), xsens::Cmt3::getProductCode(), xsens::Cmt3::getSampleFrequency(), xsens::Cmt3::getScenario(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::getUtcTime(), xsens::Cmt3::getXmOutputMode(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::initBus(), xsens::Cmt3::isLogFileOpen(), xsens::Cmt3::openLogFile(), xsens::Cmt3::openPort(), xsens::Cmt3::peekLogMessageId(), xsens::Cmt3::refreshCache(), xsens::Cmt3::reset(), xsens::Cmt3::resetLogFileReadPos(), xsens::Cmt3::resetOrientation(), xsens::Cmt3::restoreFactoryDefaults(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setBluetoothState(), xsens::Cmt3::setBusPowerState(), xsens::Cmt3::setDataSource(), xsens::Cmt3::setDeviceMode(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setErrorMode(), xsens::Cmt3::setGotoConfigTries(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setLogMode(), xsens::Cmt3::setMagneticDeclination(), xsens::Cmt3::setScenario(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncMode(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::setTimeoutConfig(), xsens::Cmt3::setTimeoutMeasurement(), xsens::Cmt3::setXmOutputMode(), xsens::Cmt3::setXmPowerOff(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::writeMessageToLogFile().

CMT3LOGDAT

#define CMT3LOGDAT

(

...

)

Definition at line 50 of file cmt3.cpp.

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

DO_DATA_REQUEST

#define DO_DATA_REQUEST

(

req

)

Value:

uint8_t bid = getBusIdInternal(deviceId);\
        DO_DATA_REQUEST_BID(req,bid);

Definition at line 230 of file cmt3.cpp.

Referenced by xsens::Cmt3::getAvailableScenarios(), xsens::Cmt3::getDataLength(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getFirmwareRevision(), xsens::Cmt3::getGpsLeverArm(), xsens::Cmt3::getGpsStatus(), xsens::Cmt3::getGravityMagnitude(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getMagneticDeclination(), xsens::Cmt3::getProductCode(), xsens::Cmt3::getScenario(), xsens::Cmt3::getUtcTime(), and xsens::Cmt3::restoreFactoryDefaults().

DO_DATA_REQUEST_BID

#define DO_DATA_REQUEST_BID	(		req,
			bid
	)

Value:

Message snd(req,0);\
        Message rcv;\
        if (bid == CMT_BID_INVALID || bid == CMT_BID_BROADCAST)\
                return (m_lastResult = XRV_INVALIDID);\
        if (!m_readFromFile)\
        {\
                snd.setBusId(bid);\
                m_serial.writeMessage(&snd);\
                if ((m_lastResult = m_serial.waitForMessage(&rcv,req+1,0,true)) != XRV_OK)\
                        return m_lastResult;\
                if (m_logging)\
                        m_logFile.writeMessage(&rcv);\
                if (rcv.getMessageId() == CMT_MID_ERROR)\
                {       m_lastHwErrorDeviceId = m_config.m_masterDeviceId;\
                        if (rcv.getDataSize() >= 2)\
                        {\
                                uint8_t biddy = rcv.getDataByte(1);\
                                getDeviceId(biddy,m_lastHwErrorDeviceId);\
                        }\
                        return m_lastResult = m_lastHwError = (XsensResultValue) rcv.getDataByte();\
                }\
        }\
        else\
        while (1)\
        {\
                if ((m_lastResult = m_logFile.readMessage(&rcv,req+1)) != XRV_OK)\
                        return m_lastResult;\
                if (rcv.getBusId() == bid || (rcv.getBusId() == 1 && bid == CMT_BID_MASTER))\
                        break;\
        }

Definition at line 198 of file cmt3.cpp.

Referenced by xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getXmOutputMode(), and xsens::Cmt3::initBus().

DO_DATA_SET

#define DO_DATA_SET	(		req,
			size,
			type,
			data
	)

Value:

uint8_t bid = getBusIdInternal(deviceId);\
        if (bid == CMT_BID_INVALID)\
                return (m_lastResult = XRV_INVALIDID);\
        DO_DATA_SET_BID(req,size,type,data,bid);

Definition at line 280 of file cmt3.cpp.

Referenced by xsens::Cmt3::resetOrientation(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setMagneticDeclination(), and xsens::Cmt3::setScenario().

DO_DATA_SET_BID

#define DO_DATA_SET_BID	(		req,
			size,
			type,
			data,
			bid
	)

Definition at line 236 of file cmt3.cpp.

Referenced by xsens::Cmt3::setBaudrate(), xsens::Cmt3::setBluetoothState(), xsens::Cmt3::setBusPowerState(), xsens::Cmt3::setErrorMode(), xsens::Cmt3::setSyncMode(), and xsens::Cmt3::setXmOutputMode().

HANDLE_ERR_RESULT

#define HANDLE_ERR_RESULT

Value:

if (rcv.getMessageId() == CMT_MID_ERROR)\
        {\
                m_lastHwErrorDeviceId = m_config.m_masterDeviceId;\
                if (rcv.getDataSize() >= 2)\
                {\
                        uint8_t biddy = rcv.getDataByte(1);\
                        getDeviceId(biddy,m_lastHwErrorDeviceId);\
                }\
                return m_lastResult = m_lastHwError = (XsensResultValue) rcv.getDataByte(0);\
        }

Definition at line 286 of file cmt3.cpp.

Referenced by xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), and xsens::Cmt3::setSyncOutSkipFactor().