xsxbusmessageid.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef XSXBUSMESSAGEID_H
#define XSXBUSMESSAGEID_H

/*!     \addtogroup enums Global enumerations
        @{
*/
/*! \brief Xsens Xbus Message Identifiers
*/
enum XsXbusMessageId {
        XMID_InvalidMessage             =0x00,

        // Wakeup state messages
        XMID_Wakeup                     =0x3E,
        XMID_WakeupAck                  =0x3F,

        // Config state messages
        XMID_ReqDid                     =0x00,
        XMID_DeviceId                   =0x01,
        XMID_Initbus                    =0x02,
        XMID_InitBusResults             =0x03,
        XMID_ReqPeriod                  =0x04,
        XMID_ReqPeriodAck               =0x05,
        XMID_SetPeriod                  =0x04,
        XMID_SetPeriodAck               =0x05,
        // XbusMaster
        XMID_SetBid                     =0x06,
        XMID_SetBidAck                  =0x07,
        XMID_AutoStart                  =0x06,
        XMID_AutoStartAck               =0x07,
        XMID_BusPower                   =0x08,
        XMID_BusPowerAck                =0x09,
        // End XbusMaster=
        XMID_ReqDataLength              =0x0A,
        XMID_DataLength                 =0x0B,
        XMID_ReqConfiguration           =0x0C,
        XMID_Configuration              =0x0D,
        XMID_RestoreFactoryDef          =0x0E,
        XMID_RestoreFactoryDefAck       =0x0F,

        XMID_GotoMeasurement            =0x10,
        XMID_GotoMeasurementAck         =0x11,
        XMID_ReqFirmwareRevision        =0x12,
        XMID_FirmwareRevision           =0x13,
        // XbusMaster
        XMID_ReqBluetoothDisable        =0x14,
        XMID_ReqBluetoothDisableAck     =0x15,
        XMID_DisableBluetooth           =0x14,
        XMID_DisableBluetoothAck        =0x15,
        XMID_ReqXmOutputMode            =0x16,
        XMID_ReqXmOutputModeAck         =0x17,
        XMID_SetXmOutputMode            =0x16,
        XMID_SetXmOutputModeAck         =0x17,
        // End XbusMaster
        XMID_ReqBaudrate                =0x18,
        XMID_ReqBaudrateAck             =0x19,
        XMID_SetBaudrate                =0x18,
        XMID_SetBaudrateAck             =0x19,
        // XbusMaster
        XMID_ReqSyncMode                =0x1A,
        XMID_ReqSyncModeAck             =0x1B,
        XMID_SetSyncMode                =0x1A,
        XMID_SetSyncModeAck             =0x1B,
        // End XbusMaster
        XMID_ReqProductCode             =0x1C,
        XMID_ProductCode                =0x1D,

        XMID_ReqProcessingFlags         =0x20,
        XMID_ReqProcessingFlagsAck      =0x21,
        XMID_SetProcessingFlags         =0x20,
        XMID_SetProcessingFlagsAck      =0x21,

        XMID_ReqInputTrigger            =0x26,
        XMID_ReqInputTriggerAck         =0x27,
        XMID_SetInputTrigger            =0x26,
        XMID_SetInputTriggerAck         =0x27,

        XMID_ReqOutputTrigger           =0x28,
        XMID_ReqOutputTriggerAck        =0x29,
        XMID_SetOutputTrigger           =0x28,
        XMID_SetOutputTriggerAck        =0x29,

        XMID_SetSyncBoxMode             =0x2A,
        XMID_SetSyncBoxModeAck          =0x2B,
        XMID_ReqSyncBoxMode             =0x2A,
        XMID_ReqSyncBoxModeAck          =0x2B,

        XMID_SetSyncConfiguration       =0x2C,
        XMID_SetSyncConfigurationAck    =0x2D,
        XMID_ReqSyncConfiguration       =0x2C,
        XMID_SyncConfiguration          =0x2D,

        XMID_DriverDisconnect           =0x2E,
        XMID_DriverDisconnectAck        =0x2F,

        // XbusMaster
        XMID_XmPowerOff                 =0x44,
        // End XbusMaster

        XMID_ReqOutputConfiguration     =0xC0,
        XMID_ReqOutputConfigurationAck  =0xC1,
        XMID_SetOutputConfiguration     =0xC0,
        XMID_SetOutputConfigurationAck  =0xC1,

        XMID_ReqOutputMode              =0xD0,
        XMID_ReqOutputModeAck           =0xD1,
        XMID_SetOutputMode              =0xD0,
        XMID_SetOutputModeAck           =0xD1,

        XMID_ReqOutputSettings          =0xD2,
        XMID_ReqOutputSettingsAck       =0xD3,
        XMID_SetOutputSettings          =0xD2,
        XMID_SetOutputSettingsAck       =0xD3,

        XMID_ReqOutputSkipFactor        =0xD4,
        XMID_ReqOutputSkipFactorAck     =0xD5,
        XMID_SetOutputSkipFactor        =0xD4,
        XMID_SetOutputSkipFactorAck     =0xD5,

        XMID_ReqSyncInSettings          =0xD6,
        XMID_ReqSyncInSettingsAck       =0xD7,
        XMID_SetSyncInSettings          =0xD6,
        XMID_SetSyncInSettingsAck       =0xD7,

        XMID_ReqSyncOutSettings         =0xD8,
        XMID_ReqSyncOutSettingsAck      =0xD9,
        XMID_SetSyncOutSettings         =0xD8,
        XMID_SetSyncOutSettingsAck      =0xD9,

        XMID_ReqErrorMode               =0xDA,
        XMID_ReqErrorModeAck            =0xDB,
        XMID_SetErrorMode               =0xDA,
        XMID_SetErrorModeAck            =0xDB,

        XMID_ReqTransmitDelay           =0xDC,
        XMID_ReqTransmitDelayAck        =0xDD,
        XMID_SetTransmitDelay           =0xDC,
        XMID_SetTransmitDelayAck        =0xDD,

        XMID_SetMfmResults              =0xDE,
        XMID_SetMfmResultsAck           =0xDF,

        XMID_ReqObjectAlignment         =0xE0,
        XMID_ReqObjectAlignmentAck      =0xE1,
        XMID_SetObjectAlignment         =0xE0,
        XMID_SetObjectAlignmentAck      =0xE1,

        XMID_ReqAlignmentRotation       =0xEC,
        XMID_ReqAlignmentRotationAck    =0xED,
    XMID_SetAlignmentRotation       =0xEC,
    XMID_SetAlignmentRotationAck    =0xED,

        // Xbus Master
        XMID_ReqXmErrorMode             =0x82,
        XMID_ReqXmErrorModeAck          =0x83,
        XMID_SetXmErrorMode             =0x82,
        XMID_SetXmErrorModeAck          =0x83,

        XMID_ReqBufferSize              =0x84,
        XMID_ReqBufferSizeAck           =0x85,
        XMID_SetBufferSize              =0x84,
        XMID_SetBufferSizeAck           =0x85,
        // End Xbus Master

        XMID_ReqHeading                 =0x82,
        XMID_ReqHeadingAck              =0x83,
        XMID_SetHeading                 =0x82,
        XMID_SetHeadingAck              =0x83,

        XMID_ReqMagneticField           =0x6A,
        XMID_ReqMagneticFieldAck        =0x6B,
        XMID_SetMagneticField           =0x6A,
        XMID_SetMagneticFieldAck        =0x6B,

        XMID_ReqLocationid              =0x84,
        XMID_ReqLocationidAck           =0x85,
        XMID_SetLocationId              =0x84,
        XMID_SetLocationIdAck           =0x85,

        XMID_ReqExtOutputMode           =0x86,
        XMID_ReqExtOutputModeAck        =0x87,
        XMID_SetExtOutputMode           =0x86,
        XMID_SetExtOutputModeAck        =0x87,
        
        XMID_ReqStringOutputType                =0x8E,
        XMID_ReqStringOutputTypeAck             =0x8F,
        XMID_SetStringOutputType                =0x8E,
        XMID_SetStringOutputTypeAck             =0x8F,

        // XbusMaster
        XMID_ReqBatteryLevel            =0x88,
        XMID_Batterylevel               =0x89,
        // End XbusMaster

        XMID_ReqInitTrackMode           =0x88,
        XMID_ReqInitTrackModeAck        =0x89,
        XMID_SetInitTrackMode           =0x88,
        XMID_SetInitTrackModeAck        =0x89,

        XMID_ReqMasterSettings          =0x8A,
        XMID_MasterSettings             =0x8B,

        XMID_StoreFilterState           =0x8A,
        XMID_StoreFilterStateAck        =0x8B,

        XMID_SetUtcTime                 =0x60,
        XMID_ReqUtcTime                 =0x60,
        XMID_SetUtcTimeAck              =0x61,
        XMID_UtcTime                    =0x61,
        XMID_AdjustUtcTime                              =0xA8,
        XMID_AdjustUtcTimeAck                   =0xA9,

        XMID_ReqActiveClockCorrection   =0x9C,
        XMID_ActiveClockCorrection      =0x9D,
        XMID_StoreActiveClockCorrection =0x9E,
        XMID_StoreActiveClockCorrectionAck = 0x9F,

        XMID_ReqAvailableFilterProfiles =0x62,
        XMID_AvailableFilterProfiles    =0x63,

        XMID_ReqFilterProfile           =0x64,
        XMID_ReqFilterProfileAck        =0x65,
        XMID_SetFilterProfile           =0x64,
        XMID_SetFilterProfileAck        =0x65,

        // the name 'scenario' has been deprecated for this use
        XMID_ReqAvailableScenarios      =XMID_ReqAvailableFilterProfiles,
        XMID_AvailableScenarios         =XMID_AvailableFilterProfiles,
        XMID_ReqScenario                =XMID_ReqFilterProfile,
        XMID_ReqScenarioAck             =XMID_ReqFilterProfileAck,
        XMID_SetScenario                =XMID_SetFilterProfile,
        XMID_SetScenarioAck             =XMID_SetFilterProfileAck,

        XMID_ReqGravityMagnitude        =0x66,
        XMID_ReqGravityMagnitudeAck     =0x67,
        XMID_SetGravityMagnitude        =0x66,
        XMID_SetGravityMagnitudeAck     =0x67,

        XMID_ReqGpsLeverArm             =0x68,
        XMID_ReqGpsLeverArmAck          =0x69,
        XMID_SetGpsLeverArm             =0x68,
        XMID_SetGpsLeverArmAck          =0x69,

        XMID_ReqLatLonAlt               =0x6E,
        XMID_ReqLatLonAltAck            =0x6F,
        XMID_SetLatLonAlt               =0x6E,
        XMID_SetLatLonAltAck            =0x6F,

        // Measurement state
        XMID_GotoConfig                 =0x30,
        XMID_GotoConfigAck              =0x31,
        XMID_BusData                    =0x32,
        XMID_MtData                     =0x32,

        XMID_SetNoRotation              =0x22,
        XMID_SetNoRotationAck           =0x23,

        XMID_RunSelfTest                =0x24,
        XMID_SelfTestResults            =0x25,

        // Manual
        XMID_PrepareData                =0x32,
        XMID_ReqData                    =0x34,
        XMID_ReqDataAck                 =0x35,

        XMID_MtData2                    =0x36,

        // Valid in all states
        XMID_Reset                      =0x40,
        XMID_ResetAck                   =0x41,
        XMID_Error                      =0x42,
        // Wireless
        XMID_MasterIndication           =0x46,

        XMID_ReqFilterSettings          =0xA0,
        XMID_ReqFilterSettingsAck       =0xA1,
        XMID_SetFilterSettings          =0xA0,
        XMID_SetFilterSettingsAck       =0xA1,
        XMID_ReqAmd                     =0xA2,
        XMID_ReqAmdAck                  =0xA3,
        XMID_SetAmd                     =0xA2,
        XMID_SetAmdAck                  =0xA3,
        XMID_ResetOrientation           =0xA4,
        XMID_ResetOrientationAck        =0xA5,

        XMID_ReqGpsStatus               =0xA6,
        XMID_GpsStatus                  =0xA7,

        XMID_WriteDeviceId                              =0xB0,
        XMID_WriteDeviceIdAck           =0xB1,
        XMID_WriteSecurityKey           =0xB2,
        XMID_WriteSecurityKeyAck        =0xB3,
        XMID_ProtectFlash                       =0xB4,
        XMID_ProtectFlashAck                    =0xB5,
        XMID_ReqSecurityCheck                   =0xB6,
        XMID_SecurityCheck                              =0xB7,

        // Wireless
        XMID_ScanChannels               =0xB0,
        XMID_ScanChannelsAck            =0xB1,
        XMID_EnableMaster               =0xB2,
        XMID_EnableMasterAck            =0xB3,
        XMID_DisableMaster              =0xB4,
        XMID_DisableMasterAck           =0xB5,
        XMID_ReqRadioChannel                    =0xB6,
        XMID_ReqRadioChannelAck                 =0xB7,
        XMID_SetClientPriority          =0xB8,
        XMID_SetClientPriorityAck       =0xB9,
        XMID_ReqClientPriority          =0xB8,
        XMID_ReqClientPriorityAck       =0xB9,
        XMID_SetWirelessConfig          =0xBA,
        XMID_SetWirelessConfigAck       =0xBB,
        XMID_ReqWirelessConfig          =0xBA,
        XMID_ReqWirelessConfigAck       =0xBB,
        XMID_UpdateBias                 =0xBC,
        XMID_UpdateBiasAck              =0xBD,
        XMID_ToggleIoPins                               =0xBE,
        XMID_ToggleIoPinsAck                    =0xBF,

        XMID_SetTransportMode           =0xC2,
        XMID_SetTransportModeAck        =0xC3,
        XMID_ReqTransportMode           =0xC2,
        XMID_ReqTransportModeAck        =0xC3,

        XMID_AcceptMtw                  =0xC4,
        XMID_AcceptMtwAck               =0xC5,
        XMID_RejectMtw                  =0xC6,
        XMID_RejectMtwAck               =0xC7,
        XMID_InfoRequest                =0xC8,
        XMID_InfoRequestAck             =0xC9,

        XMID_ReqFrameRates              =0xCA,
        XMID_ReqFrameRatesAck           =0xCB,

        XMID_StartRecording             =0xCC,
        XMID_StartRecordingAck          =0xCD,
        XMID_StopRecording              =0xCE,
        XMID_StopRecordingAck           =0xCF,

        XMID_InfoBatteryLevel           =0x49,
        XMID_InfoTemperature            =0x4A,

        XMID_GotoOperational            =0xC0,
        XMID_GotoOperationalAck         =0xC1,
        // End Wireless

        XMID_ReqEmts                    =0x90,
        XMID_EmtsData                   =0x91,

        XMID_RestoreEmts                                =0x94,
        XMID_RestoreEmtsAck                             =0x95,
        XMID_StoreEmts                          =0x96,
        XMID_StoreEmtsAck                               =0x97,

        XMID_GotoTransparentMode                =0x50,
        XMID_GotoTransparentModeAck             =0x51
};
/*! @} */
typedef enum XsXbusMessageId XsXbusMessageId;

#endif // file guard