xsxbusmessageid.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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