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C++ reference for MRPT 1.5.9
xSens_MT4
xstypes
include
xsens
xsdid.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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#ifndef XSDID_H
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#define XSDID_H
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// DID Type (high nibble)
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#define XS_DID_TYPEL_MASK 0x000F0000
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#define XS_DID_TYPEH_MASK 0x00F00000
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#define XS_DID_GPL_MASK 0x0F000000
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#define XS_DID_GPH_MASK 0xF0000000
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#define XS_DID_TYPE_MASK (XS_DID_TYPEH_MASK | XS_DID_TYPEL_MASK)
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#define XS_DID_MK4TYPE_MASK (XS_DID_TYPEH_MASK | XS_DID_GPL_MASK)
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#define XS_DID_TYPEL_SHIFT 16
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#define XS_DID_TYPEH_SHIFT 20
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#define XS_DID_GPL_SHIFT 24
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#define XS_DID_GPH_SHIFT 28
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#define XS_DID_TYPEH_XM 0x00100000
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#define XS_DID_TYPEH_AWINDAMASTER 0x00200000
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#define XS_DID_TYPEH_MTI_MTX 0x00300000
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#define XS_DID_TYPEH_MTIG 0x00500000
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#define XS_DID_TYPEH_MT_X0 0x00600000
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#define XS_DID_TYPEH_MT_X00 0x00700000
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#define XS_DID_TYPEH_MTX2_MTW2 0x00800000
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#define XS_DID_TYPEL_STATION 0x00000000
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#define XS_DID_TYPEL_DONGLE 0x00010000
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#define XS_DID_TYPEL_OEM 0x00020000
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#define XS_DID_TYPEL_RS232 0x00000000
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#define XS_DID_TYPEL_RS422 0x00010000
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#define XS_DID_TYPEL_RS485XM 0x00020000
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#define XS_DID_TYPEL_RS485 0x00030000
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#define XS_DID_TYPEL_WIRELESS 0x00040000
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#define XS_DID_GPL_10 0x01000000
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#define XS_DID_GPL_20 0x02000000
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#define XS_DID_GPL_30 0x03000000
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#define XS_DID_GPL_100 0x01000000
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#define XS_DID_GPL_200 0x02000000
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#define XS_DID_GPL_300 0x03000000
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#define XS_DID_GPL_400 0x04000000
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#define XS_DID_GPL_500 0x05000000
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#define XS_DID_GPL_600 0x06000000
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#define XS_DID_GPL_700 0x07000000
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#define XS_DID_GPL_800 0x08000000
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#define XS_DID_GPL_900 0x09000000
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#define XS_DID_GPL_IMU 0x01000000
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#define XS_DID_GPL_VRU 0x02000000
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#define XS_DID_GPL_AHRS 0x03000000
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#define XS_DID_GPL_AHRSGPS XS_DID_GPL_400
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#define XS_DID_GPL_AHRSGPSG XS_DID_GPL_500
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#define XS_DID_GPL_GPSINS XS_DID_GPL_600
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#define XS_DID_GPL_GPSINSG XS_DID_GPL_700
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#define XS_DID_TYPE_AWINDA_STATION (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_STATION)
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#define XS_DID_TYPE_AWINDA_DONGLE (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_DONGLE)
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#define XS_DID_TYPE_AWINDA_OEM (XS_DID_TYPEH_AWINDAMASTER | XS_DID_TYPEL_OEM)
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#define XS_DID_TYPE_MTW (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_WIRELESS)
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#define XS_DID_TYPE_MTIX_RS232 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS232)
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#define XS_DID_TYPE_MTIX_RS422 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS422)
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#define XS_DID_TYPE_MTIX_RS485 (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS485)
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#define XS_DID_TYPE_MTX_XBUS (XS_DID_TYPEH_MTI_MTX | XS_DID_TYPEL_RS485XM)
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#define XS_DID_TYPE_MTW2 (XS_DID_TYPEH_MTX2_MTW2 | XS_DID_TYPEL_WIRELESS)
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#define XS_DID_MK4TYPE_MT_10 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_10)
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#define XS_DID_MK4TYPE_MT_20 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_20)
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#define XS_DID_MK4TYPE_MT_30 (XS_DID_TYPEH_MT_X0 | XS_DID_GPL_30)
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#define XS_DID_MK4TYPE_MT_100 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_100)
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#define XS_DID_MK4TYPE_MT_200 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_200)
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#define XS_DID_MK4TYPE_MT_300 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_300)
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#define XS_DID_MK4TYPE_MT_400 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_400)
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#define XS_DID_MK4TYPE_MT_500 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_500)
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#define XS_DID_MK4TYPE_MT_600 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_600)
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#define XS_DID_MK4TYPE_MT_700 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_700)
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#define XS_DID_MK4TYPE_MT_800 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_800)
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#define XS_DID_MK4TYPE_MT_900 (XS_DID_TYPEH_MT_X00 | XS_DID_GPL_900)
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#define XS_DID_BROADCAST 0x80000000
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#define XS_DID_MASTER 0x00000000
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#define XS_DID_XM(did) ((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_XM)
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#define XS_DID_NOXM(did) ((did & XS_DID_TYPEH_MASK) != XS_DID_TYPEH_XM)
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#define XS_DID_WM(did) ((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_AWINDAMASTER)
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#define XS_DID_NOWM(did) ((did & XS_DID_TYPEH_MASK) != XS_DID_TYPEH_AWINDAMASTER)
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#define XS_DID_WMMT(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MTW)
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#define XS_DID_NOWMMT(did) ((did & XS_DID_TYPE_MASK) != XS_DID_TYPE_MTW)
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#define XS_DID_XMMT(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MASK_MT_XM)
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#define XS_DID_NOXMMT(did) ((did & XS_DID_TYPE_MASK) != XS_DID_TYPE_MASK_MT_XM)
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#define XS_DID_MTIX(did) (((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_MTI_MTX) && XS_DID_NOWMMT(did))
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#define XS_DID_MTIG(did) (((did & XS_DID_TYPEH_MASK) == XS_DID_TYPEH_MTIG) || ((did & XS_DID_MK4TYPE_MASK) == XS_DID_MK4TYPE_MT_700))
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#define XS_DID_MTW2(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_MTW2)
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#define XS_DID_AWINDA_STATION(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_STATION)
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#define XS_DID_AWINDA_DONGLE(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_DONGLE)
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#define XS_DID_AWINDA_OEM(did) ((did & XS_DID_TYPE_MASK) == XS_DID_TYPE_AWINDA_OEM)
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#endif // file guard
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for MRPT 1.5.9 Git: 690a4699f Wed Apr 15 19:29:53 2020 +0200 at mié abr 15 19:30:12 CEST 2020