cmt3.cpp File Reference

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

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
#define	_XM_SMALL_PACKETS_EMTS   0

Macro Definition Documentation

_XM_SMALL_PACKETS_EMTS

#define _XM_SMALL_PACKETS_EMTS   0

CMT3EXITLOG

#define CMT3EXITLOG

CMT3EXITLOGDAT

#define CMT3EXITLOGDAT

CMT3F_DEVINFO_SIZE

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

CMT3LOG

#define CMT3LOG

(

...

)

CMT3LOGDAT

#define CMT3LOGDAT

(

...

)

DO_DATA_REQUEST

#define DO_DATA_REQUEST

(

req

)

Value:

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

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;\
        }

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);

DO_DATA_SET_BID

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

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);\
        }