r/rock-master-18.09-drivers-xsens-imu/rock-master-18.09-drivers-xsens-imu_0.20180621-1~trusty_amd64.deb

 #ifndef XSENS_MONOLITHIC


 #endif

 #ifndef CMT3_H

 #define CMT3_H


 #ifndef XSENS_MONOLITHIC

 #       include "cmt2.h"

 #       include "cmtpacket.h"

 #endif


 namespace xsens {


 class Cmt3 {

 protected:

         Cmt2s m_serial;

         Cmt2f m_logFile;

         uint16_t m_period;

         uint16_t m_skip;


         uint32_t m_rtcCount;

         CmtMtTimeStamp m_rtcLastSc;

         xsens::TimeSync m_rtcSync;

         bool m_rtcInitialized;


         uint32_t m_baudrate;

         uint32_t m_timeoutConf;

         uint32_t m_timeoutMeas;

         mutable XsensResultValue m_lastResult;

         uint16_t m_firstItem;

         uint16_t m_gotoConfigTries;

         bool m_measuring;

         bool m_detailedScan;

         bool m_readFromFile;

         bool m_logging;

         XsensResultValue m_lastHwError;

         CmtDeviceId m_lastHwErrorDeviceId;


         uint32_t m_readBufSize;

         uint32_t m_writeBufSize;


 public:

         bool m_useRtc;

         void* m_eMtsData[CMT_MAX_DEVICES_PER_PORT];

         CmtDeviceConfiguration m_config;


 protected:

         Cmt3(const Cmt3& ref);

         void fillRtc(Packet* pack);

         uint8_t getBusIdInternal(const CmtDeviceId devId) const;


 public:


         Cmt3();

         ~Cmt3();


         XsensResultValue closePort(bool gotoConfigFirst=true);

         XsensResultValue getBatteryLevel(uint8_t& level);

         XsensResultValue getBaudrate (uint32_t& baudrate);

         XsensResultValue getBluetoothState(bool& enabled);

         XsensResultValue getBusId (uint8_t& busId, const CmtDeviceId deviceId = CMT_DID_MASTER) const;

         XsensResultValue getBusPowerState(bool& enabled);


         Cmt2f* getCmt2f(void);

         Cmt2s* getCmt2s(void);


         XsensResultValue getConfiguration(CmtDeviceConfiguration& configuration);

         XsensResultValue getDataLength(uint32_t& length, const CmtDeviceId deviceId = CMT_DID_MASTER);

         uint32_t getDeviceCount(void) const;

         XsensResultValue getDeviceId(const uint8_t busId, CmtDeviceId& deviceId) const;

         XsensResultValue getDeviceMode(CmtDeviceMode& mode, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getDeviceMode2(CmtDeviceMode2& mode, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getEMtsData(void* buffer, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getErrorMode(uint16_t& mode, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getFirmwareRevision(CmtVersion& revision, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getHeading(double& heading, const CmtDeviceId deviceId = CMT_DID_MASTER);


         XsensResultValue getLastResult(void) const

                 { return m_lastResult; }

         XsensResultValue getHwError(CmtDeviceId& did) const

                 { did = m_lastHwErrorDeviceId; return m_lastHwError; }

         void clearHwError(void)

                 { m_lastHwErrorDeviceId = 0; m_lastHwError = XRV_OK; }


         XsensResultValue getLatLonAlt(CmtVector& lla, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getLocationId (uint16_t& locationId, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getLogFileReadPosition(XsensFilePos& pos);


         XsensResultValue getLogFileSize(XsensFilePos& size);

         XsensResultValue getLogFileName(char* filename);

         XsensResultValue getLogFileName(wchar_t* filename);

         XsensResultValue getMagneticDeclination(double& declination, const CmtDeviceId deviceId = CMT_DID_MASTER);

         CmtDeviceId getMasterId(void);


         uint16_t getMtCount(void) const;

         XsensResultValue getMtDeviceId(const uint8_t index, CmtDeviceId& deviceId) const;

         XsensResultValue getObjectAlignmentMatrix(CmtMatrix& matrix, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getPortNr(uint16_t& port) const;

         XsensResultValue getProductCode(char* productCode, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getProcessingFlags (uint16_t& processingFlags, const CmtDeviceId deviceId = CMT_DID_MASTER);

         uint16_t getSampleFrequency(void);

         XsensResultValue getSerialBaudrate(uint32_t& baudrate);

         XsensResultValue getSyncInSettings(CmtSyncInSettings& settings);

         XsensResultValue getSyncInMode(uint16_t& mode);

         XsensResultValue getSyncInSkipFactor(uint16_t& skipFactor);

         XsensResultValue getSyncInOffset(uint32_t& offset);

         XsensResultValue getSyncMode(uint8_t& mode);

         XsensResultValue getSyncOutSettings(CmtSyncOutSettings& settings);

         XsensResultValue getSyncOutMode(uint16_t& mode);

         XsensResultValue getSyncOutPulseWidth(uint32_t& pulseWidth);

         XsensResultValue getSyncOutSkipFactor(uint16_t& skipFactor);

         XsensResultValue getSyncOutOffset(uint32_t& offset);

         uint32_t getTimeoutConfig(void) const;

         uint32_t getTimeoutMeasurement(void) const;

         XsensResultValue getTransmissionDelay(uint16_t& delay, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getUtcTime(CmtUtcTime& utc, const CmtDeviceId deviceId);

         XsensResultValue getXmOutputMode(uint8_t& mode);

         XsensResultValue gotoConfig(void);

         XsensResultValue gotoMeasurement(void);

         XsensResultValue initBus(void);

         bool isLogging(void) const

                 { return m_logging; }

         bool isReadingFromFile(void) const

                 { return m_readFromFile; }

         bool isPortOpen(void) const

                 { return (m_serial.isOpen()); }

         bool isXm(void) const;


         XsensResultValue openPort(const char *portName, const uint32_t baudRate = CMT_DEFAULT_BAUD_RATE,

                                                         uint32_t readBufSize = CMT_DEFAULT_READ_BUFFER_SIZE,

                                                         uint32_t writeBufSize = CMT_DEFAULT_WRITE_BUFFER_SIZE);

 #ifdef _WIN32

         XsensResultValue openPort(const uint32_t portNumber, const uint32_t baudRate = CMT_DEFAULT_BAUD_RATE,

                                                         uint32_t readBufSize = CMT_DEFAULT_READ_BUFFER_SIZE,

                                                         uint32_t writeBufSize = CMT_DEFAULT_WRITE_BUFFER_SIZE);

 #endif

         XsensResultValue peekLogMessageId(uint8_t& messageId);

         XsensResultValue readDataPacket (Packet* pack, bool acceptOther = false);

         XsensResultValue requestData(Packet* pack, const uint8_t *data = 0, const uint16_t count = 0);

         XsensResultValue reset(void);

         XsensResultValue resetOrientation(const CmtResetMethod method, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue runSelfTest(uint16_t &result, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setNoRotation(const uint16_t duration, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue restoreFactoryDefaults(const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setBaudrate (const uint32_t baudrate, bool reconnect = true);

         XsensResultValue setBluetoothState(const bool enabled);

         XsensResultValue setBusPowerState(const bool enabled);

         XsensResultValue setDeviceMode (const CmtDeviceMode& mode, bool force, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setDeviceMode2 (const CmtDeviceMode2& mode, bool force, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setErrorMode(const uint16_t mode);

         XsensResultValue setGotoConfigTries(const uint16_t tries);

         XsensResultValue setHeading (const double heading, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setLatLonAlt(const CmtVector& lla, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setLocationId (uint16_t locationId, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setMagneticDeclination(const double declination, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setObjectAlignmentMatrix(const CmtMatrix& matrix, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setProcessingFlags (uint16_t processingFlags, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setSyncInSettings(const CmtSyncInSettings& settings);

         XsensResultValue setSyncInMode (const uint16_t mode);

         XsensResultValue setSyncInSkipFactor (const uint16_t skipFactor);

         XsensResultValue setSyncInOffset (const uint32_t offset);

         XsensResultValue setSyncMode(const uint8_t mode);

         XsensResultValue setSyncOutSettings(const CmtSyncOutSettings& settings);

         XsensResultValue setSyncOutMode (const uint16_t mode);

         XsensResultValue setSyncOutPulseWidth (const uint32_t pulseWidth);

         XsensResultValue setSyncOutSkipFactor (const uint16_t skipFactor);

         XsensResultValue setSyncOutOffset (const uint32_t offset);

         XsensResultValue setTimeout (const uint32_t ms)

                 { return (m_lastResult = m_serial.setTimeout(ms)); }

         XsensResultValue setTimeoutConfig (const uint32_t timeout = CMT3_DEFAULT_TIMEOUT_CONF);

         XsensResultValue setTimeoutMeasurement (const uint32_t timeout = CMT3_DEFAULT_TIMEOUT_MEAS);

         XsensResultValue setTransmissionDelay(const uint16_t delay);

         XsensResultValue setXmOutputMode(const uint8_t mode);

         XsensResultValue setXmPowerOff(void);

         XsensResultValue refreshCache(const bool file = false);

         XsensResultValue waitForDataMessage(Packet* pack);

         XsensResultValue createLogFile(const char* filename,bool startLogging = false);

         XsensResultValue createLogFile(const wchar_t* filename,bool startLogging = false);

         XsensResultValue closeLogFile(bool del=false);

         bool isLogFileOpen(const char* filename) const;

         bool isLogFileOpen(const wchar_t* filename) const;

         XsensResultValue openLogFile(const char* filename);

         XsensResultValue openLogFile(const wchar_t* filename);

         XsensResultValue setDataSource(bool readFromFile);

         XsensResultValue setLogMode(bool active);

         XsensResultValue resetLogFileReadPos(void);

         XsensResultValue writeMessageToLogFile(const Message& msg);

         XsensResultValue getAvailableScenarios(CmtScenario* scenarios, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getScenario(uint8_t& scenarioType, uint8_t& scenarioVersion, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setScenario(const uint8_t scenarioType, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getGravityMagnitude(double& magnitude, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setGravityMagnitude(const double magnitude, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getGpsLeverArm(CmtVector& arm, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue getGpsStatus(CmtGpsStatus& status, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue setGpsLeverArm(const CmtVector& arm, const CmtDeviceId deviceId = CMT_DID_MASTER);

         XsensResultValue storeXkfState(const CmtDeviceId deviceId = CMT_DID_MASTER);

 };


 } // end of xsens namespace


 #endif  // CMT3_H

CmtSyncInSettings
A structure for storing sync in settings.
Definition: cmtdef.h:967

xsens::Cmt3::m_readFromFile
bool m_readFromFile
Indicates whether to read from the log file or from the serial port.
Definition: cmt3.h:64

xsens::Cmt3::setSyncOutSkipFactor
XsensResultValue setSyncOutSkipFactor(const uint16_t skipFactor)
Set the outbound synchronization skip factor of an MT device.
Definition: cmt3.cpp:2710

xsens::Cmt3::setScenario
XsensResultValue setScenario(const uint8_t scenarioType, const CmtDeviceId deviceId=CMT_DID_MASTER)
Specify the scenario to use in the sensor.
Definition: cmt3.cpp:3273

xsens::Cmt3::getEMtsData
XsensResultValue getEMtsData(void *buffer, const CmtDeviceId deviceId=CMT_DID_MASTER)
Retrieve the eMts data of the specified sensor(s).
Definition: cmt3.cpp:683

xsens::Cmt3::setObjectAlignmentMatrix
XsensResultValue setObjectAlignmentMatrix(const CmtMatrix &matrix, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the currently used object alignment matrix.
Definition: cmt3.cpp:2371

xsens::Cmt3::m_rtcCount
uint32_t m_rtcCount
The long sample counter (normal counter wraps at 64k).
Definition: cmt3.h:51

xsens::Cmt3::getDataLength
XsensResultValue getDataLength(uint32_t &length, const CmtDeviceId deviceId=CMT_DID_MASTER)
Retrieve data size.
Definition: cmt3.cpp:595

xsens::Cmt3::openLogFile
XsensResultValue openLogFile(const char *filename)
Open a log file for input.
Definition: cmt3.cpp:3105

xsens::Cmt3::getConfiguration
XsensResultValue getConfiguration(CmtDeviceConfiguration &configuration)
Get device configuration.
Definition: cmt3.cpp:540

xsens::Cmt3::isLogging
bool isLogging(void) const
<
Definition: cmt3.h:152

xsens::Cmt3::getLogFileName
XsensResultValue getLogFileName(char *filename)
Retrieve the name of the open log file or an empty string if no logfile is open.
Definition: cmt3.cpp:996

xsens::Cmt3::getSyncOutMode
XsensResultValue getSyncOutMode(uint16_t &mode)
Retrieve the outbound synchronization mode of an MT device.
Definition: cmt3.cpp:1387

xsens::Cmt3::setLocationId
XsensResultValue setLocationId(uint16_t locationId, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the location ID of a sensor.
Definition: cmt3.cpp:2351

xsens::Cmt3::getLogFileSize
XsensResultValue getLogFileSize(XsensFilePos &size)
Retrieve the size of the open log file in bytes.
Definition: cmt3.cpp:980

xsens::Cmt3::getMasterId
CmtDeviceId getMasterId(void)
Definition: cmt3.cpp:1034

xsens::Cmt3::storeXkfState
XsensResultValue storeXkfState(const CmtDeviceId deviceId=CMT_DID_MASTER)
Store important components of the XKF filter state to non-volatile memory.
Definition: cmt3.cpp:3376

cmtpacket.h
Contains the CMT Packet interface.

xsens::Cmt3::m_lastHwError
XsensResultValue m_lastHwError
Contains the last error reported by hardware.
Definition: cmt3.h:66

xsens::Cmt3::m_config
CmtDeviceConfiguration m_config
Cached configuration data.
Definition: cmt3.h:75

xsens::Cmt3::getLastResult
XsensResultValue getLastResult(void) const
<
Definition: cmt3.h:109

xsens::Cmt3::setTimeoutConfig
XsensResultValue setTimeoutConfig(const uint32_t timeout=CMT3_DEFAULT_TIMEOUT_CONF)
Set the configuration mode timeout.
Definition: cmt3.cpp:2767

xsens::Cmt3::getFirmwareRevision
XsensResultValue getFirmwareRevision(CmtVersion &revision, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return Firmware revision.
Definition: cmt3.cpp:910

xsens::Cmt3::setHeading
XsensResultValue setHeading(const double heading, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the heading offset.
Definition: cmt3.cpp:2303

xsens::Cmt3::getHwError
XsensResultValue getHwError(CmtDeviceId &did) const
<
Definition: cmt3.h:111

xsens::Cmt2s::setTimeout
XsensResultValue setTimeout(const uint32_t ms=CMT2_DEFAULT_TIMEOUT)
Set the default timeout value to use in blocking operations.
Definition: cmt2.cpp:342

xsens::Cmt3::m_detailedScan
bool m_detailedScan
Automatically scan for device details during open. Default is true (recommended). ...
Definition: cmt3.h:63

xsens::Cmt3::getGpsStatus
XsensResultValue getGpsStatus(CmtGpsStatus &status, const CmtDeviceId deviceId=CMT_DID_MASTER)
Request the status of the GPS satellites in orbit.
Definition: cmt3.cpp:3325

xsens::Cmt3::getDeviceId
XsensResultValue getDeviceId(const uint8_t busId, CmtDeviceId &deviceId) const
Retrieve the DeviceId of a device given its Bus ID.
Definition: cmt3.cpp:622

xsens::Cmt3::Cmt3
Cmt3()
Default constructor, initializes all members to their default values.
Definition: cmt3.cpp:311

xsens::Cmt3::isXm
bool isXm(void) const
Return whether the main device is an Xbus Master or not.
Definition: cmt3.cpp:1646

xsens::Cmt3::getGravityMagnitude
XsensResultValue getGravityMagnitude(double &magnitude, const CmtDeviceId deviceId=CMT_DID_MASTER)
Retrieve the currently used magnitude of the gravity vector.
Definition: cmt3.cpp:3294

xsens::Cmt3::setLatLonAlt
XsensResultValue setLatLonAlt(const CmtVector &lla, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the current sensor position.
Definition: cmt3.cpp:2314

xsens::Cmt3::getDeviceMode
XsensResultValue getDeviceMode(CmtDeviceMode &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return device mode.
Definition: cmt3.cpp:640

xsens::Cmt3::getSyncInOffset
XsensResultValue getSyncInOffset(uint32_t &offset)
Retrieve the inbound synchronization offset of an MT device.
Definition: cmt3.cpp:1288

xsens::Cmt3::fillRtc
void fillRtc(Packet *pack)
Internal function to compute the RTC value.
Definition: cmt3.cpp:365

xsens::Cmt3::getBusPowerState
XsensResultValue getBusPowerState(bool &enabled)
Get the state of the Xbus power.
Definition: cmt3.cpp:516

xsens::Cmt3::m_lastHwErrorDeviceId
CmtDeviceId m_lastHwErrorDeviceId
Contains the Device ID of the device that caused the last hardware error.
Definition: cmt3.h:67

xsens::Cmt3::getSyncInSkipFactor
XsensResultValue getSyncInSkipFactor(uint16_t &skipFactor)
Retrieve the inbound synchronization skip factor of an MT device.
Definition: cmt3.cpp:1263

CMT_DEFAULT_BAUD_RATE
#define CMT_DEFAULT_BAUD_RATE
The default baud rate of the Cmt1s serial communication.
Definition: cmtdef.h:828

xsens::Cmt3::setSyncInSkipFactor
XsensResultValue setSyncInSkipFactor(const uint16_t skipFactor)
Set the inbound synchronization skip factor of an MT device.
Definition: cmt3.cpp:2520

xsens::Cmt3::setDeviceMode
XsensResultValue setDeviceMode(const CmtDeviceMode &mode, bool force, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the complete output mode of a device.
Definition: cmt3.cpp:2133

xsens::Cmt3::getSerialBaudrate
XsensResultValue getSerialBaudrate(uint32_t &baudrate)
Return the baud rate used for serial communication.
Definition: cmt3.cpp:1137

xsens::Cmt3::setXmOutputMode
XsensResultValue setXmOutputMode(const uint8_t mode)
Set the dual-output mode of the XM.
Definition: cmt3.cpp:2807

xsens::Cmt3::getBusId
XsensResultValue getBusId(uint8_t &busId, const CmtDeviceId deviceId=CMT_DID_MASTER) const
Retrieve the BusId of a device.
Definition: cmt3.cpp:474

xsens::Cmt3::getDeviceMode2
XsensResultValue getDeviceMode2(CmtDeviceMode2 &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return device mode2.
Definition: cmt3.cpp:658

xsens::Cmt3::getProductCode
XsensResultValue getProductCode(char *productCode, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return product code.
Definition: cmt3.cpp:1109

xsens::Cmt3::clearHwError
void clearHwError(void)
Definition: cmt3.h:113

xsens::Cmt3::getTimeoutConfig
uint32_t getTimeoutConfig(void) const
Return the configuration mode timeout.
Definition: cmt3.cpp:1492

xsens::Cmt3::readDataPacket
XsensResultValue readDataPacket(Packet *pack, bool acceptOther=false)
Retrieve a data message.
Definition: cmt3.cpp:1798

xsens::Cmt3::setSyncMode
XsensResultValue setSyncMode(const uint8_t mode)
Set the sync mode of the Xbus Master.
Definition: cmt3.cpp:2579

XsensResultValue
XsensResultValue
Xsens return values.
Definition: xsens_std.h:43

xsens::Cmt2s::isOpen
bool isOpen(void) const
Return whether the communication port is open or not.
Definition: cmt2.h:117

xsens::Cmt3::m_rtcSync
xsens::TimeSync m_rtcSync
Used for synchronizing MT timestamps to system timestamps.
Definition: cmt3.h:53

xsens::Cmt3::getSyncOutSkipFactor
XsensResultValue getSyncOutSkipFactor(uint16_t &skipFactor)
Retrieve the outbound synchronization skip factor of an MT device.
Definition: cmt3.cpp:1440

xsens::Cmt3::getCmt2s
Cmt2s * getCmt2s(void)
Return a reference to the embedded Cmt2s (comm port) object.
Definition: cmt3.cpp:533

xsens::Cmt3::reset
XsensResultValue reset(void)
Request a data message and wait for it to arrive.
Definition: cmt3.cpp:1923

xsens::Cmt3::getXmOutputMode
XsensResultValue getXmOutputMode(uint8_t &mode)
Return the dual-output mode of the XM.
Definition: cmt3.cpp:1542

xsens::Cmt3::setBaudrate
XsensResultValue setBaudrate(const uint32_t baudrate, bool reconnect=true)
Set the baudrate and possibly reconnect.
Definition: cmt3.cpp:2013

xsens::Cmt3::m_period
uint16_t m_period
The sample period of the port.
Definition: cmt3.h:48

xsens::Cmt3::isLogFileOpen
bool isLogFileOpen(const char *filename) const
Return whether or not(true or false) the supplied file is open.
Definition: cmt3.cpp:3040

xsens::Packet
A structure containing MT data + timestamp and formatting information.
Definition: cmtpacket.h:43

xsens::Cmt3::getLatLonAlt
XsensResultValue getLatLonAlt(CmtVector &lla, const CmtDeviceId deviceId=CMT_DID_MASTER)
Retrieve the last stored sensor position.
Definition: cmt3.cpp:938

xsens::Cmt3::getTransmissionDelay
XsensResultValue getTransmissionDelay(uint16_t &delay, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the RS485 acknowledge transmission delay of the device.
Definition: cmt3.cpp:1505

xsens::Cmt3
High-level communication class.
Definition: cmt3.h:43

CmtGpsStatus
Definition: cmtdef.h:1224

xsens::Cmt3::~Cmt3
~Cmt3()
Destructor, de-initializes, frees memory allocated for buffers, etc.
Definition: cmt3.cpp:334

xsens::Cmt3::m_skip
uint16_t m_skip
The skip factor of the port.
Definition: cmt3.h:49

xsens::Cmt3::getMagneticDeclination
XsensResultValue getMagneticDeclination(double &declination, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the stored magnetic declination.
Definition: cmt3.cpp:1022

xsens::Cmt3::setSyncInSettings
XsensResultValue setSyncInSettings(const CmtSyncInSettings &settings)
Set the inbound synchronization settings of an MT device.
Definition: cmt3.cpp:2442

xsens::Cmt3::closeLogFile
XsensResultValue closeLogFile(bool del=false)
Close an open log file.
Definition: cmt3.cpp:3021

xsens::Cmt3::m_baudrate
uint32_t m_baudrate
The baudrate that was last set to be used by the port.
Definition: cmt3.h:56

xsens::Cmt3::getSyncInMode
XsensResultValue getSyncInMode(uint16_t &mode)
Retrieve the inbound synchronization mode of an MT device.
Definition: cmt3.cpp:1238

xsens::Cmt3::getScenario
XsensResultValue getScenario(uint8_t &scenarioType, uint8_t &scenarioVersion, const CmtDeviceId deviceId=CMT_DID_MASTER)
Get the currently active scenario from a Motion Tracker.
Definition: cmt3.cpp:3262

xsens::Cmt3::resetLogFileReadPos
XsensResultValue resetLogFileReadPos(void)
Restart reading from the start of the open log file.
Definition: cmt3.cpp:3212

CMT_DID_MASTER
#define CMT_DID_MASTER
Definition: cmtdef.h:963

xsens::Cmt3::getErrorMode
XsensResultValue getErrorMode(uint16_t &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the error mode of the device.
Definition: cmt3.cpp:840

xsens::Cmt3::getSampleFrequency
uint16_t getSampleFrequency(void)
Return current sample frequency.
Definition: cmt3.cpp:1125

xsens::Cmt3::m_lastResult
XsensResultValue m_lastResult
The last result of an operation.
Definition: cmt3.h:59

xsens::Cmt3::setBluetoothState
XsensResultValue setBluetoothState(const bool enabled)
Set the Bluetooth state of the Xbus Master.
Definition: cmt3.cpp:2109

xsens::Cmt3::setNoRotation
XsensResultValue setNoRotation(const uint16_t duration, const CmtDeviceId deviceId=CMT_DID_MASTER)
Initiates the XKF3 'no rotation' update procedure.
Definition: cmt3.cpp:1976

xsens::Cmt3::m_firstItem
uint16_t m_firstItem
The index of the first formatting item.
Definition: cmt3.h:60

CmtScenario
A structure for storing scenario information.
Definition: cmtdef.h:1093

CmtVector
Definition: cmtdef.h:1199

xsens::Cmt3::setTransmissionDelay
XsensResultValue setTransmissionDelay(const uint16_t delay)
Set the RS485 acknowledge transmission delay of the device.
Definition: cmt3.cpp:2793

xsens::Cmt3::getMtDeviceId
XsensResultValue getMtDeviceId(const uint8_t index, CmtDeviceId &deviceId) const
Definition: cmt3.cpp:1056

xsens::Cmt3::m_logging
bool m_logging
Indicates whether to write all received messages to the logfile or not, automatically set to true by ...
Definition: cmt3.h:65

xsens::Cmt3::getMtCount
uint16_t getMtCount(void) const
Return the device Id of the first device (master).
Definition: cmt3.cpp:1045

xsens::Cmt3::getSyncOutOffset
XsensResultValue getSyncOutOffset(uint32_t &offset)
Retrieve the outbound synchronization offset of an MT device.
Definition: cmt3.cpp:1465

xsens::Cmt3::setGravityMagnitude
XsensResultValue setGravityMagnitude(const double magnitude, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the currently used magnitude of the gravity vector.
Definition: cmt3.cpp:3304

xsens::Cmt3::m_measuring
bool m_measuring
Keeps track of whether the connected device is measuring or being configured.
Definition: cmt3.h:62

xsens::Cmt3::getBaudrate
XsensResultValue getBaudrate(uint32_t &baudrate)
Get the baudrate used by a port.
Definition: cmt3.cpp:449

xsens::Cmt3::peekLogMessageId
XsensResultValue peekLogMessageId(uint8_t &messageId)
Open a communication channel to the given COM port number.
Definition: cmt3.cpp:1772

xsens::Cmt3::setBusPowerState
XsensResultValue setBusPowerState(const bool enabled)
Switch the Xbus Master bus power on or off.
Definition: cmt3.cpp:2121

xsens::Cmt3::getUtcTime
XsensResultValue getUtcTime(CmtUtcTime &utc, const CmtDeviceId deviceId)
Return the UTC time of the last received sample.
Definition: cmt3.cpp:1518

xsens::Cmt3::waitForDataMessage
XsensResultValue waitForDataMessage(Packet *pack)
Wait for a data message to arrive.
Definition: cmt3.cpp:2899

xsens::Cmt3::m_eMtsData
void * m_eMtsData[CMT_MAX_DEVICES_PER_PORT]
Cached eMTS data.
Definition: cmt3.h:74

xsens::Cmt3::setXmPowerOff
XsensResultValue setXmPowerOff(void)
Switch the connected Xbus Master.
Definition: cmt3.cpp:2428

xsens::Cmt3::getBluetoothState
XsensResultValue getBluetoothState(bool &enabled)
Get the state of the bluetooth communication.
Definition: cmt3.cpp:462

xsens::Cmt3::resetOrientation
XsensResultValue resetOrientation(const CmtResetMethod method, const CmtDeviceId deviceId=CMT_DID_MASTER)
Perform an orientation reset on a device.
Definition: cmt3.cpp:1947

xsens::Cmt3::setSyncInMode
XsensResultValue setSyncInMode(const uint16_t mode)
Set the inbound synchronization mode of an MT device.
Definition: cmt3.cpp:2492

xsens::Cmt3::gotoConfig
XsensResultValue gotoConfig(void)
Place all connected devices into Configuration Mode.
Definition: cmt3.cpp:1554

xsens::Message
Class for storing a single message.
Definition: cmtmessage.h:76

xsens::Cmt3::initBus
XsensResultValue initBus(void)
Perform an initBus request.
Definition: cmt3.cpp:1635

cmt2.h
Contains the CMT Level 2 interface.

xsens::Cmt3::getSyncInSettings
XsensResultValue getSyncInSettings(CmtSyncInSettings &settings)
Retrieve the inbound synchronization settings of the master MT device.
Definition: cmt3.cpp:1190

xsens::Cmt3::setMagneticDeclination
XsensResultValue setMagneticDeclination(const double declination, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the stored magnetic declination.
Definition: cmt3.cpp:2362

xsens::Cmt3::getBatteryLevel
XsensResultValue getBatteryLevel(uint8_t &level)
Get an Xbus Master's battery level.
Definition: cmt3.cpp:437

xsens::Cmt3::getDeviceCount
uint32_t getDeviceCount(void) const
Retrieve total device count.
Definition: cmt3.cpp:607

xsens::Cmt3::m_rtcLastSc
CmtMtTimeStamp m_rtcLastSc
The last received sample counter, used to determine wrap-around.
Definition: cmt3.h:52

xsens::Cmt3::m_logFile
Cmt2f m_logFile
The (optional) CMT level 2 logfile object that this class operates on.
Definition: cmt3.h:47

xsens::Cmt3::getLocationId
XsensResultValue getLocationId(uint16_t &locationId, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the location ID of a sensor.
Definition: cmt3.cpp:952

xsens::Cmt3::writeMessageToLogFile
XsensResultValue writeMessageToLogFile(const Message &msg)
Definition: cmt3.cpp:3221

xsens::Cmt3::getHeading
XsensResultValue getHeading(double &heading, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the heading offset.
Definition: cmt3.cpp:926

xsens::Cmt3::setProcessingFlags
XsensResultValue setProcessingFlags(uint16_t processingFlags, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the processing flags of a sensor.
Definition: cmt3.cpp:2417

CMT_DEFAULT_WRITE_BUFFER_SIZE
#define CMT_DEFAULT_WRITE_BUFFER_SIZE
The default size of the serial write buffer in bytes.
Definition: cmtdef.h:826

xsens::Cmt3::getLogFileReadPosition
XsensResultValue getLogFileReadPosition(XsensFilePos &pos)
Retrieve the read position of the log file.
Definition: cmt3.cpp:964

xsens::Cmt3::setDataSource
XsensResultValue setDataSource(bool readFromFile)
Set whether to read from comm port or file.
Definition: cmt3.cpp:3169

xsens::Cmt3::setSyncOutSettings
XsensResultValue setSyncOutSettings(const CmtSyncOutSettings &settings)
Set the outbound synchronization settings of an MT device.
Definition: cmt3.cpp:2593

xsens::Cmt3::m_timeoutMeas
uint32_t m_timeoutMeas
The measurement mode timeout.
Definition: cmt3.h:58

xsens::Cmt3::m_serial
Cmt2s m_serial
The (optional) CMT level 2 serial object that this class operates on.
Definition: cmt3.h:46

CMT3_DEFAULT_TIMEOUT_MEAS
#define CMT3_DEFAULT_TIMEOUT_MEAS
The default timeout value for L3 data reading.
Definition: cmtdef.h:839

xsens::Cmt3::setSyncInOffset
XsensResultValue setSyncInOffset(const uint32_t offset)
Set the inbound synchronization offset of an MT device.
Definition: cmt3.cpp:2548

xsens::Cmt3::m_readBufSize
uint32_t m_readBufSize
Contains the size of the serial read buffer.
Definition: cmt3.h:69

xsens::Cmt3::getSyncOutSettings
XsensResultValue getSyncOutSettings(CmtSyncOutSettings &settings)
Retrieve the outbound synchronization settings of the master MT device.
Definition: cmt3.cpp:1328

xsens::Cmt3::setGotoConfigTries
XsensResultValue setGotoConfigTries(const uint16_t tries)
Set the number of times the gotoConfig function will attempt a gotoConfig before failing.
Definition: cmt3.cpp:2292

xsens::Cmt3::m_gotoConfigTries
uint16_t m_gotoConfigTries
The number of times a goto config is attempted before the function fails.
Definition: cmt3.h:61

xsens::Cmt3::requestData
XsensResultValue requestData(Packet *pack, const uint8_t *data=0, const uint16_t count=0)
Definition: cmt3.cpp:1889

xsens::TimeSync
Class for synchronizing two clocks.
Definition: xsens_time.h:64

xsens::Cmt3::setTimeoutMeasurement
XsensResultValue setTimeoutMeasurement(const uint32_t timeout=CMT3_DEFAULT_TIMEOUT_MEAS)
Set the measurement mode timeout.
Definition: cmt3.cpp:2780

xsens::Cmt3::runSelfTest
XsensResultValue runSelfTest(uint16_t &result, const CmtDeviceId deviceId=CMT_DID_MASTER)
Let the MT perform a self test. The status of the selftest can be viewed in the status byte...
Definition: cmt3.cpp:1958

xsens::Cmt3::getSyncMode
XsensResultValue getSyncMode(uint8_t &mode)
Retrieve the sync mode of the Xbus Master.
Definition: cmt3.cpp:1316

xsens::Cmt2s
Mid-level serial communication class.
Definition: cmt2.h:48

xsens::Cmt3::getPortNr
XsensResultValue getPortNr(uint16_t &port) const
Return the port number that this object is connected to.
Definition: cmt3.cpp:1087

xsens::Cmt3::m_writeBufSize
uint32_t m_writeBufSize
Contains the size of the serial write buffer.
Definition: cmt3.h:70

CmtVersion
A structure for storing the firmware version.
Definition: cmtdef.h:886

xsens::Cmt3::m_useRtc
bool m_useRtc
Indicates if the RTC should be computed or not (to save CPU time).
Definition: cmt3.h:73

xsens::Cmt3::setGpsLeverArm
XsensResultValue setGpsLeverArm(const CmtVector &arm, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the currently used GPS lever arm.
Definition: cmt3.cpp:3341

CmtResetMethod
CmtResetMethod
Definition: cmtdef.h:866

xsens::Cmt3::setDeviceMode2
XsensResultValue setDeviceMode2(const CmtDeviceMode2 &mode, bool force, const CmtDeviceId deviceId=CMT_DID_MASTER)
Set the complete output mode2 of a device.
Definition: cmt3.cpp:2148

CmtUtcTime
A structure for storing UTC Time values.
Definition: cmtdef.h:1000

xsens::Cmt3::setTimeout
XsensResultValue setTimeout(const uint32_t ms)
Definition: cmt3.h:199

XRV_OK
0: Operation was performed successfully
Definition: xsens_std.h:45

xsens::Cmt3::getSyncOutPulseWidth
XsensResultValue getSyncOutPulseWidth(uint32_t &pulseWidth)
Retrieve the outbound synchronization pulse width of an MT device.
Definition: cmt3.cpp:1412

xsens::Cmt3::getObjectAlignmentMatrix
XsensResultValue getObjectAlignmentMatrix(CmtMatrix &matrix, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the device Id of an MT device.
Definition: cmt3.cpp:1067

xsens::Cmt3::createLogFile
XsensResultValue createLogFile(const char *filename, bool startLogging=false)
Create a log file for incoming messages.
Definition: cmt3.cpp:2939

xsens::Cmt3::getAvailableScenarios
XsensResultValue getAvailableScenarios(CmtScenario *scenarios, const CmtDeviceId deviceId=CMT_DID_MASTER)
Write the specified message to the open log file.
Definition: cmt3.cpp:3233

xsens::Cmt3::setSyncOutOffset
XsensResultValue setSyncOutOffset(const uint32_t offset)
Set the outbound synchronization offset of an MT device.
Definition: cmt3.cpp:2738

CmtDeviceConfiguration
Structure containing a full device configuration as returned by the ReqConfig message.
Definition: cmtdef.h:899

xsens::Cmt3::m_timeoutConf
uint32_t m_timeoutConf
The config mode timeout.
Definition: cmt3.h:57

xsens::Cmt3::openPort
XsensResultValue openPort(const char *portName, const uint32_t baudRate=CMT_DEFAULT_BAUD_RATE, uint32_t readBufSize=CMT_DEFAULT_READ_BUFFER_SIZE, uint32_t writeBufSize=CMT_DEFAULT_WRITE_BUFFER_SIZE)
Definition: cmt3.cpp:1653

xsens::Cmt3::isReadingFromFile
bool isReadingFromFile(void) const
<
Definition: cmt3.h:154

CmtDeviceMode
A structure for storing device modes.
Definition: cmtdef.h:1013

xsens::Cmt3::setSyncOutMode
XsensResultValue setSyncOutMode(const uint16_t mode)
Set the outbound synchronization mode of an MT device.
Definition: cmt3.cpp:2653

CmtMatrix
Definition: cmtdef.h:1213

CMT_DEFAULT_READ_BUFFER_SIZE
#define CMT_DEFAULT_READ_BUFFER_SIZE
The default size of the serial read buffer in bytes.
Definition: cmtdef.h:824

xsens::Cmt3::getGpsLeverArm
XsensResultValue getGpsLeverArm(CmtVector &arm, const CmtDeviceId deviceId=CMT_DID_MASTER)
Get the currently used GPS lever arm.
Definition: cmt3.cpp:3313

xsens::Cmt3::getTimeoutMeasurement
uint32_t getTimeoutMeasurement(void) const
Return the measurement mode timeout.
Definition: cmt3.cpp:1498

xsens::Cmt3::m_rtcInitialized
bool m_rtcInitialized
Indicates whether the RTC synchronization isinitialized.
Definition: cmt3.h:54

CMT_MAX_DEVICES_PER_PORT
#define CMT_MAX_DEVICES_PER_PORT
Definition: cmtdef.h:806

xsens::Cmt3::restoreFactoryDefaults
XsensResultValue restoreFactoryDefaults(const CmtDeviceId deviceId=CMT_DID_MASTER)
Restore the device to factory default settings.
Definition: cmt3.cpp:1987

CmtSyncOutSettings
A structure for storing sync out settings.
Definition: cmtdef.h:982

xsens::Cmt3::isPortOpen
bool isPortOpen(void) const
<
Definition: cmt3.h:156

CmtDeviceId
uint32_t CmtDeviceId
The type of a Device Id.
Definition: cmtdef.h:883

xsens::Cmt3::getProcessingFlags
XsensResultValue getProcessingFlags(uint16_t &processingFlags, const CmtDeviceId deviceId=CMT_DID_MASTER)
Return the processing flags of a sensor.
Definition: cmt3.cpp:1097

CmtMtTimeStamp
uint16_t CmtMtTimeStamp
An MT timestamp (sample count)
Definition: cmtdef.h:958

xsens::Cmt3::getBusIdInternal
uint8_t getBusIdInternal(const CmtDeviceId devId) const
Find a device Id in the list and return its busId.
Definition: cmt3.cpp:495

xsens::Cmt3::getCmt2f
Cmt2f * getCmt2f(void)
Return a reference to the embedded Cmt2f (logfile) object.
Definition: cmt3.cpp:527

xsens::Cmt3::setErrorMode
XsensResultValue setErrorMode(const uint16_t mode)
Set the error mode of the device.
Definition: cmt3.cpp:2275

xsens::Cmt3::refreshCache
XsensResultValue refreshCache(const bool file=false)
Update device information stored on host PC.
Definition: cmt3.cpp:2820

xsens::Cmt3::closePort
XsensResultValue closePort(bool gotoConfigFirst=true)
Close the communication port.
Definition: cmt3.cpp:346

CMT3_DEFAULT_TIMEOUT_CONF
#define CMT3_DEFAULT_TIMEOUT_CONF
The default timeout value for L3 configuration settings.
Definition: cmtdef.h:841

xsens::Cmt3::setSyncOutPulseWidth
XsensResultValue setSyncOutPulseWidth(const uint32_t pulseWidth)
Set the outbound synchronization pulse width of an MT device.
Definition: cmt3.cpp:2681

XsensFilePos
__off64_t XsensFilePos
Definition: xsens_file.h:21

xsens::Cmt3::gotoMeasurement
XsensResultValue gotoMeasurement(void)
Place all connected devices into Measurement Mode.
Definition: cmt3.cpp:1611

xsens::Cmt2f
The mid-level file communication class.
Definition: cmt2.h:180

xsens::Cmt3::setLogMode
XsensResultValue setLogMode(bool active)
Set the logging mode.
Definition: cmt3.cpp:3200

CmtDeviceMode2
A structure for storing device modes using period and skip factor (new default)
Definition: cmtdef.h:1052