High-level communication class. More...

#include <cmt3.h>

Public Member Functions
	Cmt3 ()
	Default constructor, initializes all members to their default values. More...

	~Cmt3 ()
	Destructor, de-initializes, frees memory allocated for buffers, etc. More...

XsensResultValue	closePort (bool gotoConfigFirst=true)
	Close the communication port. More...

XsensResultValue	getBatteryLevel (uint8_t &level)
	Get an Xbus Master's battery level. More...

XsensResultValue	getBaudrate (uint32_t &baudrate)
	Get the baudrate used by a port. More...

XsensResultValue	getBluetoothState (bool &enabled)
	Get the state of the bluetooth communication. More...

XsensResultValue	getBusId (uint8_t &busId, const CmtDeviceId deviceId=CMT_DID_MASTER) const
	Retrieve the BusId of a device. More...

XsensResultValue	getBusPowerState (bool &enabled)
	Get the state of the Xbus power. More...

Cmt2f *	getCmt2f (void)
	Return a reference to the embedded Cmt2f (logfile) object. More...

Cmt2s *	getCmt2s (void)
	Return a reference to the embedded Cmt2s (comm port) object. More...

XsensResultValue	getConfiguration (CmtDeviceConfiguration &configuration)
	Get device configuration. More...

XsensResultValue	getDataLength (uint32_t &length, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Retrieve data size. More...

uint32_t	getDeviceCount (void) const
	Retrieve total device count. More...

XsensResultValue	getDeviceId (const uint8_t busId, CmtDeviceId &deviceId) const
	Retrieve the DeviceId of a device given its Bus ID. More...

XsensResultValue	getDeviceMode (CmtDeviceMode &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return device mode. More...

XsensResultValue	getDeviceMode2 (CmtDeviceMode2 &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return device mode2. More...

XsensResultValue	getEMtsData (void *buffer, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Retrieve the eMts data of the specified sensor(s). More...

XsensResultValue	getErrorMode (uint16_t &mode, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the error mode of the device. More...

XsensResultValue	getFirmwareRevision (CmtVersion &revision, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return Firmware revision. More...

XsensResultValue	getHeading (double &heading, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the heading offset. More...

XsensResultValue	getLastResult (void) const
	< More...

XsensResultValue	getHwError (CmtDeviceId &did) const
	< More...

void	clearHwError (void)

XsensResultValue	getLatLonAlt (CmtVector &lla, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Retrieve the last stored sensor position. More...

XsensResultValue	getLocationId (uint16_t &locationId, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the location ID of a sensor. More...

XsensResultValue	getLogFileReadPosition (XsensFilePos &pos)
	Retrieve the read position of the log file. More...

XsensResultValue	getLogFileSize (XsensFilePos &size)
	Retrieve the size of the open log file in bytes. More...

XsensResultValue	getLogFileName (char *filename)
	Retrieve the name of the open log file or an empty string if no logfile is open. More...

XsensResultValue	getLogFileName (wchar_t *filename)
	Retrieve the name of the open log file or an empty string if no logfile is open. More...

XsensResultValue	getMagneticDeclination (double &declination, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the stored magnetic declination. More...

CmtDeviceId	getMasterId (void)

uint16_t	getMtCount (void) const
	Return the device Id of the first device (master). More...

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

XsensResultValue	getObjectAlignmentMatrix (CmtMatrix &matrix, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the device Id of an MT device. More...

XsensResultValue	getPortNr (uint16_t &port) const
	Return the port number that this object is connected to. More...

XsensResultValue	getProductCode (char *productCode, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return product code. More...

XsensResultValue	getProcessingFlags (uint16_t &processingFlags, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the processing flags of a sensor. More...

uint16_t	getSampleFrequency (void)
	Return current sample frequency. More...

XsensResultValue	getSerialBaudrate (uint32_t &baudrate)
	Return the baud rate used for serial communication. More...

XsensResultValue	getSyncInSettings (CmtSyncInSettings &settings)
	Retrieve the inbound synchronization settings of the master MT device. More...

XsensResultValue	getSyncInMode (uint16_t &mode)
	Retrieve the inbound synchronization mode of an MT device. More...

XsensResultValue	getSyncInSkipFactor (uint16_t &skipFactor)
	Retrieve the inbound synchronization skip factor of an MT device. More...

XsensResultValue	getSyncInOffset (uint32_t &offset)
	Retrieve the inbound synchronization offset of an MT device. More...

XsensResultValue	getSyncMode (uint8_t &mode)
	Retrieve the sync mode of the Xbus Master. More...

XsensResultValue	getSyncOutSettings (CmtSyncOutSettings &settings)
	Retrieve the outbound synchronization settings of the master MT device. More...

XsensResultValue	getSyncOutMode (uint16_t &mode)
	Retrieve the outbound synchronization mode of an MT device. More...

XsensResultValue	getSyncOutPulseWidth (uint32_t &pulseWidth)
	Retrieve the outbound synchronization pulse width of an MT device. More...

XsensResultValue	getSyncOutSkipFactor (uint16_t &skipFactor)
	Retrieve the outbound synchronization skip factor of an MT device. More...

XsensResultValue	getSyncOutOffset (uint32_t &offset)
	Retrieve the outbound synchronization offset of an MT device. More...

uint32_t	getTimeoutConfig (void) const
	Return the configuration mode timeout. More...

uint32_t	getTimeoutMeasurement (void) const
	Return the measurement mode timeout. More...

XsensResultValue	getTransmissionDelay (uint16_t &delay, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Return the RS485 acknowledge transmission delay of the device. More...

XsensResultValue	getUtcTime (CmtUtcTime &utc, const CmtDeviceId deviceId)
	Return the UTC time of the last received sample. More...

XsensResultValue	getXmOutputMode (uint8_t &mode)
	Return the dual-output mode of the XM. More...

XsensResultValue	gotoConfig (void)
	Place all connected devices into Configuration Mode. More...

XsensResultValue	gotoMeasurement (void)
	Place all connected devices into Measurement Mode. More...

XsensResultValue	initBus (void)
	Perform an initBus request. More...

bool	isLogging (void) const
	< More...

bool	isReadingFromFile (void) const
	< More...

bool	isPortOpen (void) const
	< More...

bool	isXm (void) const
	Return whether the main device is an Xbus Master or not. More...

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)

XsensResultValue	peekLogMessageId (uint8_t &messageId)
	Open a communication channel to the given COM port number. More...

XsensResultValue	readDataPacket (Packet *pack, bool acceptOther=false)
	Retrieve a data message. More...

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

XsensResultValue	reset (void)
	Request a data message and wait for it to arrive. More...

XsensResultValue	resetOrientation (const CmtResetMethod method, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Perform an orientation reset on a device. More...

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. The function will always return immediately. More...

XsensResultValue	setNoRotation (const uint16_t duration, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Initiates the XKF3 'no rotation' update procedure. More...

XsensResultValue	restoreFactoryDefaults (const CmtDeviceId deviceId=CMT_DID_MASTER)
	Restore the device to factory default settings. More...

XsensResultValue	setBaudrate (const uint32_t baudrate, bool reconnect=true)
	Set the baudrate and possibly reconnect. More...

XsensResultValue	setBluetoothState (const bool enabled)
	Set the Bluetooth state of the Xbus Master. More...

XsensResultValue	setBusPowerState (const bool enabled)
	Switch the Xbus Master bus power on or off. More...

XsensResultValue	setDeviceMode (const CmtDeviceMode &mode, bool force, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the complete output mode of a device. More...

XsensResultValue	setDeviceMode2 (const CmtDeviceMode2 &mode, bool force, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the complete output mode2 of a device. More...

XsensResultValue	setErrorMode (const uint16_t mode)
	Set the error mode of the device. More...

XsensResultValue	setGotoConfigTries (const uint16_t tries)
	Set the number of times the gotoConfig function will attempt a gotoConfig before failing. More...

XsensResultValue	setHeading (const double heading, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the heading offset. More...

XsensResultValue	setLatLonAlt (const CmtVector &lla, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the current sensor position. More...

XsensResultValue	setLocationId (uint16_t locationId, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the location ID of a sensor. More...

XsensResultValue	setMagneticDeclination (const double declination, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the stored magnetic declination. More...

XsensResultValue	setObjectAlignmentMatrix (const CmtMatrix &matrix, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the currently used object alignment matrix. More...

XsensResultValue	setProcessingFlags (uint16_t processingFlags, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the processing flags of a sensor. More...

XsensResultValue	setSyncInSettings (const CmtSyncInSettings &settings)
	Set the inbound synchronization settings of an MT device. More...

XsensResultValue	setSyncInMode (const uint16_t mode)
	Set the inbound synchronization mode of an MT device. More...

XsensResultValue	setSyncInSkipFactor (const uint16_t skipFactor)
	Set the inbound synchronization skip factor of an MT device. More...

XsensResultValue	setSyncInOffset (const uint32_t offset)
	Set the inbound synchronization offset of an MT device. More...

XsensResultValue	setSyncMode (const uint8_t mode)
	Set the sync mode of the Xbus Master. More...

XsensResultValue	setSyncOutSettings (const CmtSyncOutSettings &settings)
	Set the outbound synchronization settings of an MT device. More...

XsensResultValue	setSyncOutMode (const uint16_t mode)
	Set the outbound synchronization mode of an MT device. More...

XsensResultValue	setSyncOutPulseWidth (const uint32_t pulseWidth)
	Set the outbound synchronization pulse width of an MT device. More...

XsensResultValue	setSyncOutSkipFactor (const uint16_t skipFactor)
	Set the outbound synchronization skip factor of an MT device. More...

XsensResultValue	setSyncOutOffset (const uint32_t offset)
	Set the outbound synchronization offset of an MT device. More...

XsensResultValue	setTimeout (const uint32_t ms)

XsensResultValue	setTimeoutConfig (const uint32_t timeout=CMT3_DEFAULT_TIMEOUT_CONF)
	Set the configuration mode timeout. More...

XsensResultValue	setTimeoutMeasurement (const uint32_t timeout=CMT3_DEFAULT_TIMEOUT_MEAS)
	Set the measurement mode timeout. More...

XsensResultValue	setTransmissionDelay (const uint16_t delay)
	Set the RS485 acknowledge transmission delay of the device. More...

XsensResultValue	setXmOutputMode (const uint8_t mode)
	Set the dual-output mode of the XM. More...

XsensResultValue	setXmPowerOff (void)
	Switch the connected Xbus Master. More...

XsensResultValue	refreshCache (const bool file=false)
	Update device information stored on host PC. More...

XsensResultValue	waitForDataMessage (Packet *pack)
	Wait for a data message to arrive. More...

XsensResultValue	createLogFile (const char *filename, bool startLogging=false)
	Create a log file for incoming messages. More...

XsensResultValue	createLogFile (const wchar_t *filename, bool startLogging=false)
	Create a log file for incoming messages. More...

XsensResultValue	closeLogFile (bool del=false)
	Close an open log file. More...

bool	isLogFileOpen (const char *filename) const
	Return whether or not(true or false) the supplied file is open. More...

bool	isLogFileOpen (const wchar_t *filename) const
	Return whether or not(true or false) the supplied file is open. More...

XsensResultValue	openLogFile (const char *filename)
	Open a log file for input. More...

XsensResultValue	openLogFile (const wchar_t *filename)
	Open a log file for input. More...

XsensResultValue	setDataSource (bool readFromFile)
	Set whether to read from comm port or file. More...

XsensResultValue	setLogMode (bool active)
	Set the logging mode. More...

XsensResultValue	resetLogFileReadPos (void)
	Restart reading from the start of the open log file. More...

XsensResultValue	writeMessageToLogFile (const Message &msg)

XsensResultValue	getAvailableScenarios (CmtScenario *scenarios, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Write the specified message to the open log file. More...

XsensResultValue	getScenario (uint8_t &scenarioType, uint8_t &scenarioVersion, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Get the currently active scenario from a Motion Tracker. More...

XsensResultValue	setScenario (const uint8_t scenarioType, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Specify the scenario to use in the sensor. More...

XsensResultValue	getGravityMagnitude (double &magnitude, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Retrieve the currently used magnitude of the gravity vector. More...

XsensResultValue	setGravityMagnitude (const double magnitude, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the currently used magnitude of the gravity vector. More...

XsensResultValue	getGpsLeverArm (CmtVector &arm, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Get the currently used GPS lever arm. More...

XsensResultValue	getGpsStatus (CmtGpsStatus &status, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Request the status of the GPS satellites in orbit. More...

XsensResultValue	setGpsLeverArm (const CmtVector &arm, const CmtDeviceId deviceId=CMT_DID_MASTER)
	Set the currently used GPS lever arm. More...

XsensResultValue	storeXkfState (const CmtDeviceId deviceId=CMT_DID_MASTER)
	Store important components of the XKF filter state to non-volatile memory. More...

Public Attributes
bool	m_useRtc
	Indicates if the RTC should be computed or not (to save CPU time). More...

void *	m_eMtsData [CMT_MAX_DEVICES_PER_PORT]
	Cached eMTS data. More...

CmtDeviceConfiguration	m_config
	Cached configuration data. More...

Protected Member Functions
	Cmt3 (const Cmt3 &ref)
	This object cannot be copied, so this function is not implemented. More...

void	fillRtc (Packet *pack)
	Internal function to compute the RTC value. More...

uint8_t	getBusIdInternal (const CmtDeviceId devId) const
	Find a device Id in the list and return its busId. More...

Protected Attributes
Cmt2s	m_serial
	The (optional) CMT level 2 serial object that this class operates on. More...

Cmt2f	m_logFile
	The (optional) CMT level 2 logfile object that this class operates on. More...

uint16_t	m_period
	The sample period of the port. More...

uint16_t	m_skip
	The skip factor of the port. More...

uint32_t	m_rtcCount
	The long sample counter (normal counter wraps at 64k). More...

CmtMtTimeStamp	m_rtcLastSc
	The last received sample counter, used to determine wrap-around. More...

xsens::TimeSync	m_rtcSync
	Used for synchronizing MT timestamps to system timestamps. More...

bool	m_rtcInitialized
	Indicates whether the RTC synchronization isinitialized. More...

uint32_t	m_baudrate
	The baudrate that was last set to be used by the port. More...

uint32_t	m_timeoutConf
	The config mode timeout. More...

uint32_t	m_timeoutMeas
	The measurement mode timeout. More...

XsensResultValue	m_lastResult
	The last result of an operation. More...

uint16_t	m_firstItem
	The index of the first formatting item. More...

uint16_t	m_gotoConfigTries
	The number of times a goto config is attempted before the function fails. More...

bool	m_measuring
	Keeps track of whether the connected device is measuring or being configured. More...

bool	m_detailedScan
	Automatically scan for device details during open. Default is true (recommended). More...

bool	m_readFromFile
	Indicates whether to read from the log file or from the serial port. More...

bool	m_logging
	Indicates whether to write all received messages to the logfile or not, automatically set to true by createLogFile. More...

XsensResultValue	m_lastHwError
	Contains the last error reported by hardware. More...

CmtDeviceId	m_lastHwErrorDeviceId
	Contains the Device ID of the device that caused the last hardware error. More...

uint32_t	m_readBufSize
	Contains the size of the serial read buffer. More...

uint32_t	m_writeBufSize
	Contains the size of the serial write buffer. More...

Detailed Description

High-level communication class.

The class uses CMT level 2, but does not inherit from it. If software needs to access the level 2 components, it needs to be done through the getCmt2s() and getCmt2f() functions.

All device identification is done through device Ids in CMT level 3.

Constructor & Destructor Documentation

xsens::Cmt3::Cmt3 ( const Cmt3 & ref )

protected

This object cannot be copied, so this function is not implemented.

xsens::Cmt3::Cmt3 ( )

Default constructor, initializes all members to their default values.

xsens::Cmt3::~Cmt3 ( )

Destructor, de-initializes, frees memory allocated for buffers, etc.

Member Function Documentation

void xsens::Cmt3::clearHwError ( void )

inline

XsensResultValue xsens::Cmt3::closeLogFile ( bool del = false )

Close an open log file.

This function closes the logfile if it was open.

Parameters

del	When set to true, the file will be deleted after closing if it is not read-only. This is mostly useful for temporary log-files.

See also: createLogFile isLogFileOpen openLogFile setLogMode

XsensResultValue xsens::Cmt3::closePort ( bool gotoConfigFirst = true )

Close the communication port.

This function places the device in configuration mode and closes the communication port, ending all further communication with the device.

XsensResultValue xsens::Cmt3::createLogFile	(	const char *	filename,
		bool	startLogging = `false`
	)

Create a log file for incoming messages.

This function creates a log file for recording incoming messages. The Cmt3 object must be connected to a communication port or the function will fail.

Parameters

filename	The name of the file to use as a log file. A fully qualified (local) path+filename is recommended.
startLogging	When set to true (default), Cmt3 will immediately start logging incoming messages to the file, otherwise setLogMode must be called first before logging is started.

Remarks: If a writable file of the same name already exists in the target location, it will be overwritten without warning.

See also: closeLogFile isLogFileOpen openLogFile setLogMode

Note: This function is available in configuration AND in measurement mode.

XsensResultValue xsens::Cmt3::createLogFile	(	const wchar_t *	filename,
		bool	startLogging = `false`
	)

Create a log file for incoming messages.

This function creates a log file for recording incoming messages. The Cmt3 object must be connected to a communication port or the function will fail.

Parameters

filename	The name of the file to use as a log file. A fully qualified (local) path+filename is recommended.
startLogging	When set to true (default), Cmt3 will immediately start logging incoming messages to the file, otherwise setLogMode must be called first before logging is started.

Remarks: If a writable file of the same name already exists in the target location, it will be overwritten without warning.

See also: closeLogFile isLogFileOpen openLogFile setLogMode

Note: This function is available in configuration AND in measurement mode.

void xsens::Cmt3::fillRtc ( Packet * pack )

protected

Internal function to compute the RTC value.

XsensResultValue xsens::Cmt3::getAvailableScenarios	(	CmtScenario *	scenarios,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Write the specified message to the open log file.

This function can be used to add custom messages to a log file.

Note: A typical log file will only contain acknowledge messages, not request messages.

See also: createLogFile Retrieve a list of the available scenarios.

Use this function to retrieve a list of all scenarios available in a Motion Tracker. See the supplied documentation for more information about scenarios.

Parameters

scenarios A buffer for storing the available scenarios. The supplied buffer should be able to contain at least 6 scenarios, but for future devices a larger buffer is advised. Use CMT_MAX_SCENARIOS_IN_MT+1. The list is terminated by a scenario that has type 0.

Remarks: The type of any of the returned scenarios can be safely supplied to the setScenario function.

See also: getScenario setScenario

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::getBatteryLevel ( uint8_t & level )

Get an Xbus Master's battery level.

The battery level is a value between 0 and 255 that indicates the voltage of the batteries. The scale is not linear and the values should not be used as an absolute voltage. The amount of time remaining for measurement given any battery level greatly depends on the type of batteries used, the number of sensors attached to the Xbus Master and the used output options.

XsensResultValue xsens::Cmt3::getBaudrate ( uint32_t & baudrate )

Get the baudrate used by a port.

This function returns the baud rate at which the port is currently connected. The function will return an error when no port is connected.

See also: getSerialBaudrate setSerialBaudrate setBaudrate

XsensResultValue xsens::Cmt3::getBluetoothState ( bool & enabled )

Get the state of the bluetooth communication.

This function tells whether the Bluetooth connection of the Xbus Master is on (1) or off (0).

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getBusId	(	uint8_t &	busId,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)		const

Retrieve the BusId of a device.

The function checks its internal list for a match of deviceId. If it is found, the corresponding BusId is returned in busId. Otherwise, a 0 is placed in busId and XRV_NOTFOUND result is returned.

uint8_t xsens::Cmt3::getBusIdInternal ( const CmtDeviceId devId ) const

protected

Find a device Id in the list and return its busId.

CmtDeviceId 0= busId 0= broadcast. A CMT_BID_INVALID value is also possible and indicates that the devId was not found.

XsensResultValue xsens::Cmt3::getBusPowerState ( bool & enabled )

Get the state of the Xbus power.

This function tells whether the Xbus of the connected Xbus Master is currently switched on (1) or not (0). When it is switched off, the attached MT devices have no power and communication with them is not possible. Before going to measurement mode, use setBusPowerState to restore power.

See also: setBusPowerState

Note: This function is only valid in configuration mode.

Cmt2f * xsens::Cmt3::getCmt2f ( void )

Return a reference to the embedded Cmt2f (logfile) object.

Any manipulation of the object should be done through Cmt3. Cmt3's integrity is not guaranteed if the Cmt2f object is manipulated directly.

See also: refreshCache

Cmt2s * xsens::Cmt3::getCmt2s ( void )

Return a reference to the embedded Cmt2s (comm port) object.

Any manipulation of the object should be done through Cmt3. Cmt3's integrity is not guaranteed if the Cmt2s object is manipulated directly.

See also: refreshCache

XsensResultValue xsens::Cmt3::getConfiguration ( CmtDeviceConfiguration & configuration )

Get device configuration.

This function retrieves the complete device configuration of a single device.

Note: This information is cached by Cmt3, so it is available in measurement mode.

XsensResultValue xsens::Cmt3::getDataLength	(	uint32_t &	length,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Retrieve data size.

This function retrieves the number of bytes that are in a data message as sent by the given device.

uint32_t xsens::Cmt3::getDeviceCount ( void ) const

Retrieve total device count.

This function retrieves the total number of connected (master + slave) devices or 0 if not connected.

XsensResultValue xsens::Cmt3::getDeviceId	(	const uint8_t	busId,
		CmtDeviceId &	deviceId
	)		const

Retrieve the DeviceId of a device given its Bus ID.

This function retrieves the DeviceId for the device with the given Bus ID. When no devices are connected, a 0 ID is supplied.

XsensResultValue xsens::Cmt3::getDeviceMode	(	CmtDeviceMode &	mode,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return device mode.

This function retrieves the output-related settings of the device, such as the sample rate and output settings.

See also: setDeviceMode

Note: This function actually reads the device mode from the cached configuration, so it is available in measurement mode.

See also: refreshCache

XsensResultValue xsens::Cmt3::getDeviceMode2	(	CmtDeviceMode2 &	mode,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return device mode2.

This function retrieves the outputMode, outputSettings, period and outputSkipFactor of the device.

See also: setDeviceMode2

Note: This function actually reads the device mode from the cached configuration, so it is available in measurement mode.

See also: refreshCache

XsensResultValue xsens::Cmt3::getEMtsData	(	void *	buffer,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Retrieve the eMts data of the specified sensor(s).

This function can be used to read proprietary data from one or more Motion Trackers. This data is required by higher level functions in combination with Configuration data to convert Raw data into Calibrated and Orientation data. The eMTs data is quite large, but it is cached. The first request should be done in configuration mode, but following requests can be done in measurement mode. When requesting eMTS data for a single sensor, the buffer should be at least CMT_EMTS_SIZE bytes long. When using CMT_DID_BROADCAST, the eMTS data of all connected sensors is placed into the buffer sequentially. In the latter case, the buffer should be able to hold at least sensorcount * CMT_EMTS_SIZE bytes.

XsensResultValue xsens::Cmt3::getErrorMode	(	uint16_t &	mode,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the error mode of the device.

This function returns the error mode of the device. The error mode determines how the device handles errors. See the low-level communication documentation for more details.

See also: setErrorMode

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getFirmwareRevision	(	CmtVersion &	revision,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return Firmware revision.

This function retrieves the firmware version that is currently installed in the device.

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getGpsLeverArm	(	CmtVector &	arm,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Get the currently used GPS lever arm.

Use this function to retrieve the vector currently used as the GPS lever arm in meters. The GPS lever arm is the relative position of the GPS antenna to the MTi-G unit. The arm is specified in the object coordinate system. See the manual for more information on coordinate systems, alignment resets and the lever arm.

See also: setGpsLeverArm

Note: This function is only available in configuration mode.; This function is only available for MTi-G devices.

XsensResultValue xsens::Cmt3::getGpsStatus	(	CmtGpsStatus &	status,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Request the status of the GPS satellites in orbit.

This function requests the GPS satellite status information from the GPS subsystem. In config mode, this information is requested from the GPS subsystem immediately, which can cause a relatively long delay (250ms) before a reply is received. In measurement mode, the satellite status is regularly polled internally and the latest status is returned immediately when this function is called.

XsensResultValue xsens::Cmt3::getGravityMagnitude	(	double &	magnitude,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Retrieve the currently used magnitude of the gravity vector.

The magnitude of the gravity vector is used to determine absolute acceleration from measured acceleration.

See also: setGravityMagnitude

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::getHeading	(	double &	heading,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the heading offset.

This function retrieves the heading offset in radians used by the device. The valid range is -pi to +pi. The heading offset is used as a final correction on the output orientation.

See also: setHeading getMagneticDeclination setMagneticDeclination

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getHwError ( CmtDeviceId & did ) const

inline

<

Return the last Hardware error code.

This function returns the XsensResultValue of the last problem reported by hardware (if any). Hardware problems are all 'error' messages returned by a sensor.

Parameters

did	If any problems were found, the responsible device ID will be returned in this parameter.

See also: clearHwError

XsensResultValue xsens::Cmt3::getLastResult ( void ) const

inline

<

Return the error code of the last user function call.

XsensResultValue xsens::Cmt3::getLatLonAlt	(	CmtVector &	lla,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Retrieve the last stored sensor position.

This function retrieves the last stored position in latitude, longitude, altitude.

See also: setLatLonAlt

XsensResultValue xsens::Cmt3::getLocationId	(	uint16_t &	locationId,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the location ID of a sensor.

This function retrieves the location ID stored in the device.

See also: setLocationId

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getLogFileName ( char * filename )

Retrieve the name of the open log file or an empty string if no logfile is open.

XsensResultValue xsens::Cmt3::getLogFileName ( wchar_t * filename )

Retrieve the name of the open log file or an empty string if no logfile is open.

XsensResultValue xsens::Cmt3::getLogFileReadPosition ( XsensFilePos & pos )

Retrieve the read position of the log file.

This function will return the current read position in the open log file in bytes from the start.

Note: The read and write positions of log files are completely independent of each other.

Remarks: To change the read position, either use resetLogFileReadPos or manipulate the log file through getCmt2f.

See also: resetLogFileReadPos getCmt2f

XsensResultValue xsens::Cmt3::getLogFileSize ( XsensFilePos & size )

Retrieve the size of the open log file in bytes.

XsensResultValue xsens::Cmt3::getMagneticDeclination	(	double &	declination,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the stored magnetic declination.

This function retrieves the stored local magnetic declination in radians. The valid range is -pi to +pi. The magnetic declination is used in the sensor fusion process to determine the output orientation.

See also: getHeading setHeading setMagneticDeclination

Note: This function is only valid in configuration mode.

CmtDeviceId xsens::Cmt3::getMasterId ( void )

uint16_t xsens::Cmt3::getMtCount ( void ) const

Return the device Id of the first device (master).

Note: The deviceId is read from the cached configuration data, so it is also available in measurement mode. Retrieve number of MT devices.

This function will return the number of connected MT devices. Effectively, this returns the device count minus any Xbus Masters.

XsensResultValue xsens::Cmt3::getMtDeviceId	(	const uint8_t	index,
		CmtDeviceId &	deviceId
	)		const

XsensResultValue xsens::Cmt3::getObjectAlignmentMatrix	(	CmtMatrix &	matrix,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the device Id of an MT device.

This function returns the ID of the index'th MT (non-Xbus Master) device connected to this object.

Note: The deviceId is read from the cached configuration data, so it is also available in measurement mode. Retrieve the last stored object alignment matrix.

Use this function to get the object matrix currently used as the sensor frame with respect to the reference frame. See the manual for more information on coordinate systems and object resets.

See also: setObjectAlignmentMatrix

XsensResultValue xsens::Cmt3::getPortNr ( uint16_t & port ) const

Return the port number that this object is connected to.

If CMT is reading from a log file, an error will be returned.

XsensResultValue xsens::Cmt3::getProcessingFlags	(	uint16_t &	processingFlags,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the processing flags of a sensor.

This function retrieves the processing flags stored in the device.

See also: setProcessingFlags

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getProductCode	(	char *	productCode,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return product code.

This function retrieves the product code of the given device.

Parameters

productCode The buffer that will store the product code. This buffer should be at least 20 bytes.

Remarks: The product code is NOT necessarily NULL-terminated. If it is less than 20 characters it will be, but if the product code is 20 characters it won't be. The recommended method is to create a buffer that is 21 bytes long and set the last byte to 0 before calling this function.

Note: This function is only valid in configuration mode.

uint16_t xsens::Cmt3::getSampleFrequency ( void )

Return current sample frequency.

This function determines the sample frequency of the device from the cached sample rate and skip factor and returns it. For devices connected to an Xbus Master, the values used by the Xbus Master are returned.

See also: setDeviceMode getDeviceMode

XsensResultValue xsens::Cmt3::getScenario	(	uint8_t &	scenarioType,
		uint8_t &	scenarioVersion,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Get the currently active scenario from a Motion Tracker.

This function retrieves the scenario currently used by the specified device when outputting orientation and/or position data.

See also: getAvailableScenarios setScenario

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::getSerialBaudrate ( uint32_t & baudrate )

Return the baud rate used for serial communication.

This function retrieves the baud rate that is used when the device is connected by a serial connection. In most cases this is the same as getBaudrate, but when an Xbus Master is connected by a Bluetooth connection, it doesn't have to be.

See also: setSerialBaudrate setBaudrate getBaudrate

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getSyncInMode ( uint16_t & mode )

Retrieve the inbound synchronization mode of an MT device.

This function retrieves the current inbound synchronization mode of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncInMode setSyncInSettings getSyncInSettings getSyncInSkipFactor setSyncInSkipFactor getSyncInOffset setSyncInOffset getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncInOffset ( uint32_t & offset )

Retrieve the inbound synchronization offset of an MT device.

This function retrieves the current inbound synchronization offset of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncInOffset setSyncInSettings getSyncInSettings getSyncInSkipFactor setSyncInSkipFactor getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncInSettings ( CmtSyncInSettings & settings )

Retrieve the inbound synchronization settings of the master MT device.

This function retrieves the current inbound synchronization settings of the master MT device (sync mode, skip factor and offset). This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncInSettings getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getSyncInSkipFactor ( uint16_t & skipFactor )

Retrieve the inbound synchronization skip factor of an MT device.

This function retrieves the current inbound synchronization skip factor of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncInSkipFactor setSyncInSettings getSyncInSettings getSyncInOffset setSyncInOffset getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncMode ( uint8_t & mode )

Retrieve the sync mode of the Xbus Master.

This function requests the current synchronization mode used by the specified Xbus Master. This function is not valid for MT devices.

See also: setSyncMode getSyncInSettings setSyncInSettings getSyncOutSettings setSyncOutSettings

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getSyncOutMode ( uint16_t & mode )

Retrieve the outbound synchronization mode of an MT device.

This function retrieves the current outbound synchronization mode of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncOutMode setSyncOutSettings getSyncOutSettings getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutSkipFactor setSyncOutSkipFactor getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncOutOffset ( uint32_t & offset )

Retrieve the outbound synchronization offset of an MT device.

This function retrieves the current outbound synchronization offset of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncOutOffset setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutSkipFactor setSyncOutSkipFactor getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncOutPulseWidth ( uint32_t & pulseWidth )

Retrieve the outbound synchronization pulse width of an MT device.

This function retrieves the current outbound synchronization pulse width of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncOutPulseWidth setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutSkipFactor setSyncOutSkipFactor getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::getSyncOutSettings ( CmtSyncOutSettings & settings )

Retrieve the outbound synchronization settings of the master MT device.

This function retrieves the current outbound synchronization settings of the MT device (sync mode, skip factor, offset and pulse width). This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncOutSettings getSyncInSettings setSyncInSettings getSyncMode setSyncMode

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getSyncOutSkipFactor ( uint16_t & skipFactor )

Retrieve the outbound synchronization skip factor of an MT device.

This function retrieves the current outbound synchronization skip factor of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: stSyncOutSkipFactor setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

uint32_t xsens::Cmt3::getTimeoutConfig ( void ) const

Return the configuration mode timeout.

When in config mode, the system uses a different message timeout than in measurement mode, since configuration messages can take longer to process than measurement mode messages. This function can be used to determine the current config mode timeout in ms.

See also: setTimeoutConfig getTimeoutMeasurement setTimeoutMeasurement

uint32_t xsens::Cmt3::getTimeoutMeasurement ( void ) const

Return the measurement mode timeout.

When in measurement mode, the system uses a different message timeout than in config mode, since measurement mode messages should be faster to process than config mode messages. This function can be used to determine the current measurement mode timeout in ms.

See also: setTimeoutMeasurement getTimeoutConfig setTimeoutConfig

XsensResultValue xsens::Cmt3::getTransmissionDelay	(	uint16_t &	delay,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Return the RS485 acknowledge transmission delay of the device.

This function returns the RS485 acknowledge transmission delay of the device. The RS485 acknowledge transmission delay determines the minimal delay to response on request messages. See the low-level communication documentation for more details.

See also: setAckTransmissionDelay

Note: This function is only valid in configuration mode.

XsensResultValue xsens::Cmt3::getUtcTime	(	CmtUtcTime &	utc,
		const CmtDeviceId	deviceId
	)

Return the UTC time of the last received sample.

This function is only valid for MTi-G sensors. In measurement mode it will retrieve the UTC time of the last received sample. In Config mode, it will retrieve the most recent UTC time. In config mode, the time returned will be requested diectly from the GPS subsystem, with several layers of messaging between the original source and the host. In measurement mode, the UTC time is requested from the GPS subsystem periodically and estimated (with a very high precision) for the remaining samples. So in config mode, the time will probably jitter more than in measurement mode.

XsensResultValue xsens::Cmt3::getXmOutputMode ( uint8_t & mode )

Return the dual-output mode of the XM.

This function retrieves the dual mode output mode of the Xbus Master. The dual output mode of the Xbus Master defines whether it will send data on the serial connection (at the same baud rate as the bluetooth connection) when it is connected via Bluetooth. When set to 0, the serial communication is disabled, data is sent over the serial bus.

Note: When dual-mode is enabled, the Xbus Master will NOT receive command messages on the serial bus.

See also: setXmOutputMode

XsensResultValue xsens::Cmt3::gotoConfig ( void )

Place all connected devices into Configuration Mode.

This function places the sensors in configuration mode.

Note: This function has no effect when reading from a log file

XsensResultValue xsens::Cmt3::gotoMeasurement ( void )

Place all connected devices into Measurement Mode.

This function places the sensors in measurement mode.

Note: This function has no effect when reading from a log file

XsensResultValue xsens::Cmt3::initBus ( void )

Perform an initBus request.

See the low-level documentation for more information on the InitBus message.

See also: refreshCache setBusPowerState

bool xsens::Cmt3::isLogFileOpen ( const char * filename ) const

Return whether or not(true or false) the supplied file is open.

Check if the log file filename is open.

When the filename parameter is NULL or empty "", the function will simply return whether a log file is open. Otherwise, the supplied name will be checked against the name of the open log file as well.

Returns: true if the log file is open, false if it isn't

See also: closeLogFile createLogFile openLogFile setLogMode

Returns: true if the file is open

See also: isLogFileOpen(const wchar_t *)

bool xsens::Cmt3::isLogFileOpen ( const wchar_t * filename ) const

Return whether or not(true or false) the supplied file is open.

Check if the log file filename is open.

When the filename parameter is NULL or empty "", the function will simply return whether a log file is open. Otherwise, the supplied name will be checked against the name of the open log file as well.

Returns: true if the log file is open, false if it isn't

See also: closeLogFile createLogFile openLogFile setLogMode

Returns: true if the file is open

See also: isLogFileOpen(const char *)

bool xsens::Cmt3::isLogging ( void ) const

inline

<

Return whether the Cmt3 object is writing to a log file or not

bool xsens::Cmt3::isPortOpen ( void ) const

inline

<

Return whether the communication port is open or not.

bool xsens::Cmt3::isReadingFromFile ( void ) const

inline

<

Return whether the Cmt3 object is reading from a log file or not

bool xsens::Cmt3::isXm ( void ) const

Return whether the main device is an Xbus Master or not.

XsensResultValue xsens::Cmt3::openLogFile ( const char * filename )

Open a log file for input.

This function opens the supplied log file for reading. The function will fail if a serial connection is currently open.

Parameters

filename The name of the file to open. It is recommended to use a fully qualified path+filename.

Note: This function is only available in configuration mode.

See also: closeLogFile createLogFile isLogFileOpen setLogMode

XsensResultValue xsens::Cmt3::openLogFile ( const wchar_t * filename )

Open a log file for input.

This function opens the supplied log file for reading. The function will fail if a serial connection is currently open.

Parameters

filename The name of the file to open. It is recommended to use a fully qualified path+filename.

Note: This function is only available in configuration mode.

See also: closeLogFile createLogFile isLogFileOpen setLogMode

XsensResultValue xsens::Cmt3::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`
	)

XsensResultValue xsens::Cmt3::peekLogMessageId ( uint8_t & messageId )

Open a communication channel to the given COM port number.

This function is first passed through to the Cmt2s object. Then, the device settings are retrieved and stored locally. This function automatically places the device(s) in config mode, using gotoConfig.

See also: gotoConfig closePort Peek(take a look) at the message ID of the next message.

This function can only be used when reading from a log file. It will find the next message in the file and place its message ID in the messageId parameter. Afterwards, the read position of the file will be restored.

Remarks: This function is mostly useful when dealing with a file that has more than just data messages. By using the peek function, it is possible to decide whether a readDataPacket should be called or for example getBatteryLevel or getGpsStatus. When the peek function is not used and for example getBatteryLevel is called, all messages between the current read position and the first battery level message in the file will be skipped. An alternative would be to get the read position, call the desired function (get battery level) and restore the read position, but then the moment at which the (battery level, UTC time, satellite info, etc) data becomes available will not be known.

XsensResultValue xsens::Cmt3::readDataPacket	(	Packet *	pack,
		bool	acceptOther = `false`
	)

Retrieve a data message.

This function will attempt to read a data message from the open port or from the log file, depending on the system state. When acceptOther is set to true, the first received message will be returned. If a data message is successfully read, XRV_OK will be returned. If another message is read, XRV_OTHER will be returned and the received message will be placed in the Packet. Otherwise, an appropriate error will be returned.

XsensResultValue xsens::Cmt3::refreshCache ( const bool file = false )

Update device information stored on host PC.

Some device information is cached on the host PC for faster access. The Cmt3 automatically tries to keep the cache up to date. But when unexpected things happen, such as custom messages that change the settings, or a power-cycle, then the user may need to tell Cmt3 to update its cache. When both a file and a port are open, the file parameter can be used to indicate what data source to read from (true is file, false is port).

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::requestData	(	Packet *	pack,
		const uint8_t *	data = `0`,
		const uint16_t	count = `0`
	)

XsensResultValue xsens::Cmt3::reset ( void )

Request a data message and wait for it to arrive.

This function is only useful when the skip factor is set to 0xFFFF. Reset all connected sensors.

XsensResultValue xsens::Cmt3::resetLogFileReadPos ( void )

Restart reading from the start of the open log file.

This function resets the read position to the start of the open log file. Only the read position is affected, the write position remains the same.

See also: openLogFile

XsensResultValue xsens::Cmt3::resetOrientation	(	const CmtResetMethod	method,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Perform an orientation reset on a device.

This function performs an orientation reset. See the MT documentation for more information about Orientation resets.

Note: If you wish to save the setting to the device, perform the CMT_RESETORIENTATION_STORE operation while in Config mode after having performed the appropriate orientation reset in measurement mode.

XsensResultValue xsens::Cmt3::restoreFactoryDefaults ( const CmtDeviceId deviceId = CMT_DID_MASTER )

Restore the device to factory default settings.

Restore the factory defaults of a device.

This function completely restores the selected device to the default settings (115k2 baud rate, 100Hz sample frequency, factory defined scenarios).

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::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. The function will always return immediately.

Initiates the MT's selftest procudure.

XsensResultValue xsens::Cmt3::setBaudrate	(	const uint32_t	baudrate,
		bool	reconnect = `true`
	)

Set the baudrate and possibly reconnect.

Use this function to change the baudrate of the device. This actually tries to change the baud rate of the current connection. When reconnect is set to true, the device receives a Reset message and the port is reopened at the new baudrate. Otherwise, make sure to perform a Reset manually, since the new baudrate will not be set until a Reset has been performed.

Note: To change the baudrate of the serial connection while connected via Bluetooth, use setSerialBaudrate.

See also: getBaudrate setSerialBaudrate getSerialBaudrate

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::setBluetoothState ( const bool enabled )

Set the Bluetooth state of the Xbus Master.

This function sets the state of the bluetooth communication to on or off.

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::setBusPowerState ( const bool enabled )

Switch the Xbus Master bus power on or off.

Use this function to switch the Xbus Master Xbus power on or off.

Remarks: This function can be used to save a lot of power when not measuring, while still keeping a connection to the system. However, there is a relatively long startup time when restoring power as the sensors are reinitialized.

Note: You will need to perform an initBus and possibly a refreshCache call after switching the power back on with this function.; This function is only available in configuration mode.

See also: initBus refreshCache

XsensResultValue xsens::Cmt3::setDataSource ( bool readFromFile )

Set whether to read from comm port or file.

While it is not possible to open a port or file while the other is open, it is possible to create a log file while a port is open. In some rare cases it may be required to log data and read it back while the port remains open and then continue logging in the same file. This is not recommended. Instead, log to a file, close it and then open it in another Cmt3 object. However, if you must do this, then this function can be used to specify that you want to switch between reading from the log file (true) or port (false).

XsensResultValue xsens::Cmt3::setDeviceMode	(	const CmtDeviceMode &	mode,
		bool	force,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the complete output mode of a device.

This function updates the complete output mode of the specified device. It only updates values that are different than those reported by the device unless force is set to true. The function will automatically update only the part of the device mode that is relevant for the device. So it is possible to configure all devices, including an Xbus Master with the same mode (only the Xbus Master will update its period, while the Motion Trackers will update their output mode and settings).

Note: This function is only available in configuration mode.

See also: getDeviceMode getDeviceMode2 setDeviceMode2

XsensResultValue xsens::Cmt3::setDeviceMode2	(	const CmtDeviceMode2 &	mode,
		bool	force,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the complete output mode2 of a device.

This function updates the outputMode, outputSettings, period and outputSkipFactor of the specified device. It only updates values that are different than those reported by the device unless force is set to true. The function will automatically update only the part of the device mode that is relevant for the device. So it is possible to configure all devices, including an Xbus Master with the same mode (only the Xbus Master will update its period, while the Motion Trackers will update their output mode and settings).

Note: This function is only available in configuration mode.

See also: getDeviceMode2 getDeviceMode setDeviceMode

XsensResultValue xsens::Cmt3::setErrorMode ( const uint16_t mode )

Set the error mode of the device.

This function sets the error mode of the device. The error mode determines how the device handles errors. See the low-level communication documentation for more details.

Note: This function is only available in configuration mode.

See also: getErrorMode

XsensResultValue xsens::Cmt3::setGotoConfigTries ( const uint16_t tries )

Set the number of times the gotoConfig function will attempt a gotoConfig before failing.

This is especially useful when using RS485 communication or when for some reason the communication lines are not reliable.

XsensResultValue xsens::Cmt3::setGpsLeverArm	(	const CmtVector &	arm,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the currently used GPS lever arm.

Use this function to set the vector currently used as the GPS lever arm. The GPS lever arm is the relative position of the GPS antenna to the MTi-G unit. The arm is specified in the object coordinate system and in meters. See the manual for more information on coordinate systems, alignment resets and the lever arm.

See also: getGpsLeverArm

Note: This function is only available in configuration mode.; This function is only available for MTi-G devices.

XsensResultValue xsens::Cmt3::setGravityMagnitude	(	const double	magnitude,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the currently used magnitude of the gravity vector.

The magnitude of the gravity vector is used to determine absolute acceleration from measured acceleration. Use this function to set tit to a custom value in m/s2. The default value of 9.812687357684514m/s2 should be fine for most places on earth, but in some cases the gravity may be drastically different from standard Earth gravity (eg. space, deep subterranean/submarine, polar regions, gravitational anomalies. See also http://www.abc.net.au/science/news/stories/s911917.htm and http://en.wikipedia.org/wiki/Earth%27s_gravity#Comparative_gravities_in_various_cities_around_the_world)

Note: Correct orientation output cannot be guaranteed when an incorrect value is supplied for the gravity. Changing this value is at your own risk.

See also: getGravityMagnitude

Remarks: In future versions, the MTi-G may be able to estimate the local gravity magnitude on its own.

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::setHeading	(	const double	heading,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the heading offset.

This function sets the heading offset in radians used by the device. The valid range is -pi to +pi. The heading offset is used as a final correction on the output orientation.

Note: This function is only available in configuration mode.

See also: getHeading getMagneticDeclination setMagneticDeclination

XsensResultValue xsens::Cmt3::setLatLonAlt	(	const CmtVector &	lla,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the current sensor position.

Use this function to set the current position in latitude, longitude, altitude.

See also: getLatLonAlt

XsensResultValue xsens::Cmt3::setLocationId	(	uint16_t	locationId,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the location ID of a sensor.

This function sets the location ID stored in the device.

Note: This function is only available in configuration mode.

See also: getLocationId

XsensResultValue xsens::Cmt3::setLogMode ( bool active )

Set the logging mode.

This function sets the logging mode to enabled (true) or disabled (false). When enabled, all received messages are logged to the file.

Remarks: Some information that is cached on the host PC will generate faked messages in the log file. Eg. getConfiguration and some others.

XsensResultValue xsens::Cmt3::setMagneticDeclination	(	const double	declination,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the stored magnetic declination.

This function sets the stored local magnetic declination in radians. The valid range is -pi to +pi. The magnetic declination is used in the sensor fusion process to determine the output orientation.

Note: This function is only available in configuration mode.

See also: getHeading setHeading getMagneticDeclination

XsensResultValue xsens::Cmt3::setNoRotation	(	const uint16_t	duration,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Initiates the XKF3 'no rotation' update procedure.

This function Initiates the XKF3 'no rotation' update procedure. See the MT documentation for more information.

Note: Note that this message does not convey any status. Bits 3-4 of the MT status byte are used instead. Only valid in measurement mode.

XsensResultValue xsens::Cmt3::setObjectAlignmentMatrix	(	const CmtMatrix &	matrix,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the currently used object alignment matrix.

Use this function to set the object matrix to be used as the sensor frame with respect to the reference frame. See the manual for more information on coordinate systems and object resets.

See also: getObjectAlignmentMatrix

XsensResultValue xsens::Cmt3::setProcessingFlags	(	uint16_t	processingFlags,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Set the processing flags of a sensor.

This function sets the processing flags stored in the device.

Note: This function is only available in configuration mode.

See also: getProcessingFlags

XsensResultValue xsens::Cmt3::setScenario	(	const uint8_t	scenarioType,
		const CmtDeviceId	deviceId = `CMT_DID_MASTER`
	)

Specify the scenario to use in the sensor.

This function specifies the scenario that the sensor should use for converting raw data into orientation and/or position data. This must be one of the scenarios in the list supplied by getAvailableScenarios.

See also: getAvailableScenarios getScenario

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::setSyncInMode ( const uint16_t mode )

Set the inbound synchronization mode of an MT device.

This function sets the current inbound synchronization mode of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncInMode setSyncInSettings getSyncInSettings getSyncInSkipFactor setSyncInSkipFactor getSyncInOffset setSyncInOffset getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncInOffset ( const uint32_t offset )

Set the inbound synchronization offset of an MT device.

This function sets the current inbound synchronization offset of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncInOffset setSyncInSettings getSyncInSettings getSyncInSkipFactor setSyncInSkipFactor getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncInSettings ( const CmtSyncInSettings & settings )

Set the inbound synchronization settings of an MT device.

This function sets the current inbound synchronization settings of the MT device (sync mode, skip factor and offset). This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

Note: This function is only available in configuration mode.

See also: getSyncInSettings getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncInSkipFactor ( const uint16_t skipFactor )

Set the inbound synchronization skip factor of an MT device.

This function sets the current inbound synchronization skip factor of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncInSkipFactor setSyncInSettings getSyncInSettings getSyncInOffset setSyncInOffset getSyncOutSettings setSyncOutSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncMode ( const uint8_t mode )

Set the sync mode of the Xbus Master.

This function sets the current synchronization mode used by the specified Xbus Master. This function is not valid for MT devices.

Note: This function is only available in configuration mode.

See also: getSyncMode getSyncInSettings setSyncInSettings getSyncOutSettings setSyncOutSettings

XsensResultValue xsens::Cmt3::setSyncOutMode ( const uint16_t mode )

Set the outbound synchronization mode of an MT device.

This function sets the current outbound synchronization mode of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncOutMode setSyncOutSettings getSyncOutSettings getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutSkipFactor setSyncOutSkipFactor getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncOutOffset ( const uint32_t offset )

Set the outbound synchronization offset of an MT device.

This function sets the current outbound synchronization offset of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncOutOffset setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutSkipFactor setSyncOutSkipFactor getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncOutPulseWidth ( const uint32_t pulseWidth )

Set the outbound synchronization pulse width of an MT device.

This function sets the current outbound synchronization pulse width of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: getSyncOutPulseWidth setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutSkipFactor setSyncOutSkipFactor getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncOutSettings ( const CmtSyncOutSettings & settings )

Set the outbound synchronization settings of an MT device.

This function sets the current outbound synchronization settings of the MT device (sync mode, skip factor, offset and pulse width). This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

Note: This function is only available in configuration mode.

See also: setSyncOutSettings getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setSyncOutSkipFactor ( const uint16_t skipFactor )

Set the outbound synchronization skip factor of an MT device.

This function sets the current outbound synchronization skip factor of the MT device. This function does not work for Xbus Masters and should not be used for sensors connected to an Xbus Master.

See also: setSyncOutSkipFactor setSyncOutSettings getSyncOutSettings setSyncOutMode getSyncOutMode getSyncOutPulseWidth setSyncOutPulseWidth getSyncOutOffset setSyncOutOffset getSyncInSettings setSyncInSettings getSyncMode setSyncMode

XsensResultValue xsens::Cmt3::setTimeout ( const uint32_t ms )

inline

XsensResultValue xsens::Cmt3::setTimeoutConfig ( const uint32_t timeout = CMT3_DEFAULT_TIMEOUT_CONF )

Set the configuration mode timeout.

When in config mode, the system uses a different message timeout than in measurement mode, since configuration messages can take longer to process than measurement mode messages. This function can be used to set the config mode timeout in ms.

Note: This function is only available in configuration mode.

See also: getTimeoutConfig getTimeoutMeasurement setTimeoutMeasurement setTimeout

XsensResultValue xsens::Cmt3::setTimeoutMeasurement ( const uint32_t timeout = CMT3_DEFAULT_TIMEOUT_MEAS )

Set the measurement mode timeout.

When in measurement mode, the system uses a different message timeout than in config mode, since measurement mode messages should be faster to process than config mode messages. This function can be used to set the measurement mode timeout in ms.

Note: This function is only available in configuration mode.

See also: getTimeoutMeasurement getTimeoutConfig setTimeoutConfig setTimeout

XsensResultValue xsens::Cmt3::setTransmissionDelay ( const uint16_t delay )

Set the RS485 acknowledge transmission delay of the device.

This function sets the RS485 acknowledge transmission delay of the device. The RS485 acknowledge transmission delay determines the minimal delay to response on request messages. See the low-level communication documentation for more details.

See also: getAckTransmissionDelay

Note: This function is only available in configuration mode.

XsensResultValue xsens::Cmt3::setXmOutputMode ( const uint8_t mode )

Set the dual-output mode of the XM.

This function sets the dual mode output mode of the Xbus Master. The dual output mode of the Xbus Master defines whether it will send data on the serial connection (at the same baud rate as the bluetooth connection) when it is connected via Bluetooth. When set to 0, the serial communication is disabled, data is sent over the serial bus.

Note: When dual-mode is enabled, the Xbus Master will NOT receive commands on the serial bus.; This function is only available in configuration mode.

See also: getXmDualOutputMode

XsensResultValue xsens::Cmt3::setXmPowerOff ( void )

Switch the connected Xbus Master.

This function tell the connected Xbus Master to power down. This differs from setBusPowerState, because this function actually powers down the Xbus Master itself, while setBusPowerState only powers down the bus controlled by the Xbus Master. After This function is called, the Xbus Master must be manually switched on to make it operational again.

See also: setBusPowerState

XsensResultValue xsens::Cmt3::storeXkfState ( const CmtDeviceId deviceId = CMT_DID_MASTER )

Store important components of the XKF filter state to non-volatile memory.

This function allows you to store some critical components of the internal XKF filter state to non-volatile memory. The stored settings will be used to initialize the filter whenever the sensor is switched to Measurement mode.

Note: This function is only available in Config mode.

XsensResultValue xsens::Cmt3::waitForDataMessage ( Packet * pack )

Wait for a data message to arrive.

The function waits for a data message to arrive or until a timeout occurs. The function will also accept error messages.

XsensResultValue xsens::Cmt3::writeMessageToLogFile ( const Message & msg )

Member Data Documentation

uint32_t xsens::Cmt3::m_baudrate

protected

The baudrate that was last set to be used by the port.

CmtDeviceConfiguration xsens::Cmt3::m_config

Cached configuration data.

bool xsens::Cmt3::m_detailedScan

protected

Automatically scan for device details during open. Default is true (recommended).

void* xsens::Cmt3::m_eMtsData[CMT_MAX_DEVICES_PER_PORT]

Cached eMTS data.

uint16_t xsens::Cmt3::m_firstItem

protected

The index of the first formatting item.

uint16_t xsens::Cmt3::m_gotoConfigTries

protected

The number of times a goto config is attempted before the function fails.

XsensResultValue xsens::Cmt3::m_lastHwError

protected

Contains the last error reported by hardware.

CmtDeviceId xsens::Cmt3::m_lastHwErrorDeviceId

protected

Contains the Device ID of the device that caused the last hardware error.

XsensResultValue xsens::Cmt3::m_lastResult

mutableprotected

The last result of an operation.

Cmt2f xsens::Cmt3::m_logFile

protected

The (optional) CMT level 2 logfile object that this class operates on.

bool xsens::Cmt3::m_logging

protected

Indicates whether to write all received messages to the logfile or not, automatically set to true by createLogFile.

bool xsens::Cmt3::m_measuring

protected

Keeps track of whether the connected device is measuring or being configured.

uint16_t xsens::Cmt3::m_period

protected

The sample period of the port.

uint32_t xsens::Cmt3::m_readBufSize

protected

Contains the size of the serial read buffer.

bool xsens::Cmt3::m_readFromFile

protected

Indicates whether to read from the log file or from the serial port.

uint32_t xsens::Cmt3::m_rtcCount

protected

The long sample counter (normal counter wraps at 64k).

bool xsens::Cmt3::m_rtcInitialized

protected

Indicates whether the RTC synchronization isinitialized.

CmtMtTimeStamp xsens::Cmt3::m_rtcLastSc

protected

The last received sample counter, used to determine wrap-around.

xsens::TimeSync xsens::Cmt3::m_rtcSync

protected

Used for synchronizing MT timestamps to system timestamps.

Cmt2s xsens::Cmt3::m_serial

protected

The (optional) CMT level 2 serial object that this class operates on.

uint16_t xsens::Cmt3::m_skip

protected

The skip factor of the port.

uint32_t xsens::Cmt3::m_timeoutConf

protected

The config mode timeout.

uint32_t xsens::Cmt3::m_timeoutMeas

protected

The measurement mode timeout.

bool xsens::Cmt3::m_useRtc

Indicates if the RTC should be computed or not (to save CPU time).

uint32_t xsens::Cmt3::m_writeBufSize

protected

Contains the size of the serial write buffer.

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmt3.h
/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmt3.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation