Macros and types for use in the Xsens communication protocol and CMT classes. More...

#include "pstdint.h"
#include <time.h>
#include <termios.h>
#include <string.h>
#include "xsens_std.h"
#include "xsens_time.h"
#include "xsens_file.h"

Classes
struct	CmtVersion
	A structure for storing the firmware version. More...

struct	CmtDeviceConfiguration
	Structure containing a full device configuration as returned by the ReqConfig message. More...

struct	CmtDeviceConfiguration::_devInfo

struct	CmtDataFormat
	A structure for storing data formats. More...

struct	CmtSyncInSettings
	A structure for storing sync in settings. More...

struct	CmtSyncOutSettings
	A structure for storing sync out settings. More...

struct	CmtUtcTime
	A structure for storing UTC Time values. More...

struct	CmtDeviceMode
	A structure for storing device modes. More...

struct	CmtDeviceMode2
	A structure for storing device modes using period and skip factor (new default) More...

struct	CmtScenario
	A structure for storing scenario information. More...

struct	CmtBinaryData

struct	CmtPortInfo
	Structure for storing information about a serial port. More...

struct	CmtShortVector

struct	CmtRawData

struct	CmtGpsPvtData

struct	CmtRawPressureData

struct	CmtAnalogInData

struct	CmtVector

struct	CmtCalData

struct	CmtQuat

struct	CmtEuler

struct	CmtMatrix

struct	CmtGpsSatelliteInfo

struct	CmtGpsStatus

Macros
#define	B230400 0010003

#define	B460800 0010004

#define	B921600 0010007

#define	__cdecl __attribute__((cdecl))

#define	__stdcall __attribute__((stdcall))

#define	CMT_IND_PREAMBLE 0

#define	CMT_IND_BID 1

#define	CMT_IND_MID 2

#define	CMT_IND_LEN 3

#define	CMT_IND_DATA0 4

#define	CMT_IND_LENEXTH 4

#define	CMT_IND_LENEXTL 5

#define	CMT_IND_DATAEXT0 6

#define	CMT_PREAMBLE 0xFA

#define	CMT_BID_MASTER 0xFF

#define	CMT_BID_MT 0x01

#define	CMT_EXTLENCODE 0xFF

#define	CMT_LEN_MSGHEADER 4

#define	CMT_LEN_MSGEXTHEADER 6

#define	CMT_LEN_MSGHEADERCS 5

#define	CMT_LEN_MSGEXTHEADERCS 7

#define	CMT_LEN_CHECKSUM 1

#define	CMT_LEN_UNSIGSHORT 2

#define	CMT_LEN_UNSIGINT 4

#define	CMT_LEN_FLOAT 4

#define	CMT_MAXDATALEN 8192

#define	CMT_MAXSHORTDATALEN 254

#define	CMT_MAXMSGLEN (CMT_MAXDATALEN+7)

#define	CMT_MAXSHORTMSGLEN (CMT_MAXSHORTDATALEN+5)

#define	CMT_MAXGARBAGE (CMT_MAXMSGLEN+1)

#define	CMT_DID_TYPEH_MASK 0x00F00000

#define	CMT_DID_TYPEL_MASK 0x000F0000

#define	CMT_DID_TYPEH_MT 0x00000000

#define	CMT_DID_TYPEH_XM 0x00100000

#define	CMT_DID_TYPEH_MTI_MTX 0x00300000

#define	CMT_DID_TYPEH_MTIG 0x00500000

#define	CMT_DID_TYPE_MASK 0x00FF0000

#define	CMT_DID_TYPE_MASK_MT_232 0x00300000

#define	CMT_DID_TYPE_MASK_MT_422 0x00310000

#define	CMT_DID_TYPE_MASK_MT_XM 0x00020000

#define	CMT_DID_TYPE_MASK_MT_485 0x00330000

#define	CMT_MID_WAKEUP 0x3E

#define	CMT_MID_WAKEUPACK 0x3F

#define	CMT_MID_REQDID 0x00

#define	CMT_MID_DEVICEID 0x01

#define	CMT_LEN_DEVICEID 4

#define	CMT_MID_INITBUS 0x02

#define	CMT_MID_INITBUSRESULTS 0x03

#define	CMT_LEN_INITBUSRESULTS 4

#define	CMT_MID_REQPERIOD 0x04

#define	CMT_MID_REQPERIODACK 0x05

#define	CMT_LEN_PERIOD 2

#define	CMT_MID_SETPERIOD 0x04

#define	CMT_MID_SETPERIODACK 0x05

#define	CMT_MID_SETBID 0x06

#define	CMT_MID_SETBIDACK 0x07

#define	CMT_MID_AUTOSTART 0x06

#define	CMT_MID_AUTOSTARTACK 0x07

#define	CMT_MID_BUSPWR 0x08

#define	CMT_LEN_BUSPWR 2

#define	CMT_MID_BUSPWRACK 0x09

#define	CMT_MID_REQDATALENGTH 0x0A

#define	CMT_MID_DATALENGTH 0x0B

#define	CMT_LEN_DATALENGTH 2

#define	CMT_MID_REQCONFIGURATION 0x0C

#define	CMT_MID_CONFIGURATION 0x0D

#define	CMT_LEN_CONFIGURATION 118

#define	CMT_MID_RESTOREFACTORYDEF 0x0E

#define	CMT_MID_RESTOREFACTORYDEFACK 0x0F

#define	CMT_MID_GOTOMEASUREMENT 0x10

#define	CMT_MID_GOTOMEASUREMENTACK 0x11

#define	CMT_MID_REQFWREV 0x12

#define	CMT_MID_FIRMWAREREV 0x13

#define	CMT_LEN_FIRMWAREREV 3

#define	CMT_MID_REQBTDISABLE 0x14

#define	CMT_MID_REQBTDISABLEACK 0x15

#define	CMT_LEN_BTDISABLE 1

#define	CMT_MID_DISABLEBT 0x14

#define	CMT_MID_DISABLEBTACK 0x15

#define	CMT_MID_REQOPMODE 0x16

#define	CMT_MID_REQOPMODEACK 0x17

#define	CMT_LEN_OPMODE 1

#define	CMT_MID_SETOPMODE 0x16

#define	CMT_MID_SETOPMODEACK 0x17

#define	CMT_MID_REQBAUDRATE 0x18

#define	CMT_MID_REQBAUDRATEACK 0x19

#define	CMT_LEN_BAUDRATE 1

#define	CMT_MID_SETBAUDRATE 0x18

#define	CMT_MID_SETBAUDRATEACK 0x19

#define	CMT_MID_REQSYNCMODE 0x1A

#define	CMT_MID_REQSYNCMODEACK 0x1B

#define	CMT_LEN_SYNCMODE 1

#define	CMT_MID_SETSYNCMODE 0x1A

#define	CMT_MID_SETSYNCMODEACK 0x1B

#define	CMT_MID_REQPRODUCTCODE 0x1C

#define	CMT_MID_PRODUCTCODE 0x1D

#define	CMT_LEN_PRODUCTCODE 20

#define	CMT_MID_REQPROCESSINGFLAGS 0x20

#define	CMT_MID_REQPROCESSINGFLAGSACK 0x21

#define	CMT_LEN_PROCESSINGFLAGS 2

#define	CMT_MID_SETPROCESSINGFLAGS 0x20

#define	CMT_MID_SETPROCESSINGFLAGSACK 0x21

#define	CMT_MID_XMPWROFF 0x44

#define	CMT_LEN_XMPWROFF 0

#define	CMT_MID_REQOUTPUTMODE 0xD0

#define	CMT_MID_REQOUTPUTMODEACK 0xD1

#define	CMT_LEN_OUTPUTMODE 2

#define	CMT_MID_SETOUTPUTMODE 0xD0

#define	CMT_MID_SETOUTPUTMODEACK 0xD1

#define	CMT_MID_REQOUTPUTSETTINGS 0xD2

#define	CMT_MID_REQOUTPUTSETTINGSACK 0xD3

#define	CMT_LEN_OUTPUTSETTINGS 4

#define	CMT_MID_SETOUTPUTSETTINGS 0xD2

#define	CMT_MID_SETOUTPUTSETTINGSACK 0xD3

#define	CMT_MID_REQOUTPUTSKIPFACTOR 0xD4

#define	CMT_MID_REQOUTPUTSKIPFACTORACK 0xD5

#define	CMT_LEN_OUTPUTSKIPFACTOR 2

#define	CMT_MID_SETOUTPUTSKIPFACTOR 0xD4

#define	CMT_MID_SETOUTPUTSKIPFACTORACK 0xD5

#define	CMT_MID_REQSYNCINSETTINGS 0xD6

#define	CMT_MID_REQSYNCINSETTINGSACK 0xD7

#define	CMT_LEN_SYNCINMODE 2

#define	CMT_LEN_SYNCINSKIPFACTOR 2

#define	CMT_LEN_SYNCINOFFSET 4

#define	CMT_MID_SETSYNCINSETTINGS 0xD6

#define	CMT_MID_SETSYNCINSETTINGSACK 0xD7

#define	CMT_MID_REQSYNCOUTSETTINGS 0xD8

#define	CMT_MID_REQSYNCOUTSETTINGSACK 0xD9

#define	CMT_LEN_SYNCOUTMODE 2

#define	CMT_LEN_SYNCOUTSKIPFACTOR 2

#define	CMT_LEN_SYNCOUTOFFSET 4

#define	CMT_LEN_SYNCOUTPULSEWIDTH 4

#define	CMT_MID_SETSYNCOUTSETTINGS 0xD8

#define	CMT_MID_SETSYNCOUTSETTINGSACK 0xD9

#define	CMT_MID_REQERRORMODE 0xDA

#define	CMT_MID_REQERRORMODEACK 0xDB

#define	CMT_LEN_ERRORMODE 2

#define	CMT_MID_SETERRORMODE 0xDA

#define	CMT_MID_SETERRORMODEACK 0xDB

#define	CMT_MID_REQTRANSMITDELAY 0xDC

#define	CMT_MID_REQTRANSMITDELAYACK 0xDD

#define	CMT_LEN_TRANSMITDELAY 2

#define	CMT_MID_SETTRANSMITDELAY 0xDC

#define	CMT_MID_SETTRANSMITDELAYACK 0xDD

#define	CMT_MID_REQOBJECTALIGNMENT 0xE0

#define	CMT_MID_REQOBJECTALIGNMENTACK 0xE1

#define	CMT_LEN_OBJECTALIGNMENT 36

#define	CMT_MID_SETOBJECTALIGNMENT 0xE0

#define	CMT_MID_SETOBJECTALIGNMENTACK 0xE1

#define	CMT_MID_REQXMERRORMODE 0x82

#define	CMT_MID_REQXMERRORMODEACK 0x83

#define	CMT_LEN_XMERRORMODE 2

#define	CMT_MID_SETXMERRORMODE 0x82

#define	CMT_MID_SETXMERRORMODEACK 0x83

#define	CMT_MID_REQBUFFERSIZE 0x84

#define	CMT_MID_REQBUFFERSIZEACK 0x85

#define	CMT_LEN_BUFFERSIZE 2

#define	CMT_MID_SETBUFFERSIZE 0x84

#define	CMT_MID_SETBUFFERSIZEACK 0x85

#define	CMT_MID_REQHEADING 0x82

#define	CMT_MID_REQHEADINGACK 0x83

#define	CMT_LEN_HEADING 4

#define	CMT_MID_SETHEADING 0x82

#define	CMT_MID_SETHEADINGACK 0x83

#define	CMT_MID_REQMAGNETICDECLINATION 0x6A

#define	CMT_MID_REQMAGNETICDECLINATIONACK 0x6B

#define	CMT_LEN_MAGNETICDECLINATION 4

#define	CMT_MID_SETMAGNETICDECLINATION 0x6A

#define	CMT_MID_SETMAGNETICDECLINATIONACK 0x6B

#define	CMT_MID_REQLOCATIONID 0x84

#define	CMT_MID_REQLOCATIONIDACK 0x85

#define	CMT_LEN_LOCATIONID 2

#define	CMT_MID_SETLOCATIONID 0x84

#define	CMT_MID_SETLOCATIONIDACK 0x85

#define	CMT_MID_REQEXTOUTPUTMODE 0x86

#define	CMT_MID_REQEXTOUTPUTMODEACK 0x87

#define	CMT_LEN_EXTOUTPUTMODE 2

#define	CMT_MID_SETEXTOUTPUTMODE 0x86

#define	CMT_MID_SETEXTOUTPUTMODEACK 0x87

#define	CMT_MID_REQBATLEVEL 0x88

#define	CMT_MID_BATLEVEL 0x89

#define	CMT_MID_REQINITTRACKMODE 0x88

#define	CMT_MID_REQINITTRACKMODEACK 0x89

#define	CMT_LEN_INITTRACKMODE 2

#define	CMT_MID_SETINITTRACKMODE 0x88

#define	CMT_MID_SETINITTRACKMODEACK 0x89

#define	CMT_MID_STOREXKFSTATE 0x8A

#define	CMT_LEN_STOREXKFSTATE 0

#define	CMT_MID_STOREXKFSTATEACK 0x8B

#define	CMT_MID_REQUTCTIME 0x60

#define	CMT_MID_UTCTIME 0x61

#define	CMT_LEN_UTCTIME 12

#define	CMT_LEN_SCENARIOLABEL 20

#define	CMT_LEN_SCENARIOFULL (1+1+CMT_LEN_SCENARIOLABEL)

#define	CMT_MID_REQAVAILABLESCENARIOS 0x62

#define	CMT_MID_AVAILABLESCENARIOS 0x63

#define	CMT_LEN_AVAILABLESCENARIOS (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)

#define	CMT_MID_REQSCENARIO 0x64

#define	CMT_MID_REQSCENARIOACK 0x65

#define	CMT_LEN_REQSCENARIOACK 2

#define	CMT_MID_SETSCENARIO 0x64

#define	CMT_MID_SETSCENARIOACK 0x65

#define	CMT_LEN_SETSCENARIO 1

#define	CMT_MID_REQGRAVITYMAGNITUDE 0x66

#define	CMT_MID_REQGRAVITYMAGNITUDEACK 0x67

#define	CMT_MID_SETGRAVITYMAGNITUDE 0x66

#define	CMT_MID_SETGRAVITYMAGNITUDEACK 0x67

#define	CMT_LEN_GRAVITYMAGNITUDE 4

#define	CMT_MID_REQGPSLEVERARM 0x68

#define	CMT_MID_REQGPSLEVERARMACK 0x69

#define	CMT_MID_SETGPSLEVERARM 0x68

#define	CMT_MID_SETGPSLEVERARMACK 0x69

#define	CMT_LEN_GPSLEVERARM 12

#define	CMT_MID_REQLATLONALT 0x6E

#define	CMT_MID_REQLATLONALTACK 0x6F

#define	CMT_LEN_LATLONALT 18

#define	CMT_MID_SETLATLONALT 0x6E

#define	CMT_MID_SETLATLONALTACK 0x6F

#define	CMT_MID_GOTOCONFIG 0x30

#define	CMT_MID_GOTOCONFIGACK 0x31

#define	CMT_MID_BUSDATA 0x32

#define	CMT_MID_MTDATA 0x32

#define	CMT_MID_SETNOROTATION 0x22

#define	CMT_MID_SETNOROTATIONACK 0x23

#define	CMT_LEN_SETNOROTATION 2

#define	CMT_MID_RUNSELFTEST 0x24

#define	CMT_MID_SELFTESTRESULTS 0x25

#define	CMT_SELFTEST_OK 0x1FF

#define	CMT_MID_PREPAREDATA 0x32

#define	CMT_MID_REQDATA 0x34

#define	CMT_MID_REQDATAACK 0x35

#define	CMT_LEN_RAWDATA 20

#define	CMT_LEN_CALIBDATA 36

#define	CMT_LEN_CALIB_ACCDATA 12

#define	CMT_LEN_CALIB_GYRDATA 12

#define	CMT_LEN_CALIB_MAGDATA 12

#define	CMT_LEN_ORIENT_QUATDATA 16

#define	CMT_LEN_ORIENT_EULERDATA 12

#define	CMT_LEN_ORIENT_MATRIXDATA 36

#define	CMT_LEN_SAMPLECNT 2

#define	CMT_LEN_TEMPDATA 4

#define	CMT_LEN_CALIBDATA_FLT 9

#define	CMT_LEN_TEMPDATA_FLT 1

#define	CMT_LEN_ORIENT_QUATDATA_FLT 4

#define	CMT_LEN_ORIENT_EULERDATA_FLT 3

#define	CMT_LEN_ORIENT_MATRIXDATA_FLT 9

#define	CMT_IND_RAW_ACCX 0

#define	CMT_IND_RAW_ACCY 2

#define	CMT_IND_RAW_ACCZ 4

#define	CMT_IND_RAW_GYRX 6

#define	CMT_IND_RAW_GYRY 8

#define	CMT_IND_RAW_GYRZ 10

#define	CMT_IND_RAW_MAGX 12

#define	CMT_IND_RAW_MAGY 14

#define	CMT_IND_RAW_MAGZ 16

#define	CMT_IND_RAW_TEMP 18

#define	CMT_IND_CALIB_ACCX 0

#define	CMT_IND_CALIB_ACCY 4

#define	CMT_IND_CALIB_ACCZ 8

#define	CMT_IND_CALIB_GYRX 12

#define	CMT_IND_CALIB_GYRY 16

#define	CMT_IND_CALIB_GYRZ 20

#define	CMT_IND_CALIB_MAGX 24

#define	CMT_IND_CALIB_MAGY 28

#define	CMT_IND_CALIB_MAGZ 32

#define	CMT_IND_ORIENT_Q0 0

#define	CMT_IND_ORIENT_Q1 4

#define	CMT_IND_ORIENT_Q2 8

#define	CMT_IND_ORIENT_Q3 12

#define	CMT_IND_ORIENT_ROLL 0

#define	CMT_IND_ORIENT_PITCH 4

#define	CMT_IND_ORIENT_YAW 8

#define	CMT_IND_ORIENT_A 0

#define	CMT_IND_ORIENT_B 4

#define	CMT_IND_ORIENT_C 8

#define	CMT_IND_ORIENT_D 12

#define	CMT_IND_ORIENT_E 16

#define	CMT_IND_ORIENT_F 20

#define	CMT_IND_ORIENT_G 24

#define	CMT_IND_ORIENT_H 28

#define	CMT_IND_ORIENT_I 32

#define	CMT_IND_SAMPLECNTH 0

#define	CMT_IND_SAMPLECNTL 1

#define	CMT_FLDNUM_RAW_ACCX 0

#define	CMT_FLDNUM_RAW_ACCY 1

#define	CMT_FLDNUM_RAW_ACCZ 2

#define	CMT_FLDNUM_RAW_GYRX 3

#define	CMT_FLDNUM_RAW_GYRY 4

#define	CMT_FLDNUM_RAW_GYRZ 5

#define	CMT_FLDNUM_RAW_MAGX 6

#define	CMT_FLDNUM_RAW_MAGY 7

#define	CMT_FLDNUM_RAW_MAGZ 8

#define	CMT_FLDNUM_RAW_TEMP 9

#define	CMT_FLDNUM_CALIB_ACCX 0

#define	CMT_FLDNUM_CALIB_ACCY 1

#define	CMT_FLDNUM_CALIB_ACCZ 2

#define	CMT_FLDNUM_CALIB_GYRX 3

#define	CMT_FLDNUM_CALIB_GYRY 4

#define	CMT_FLDNUM_CALIB_GYRZ 5

#define	CMT_FLDNUM_CALIB_MAGX 6

#define	CMT_FLDNUM_CALIB_MAGY 7

#define	CMT_FLDNUM_CALIB_MAGZ 8

#define	CMT_FLDNUM_ORIENT_Q0 0

#define	CMT_FLDNUM_ORIENT_Q1 1

#define	CMT_FLDNUM_ORIENT_Q2 2

#define	CMT_FLDNUM_ORIENT_Q3 3

#define	CMT_FLDNUM_ORIENT_ROLL 0

#define	CMT_FLDNUM_ORIENT_PITCH 1

#define	CMT_FLDNUM_ORIENT_YAW 2

#define	CMT_FLDNUM_ORIENT_A 0

#define	CMT_FLDNUM_ORIENT_B 1

#define	CMT_FLDNUM_ORIENT_C 2

#define	CMT_FLDNUM_ORIENT_D 3

#define	CMT_FLDNUM_ORIENT_E 4

#define	CMT_FLDNUM_ORIENT_F 5

#define	CMT_FLDNUM_ORIENT_G 6

#define	CMT_FLDNUM_ORIENT_H 7

#define	CMT_FLDNUM_ORIENT_I 8

#define	CMT_LEN_RAW_ACCX 2

#define	CMT_LEN_RAW_ACCY 2

#define	CMT_LEN_RAW_ACCZ 2

#define	CMT_LEN_RAW_GYRX 2

#define	CMT_LEN_RAW_GYRY 2

#define	CMT_LEN_RAW_GYRZ 2

#define	CMT_LEN_RAW_MAGX 2

#define	CMT_LEN_RAW_MAGY 2

#define	CMT_LEN_RAW_MAGZ 2

#define	CMT_LEN_RAW_TEMP 2

#define	CMT_LEN_CALIB_ACCX 4

#define	CMT_LEN_CALIB_ACCY 4

#define	CMT_LEN_CALIB_ACCZ 4

#define	CMT_LEN_CALIB_GYRX 4

#define	CMT_LEN_CALIB_GYRY 4

#define	CMT_LEN_CALIB_GYRZ 4

#define	CMT_LEN_CALIB_MAGX 4

#define	CMT_LEN_CALIB_MAGY 4

#define	CMT_LEN_CALIB_MAGZ 4

#define	CMT_LEN_ORIENT_Q0 4

#define	CMT_LEN_ORIENT_Q1 4

#define	CMT_LEN_ORIENT_Q2 4

#define	CMT_LEN_ORIENT_Q3 4

#define	CMT_LEN_ORIENT_ROLL 4

#define	CMT_LEN_ORIENT_PITCH 4

#define	CMT_LEN_ORIENT_YAW 4

#define	CMT_LEN_ORIENT_A 4

#define	CMT_LEN_ORIENT_B 4

#define	CMT_LEN_ORIENT_C 4

#define	CMT_LEN_ORIENT_D 4

#define	CMT_LEN_ORIENT_E 4

#define	CMT_LEN_ORIENT_F 4

#define	CMT_LEN_ORIENT_G 4

#define	CMT_LEN_ORIENT_H 4

#define	CMT_LEN_ORIENT_I 4

#define	CMT_VALUE_RAW_ACC 0

#define	CMT_VALUE_RAW_GYR 1

#define	CMT_VALUE_RAW_MAG 2

#define	CMT_VALUE_RAW_TEMP 3

#define	CMT_VALUE_CALIB_ACC 4

#define	CMT_VALUE_CALIB_GYR 5

#define	CMT_VALUE_CALIB_MAG 6

#define	CMT_VALUE_ORIENT_QUAT 7

#define	CMT_VALUE_ORIENT_EULER 8

#define	CMT_VALUE_ORIENT_MATRIX 9

#define	CMT_VALUE_SAMPLECNT 10

#define	CMT_VALUE_TEMP 11

#define	CMT_INVALIDSETTINGVALUE 0xFFFFFFFF

#define	CMT_MID_RESET 0x40

#define	CMT_MID_RESETACK 0x41

#define	CMT_MID_ERROR 0x42

#define	CMT_MID_XMPWROFF 0x44

#define	CMT_MID_REQFILTERSETTINGS 0xA0

#define	CMT_MID_REQFILTERSETTINGSACK 0xA1

#define	CMT_LEN_FILTERSETTINGS 4

#define	CMT_MID_SETFILTERSETTINGS 0xA0

#define	CMT_MID_SETFILTERSETTINGSACK 0xA1

#define	CMT_MID_REQAMD 0xA2

#define	CMT_MID_REQAMDACK 0xA3

#define	CMT_LEN_AMD 2

#define	CMT_MID_SETAMD 0xA2

#define	CMT_MID_SETAMDACK 0xA3

#define	CMT_MID_RESETORIENTATION 0xA4

#define	CMT_MID_RESETORIENTATIONACK 0xA5

#define	CMT_LEN_RESETORIENTATION 2

#define	CMT_MID_REQGPSSTATUS 0xA6

#define	CMT_MID_GPSSTATUS 0xA7

#define	CMT_LEN_GPSSTATUS (1+5*16)

#define	CMT_BAUDCODE_4K8 0x0B

#define	CMT_BAUDCODE_9K6 0x09

#define	CMT_BAUDCODE_19K2 0x07

#define	CMT_BAUDCODE_38K4 0x05

#define	CMT_BAUDCODE_57K6 0x04

#define	CMT_BAUDCODE_115K2 0x02

#define	CMT_BAUDCODE_230K4 0x01

#define	CMT_BAUDCODE_460K8 0x00

#define	CMT_BAUDCODE_921K6_ALT 0x0A

#define	CMT_BAUDCODE_921K6 0x80

#define	CMT_ERROR_NOBUSCOMM 0x01

#define	CMT_ERROR_BUSNOTREADY 0x02

#define	CMT_ERROR_PERIODINVALID 0x03

#define	CMT_ERROR_MESSAGEINVALID 0x04

#define	CMT_ERROR_INITOFBUSFAILED1 0x10

#define	CMT_ERROR_INITOFBUSFAILED2 0x11

#define	CMT_ERROR_INITOFBUSFAILED3 0x12

#define	CMT_ERROR_SETBIDPROCFAILED1 0x14

#define	CMT_ERROR_SETBIDPROCFAILED2 0x15

#define	CMT_ERROR_MEASUREMENTFAILED1 0x18

#define	CMT_ERROR_MEASUREMENTFAILED2 0x19

#define	CMT_ERROR_MEASUREMENTFAILED3 0x1A

#define	CMT_ERROR_MEASUREMENTFAILED4 0x1B

#define	CMT_ERROR_MEASUREMENTFAILED5 0x1C

#define	CMT_ERROR_MEASUREMENTFAILED6 0x1D

#define	CMT_ERROR_TIMEROVERFLOW 0x1E

#define	CMT_ERROR_BAUDRATEINVALID 0x20

#define	CMT_ERROR_PARAMETERINVALID 0x21

#define	CMT_ERROR_MEASUREMENTFAILED7 0x23

#define	CMT_ERRORMODE_IGNORE 0x0000

#define	CMT_ERRORMODE_INCSAMPLECNT 0x0001

#define	CMT_ERRORMODE_INCSAMPLECNT_SENDERROR 0x0002

#define	CMT_ERRORMODE_SENDERROR_GOTOCONFIG 0x0003

#define	CMT_CONF_MASTERDID 0

#define	CMT_CONF_PERIOD 4

#define	CMT_CONF_OUTPUTSKIPFACTOR 6

#define	CMT_CONF_SYNCIN_MODE 8

#define	CMT_CONF_SYNCIN_SKIPFACTOR 10

#define	CMT_CONF_SYNCIN_OFFSET 12

#define	CMT_CONF_DATE 16

#define	CMT_CONF_TIME 24

#define	CMT_CONF_NUMDEVICES 96

#define	CMT_CONF_DID 98

#define	CMT_CONF_DATALENGTH 102

#define	CMT_CONF_OUTPUTMODE 104

#define	CMT_CONF_OUTPUTSETTINGS 106

#define	CMT_CONF_BLOCKLEN 20

#define	CMT_CONF_MASTERDIDLEN 4

#define	CMT_CONF_PERIODLEN 2

#define	CMT_CONF_OUTPUTSKIPFACTORLEN 2

#define	CMT_CONF_SYNCIN_MODELEN 2

#define	CMT_CONF_SYNCIN_SKIPFACTORLEN 2

#define	CMT_CONF_SYNCIN_OFFSETLEN 4

#define	CMT_CONF_DATELEN 8

#define	CMT_CONF_TIMELEN 8

#define	CMT_CONF_RESERVED_CLIENTLEN 32

#define	CMT_CONF_RESERVED_HOSTLEN 32

#define	CMT_CONF_NUMDEVICESLEN 2

#define	CMT_CONF_DIDLEN 4

#define	CMT_CONF_DATALENGTHLEN 2

#define	CMT_CONF_OUTPUTMODELEN 2

#define	CMT_CONF_OUTPUTSETTINGSLEN 4

#define	CMT_SYNC_CLOCKFREQMHZ 29.4912

#define	CMT_SYNC_CLOCK_NS_TO_TICKS (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)

#define	CMT_SYNC_CLOCK_TICKS_TO_NS (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)

#define	CMT_PARAM_SYNCIN_MODE 0x00

#define	CMT_PARAM_SYNCIN_SKIPFACTOR 0x01

#define	CMT_PARAM_SYNCIN_OFFSET 0x02

#define	CMT_SYNCIN_DISABLED 0x0000

#define	CMT_SYNCIN_EDGE_RISING 0x0001

#define	CMT_SYNCIN_EDGE_FALLING 0x0002

#define	CMT_SYNCIN_EDGE_BOTH 0x0003

#define	CMT_SYNCIN_EDGE_MASK 0x0003

#define	CMT_SYNCIN_TYPE_DOSAMPLING 0x0000

#define	CMT_SYNCIN_TYPE_SENDLASTDATA 0x0004

#define	CMT_SYNCIN_TYPE_CLOCK 0x0010

#define	CMT_SYNCIN_TYPE_MASK 0x001C

#define	CMT_PARAM_SYNCOUT_MODE 0x00

#define	CMT_PARAM_SYNCOUT_SKIPFACTOR 0x01

#define	CMT_PARAM_SYNCOUT_OFFSET 0x02

#define	CMT_PARAM_SYNCOUT_PULSEWIDTH 0x03

#define	CMT_SYNCOUT_DISABLED 0x0000

#define	CMT_SYNCOUT_TYPE_TOGGLE 0x0001

#define	CMT_SYNCOUT_TYPE_PULSE 0x0002

#define	CMT_SYNCOUT_POL_NEG 0x0000

#define	CMT_SYNCOUT_POL_POS 0x0010

#define	CMT_SYNCOUT_TYPE_MASK 0x000F

#define	CMT_SYNCOUT_POL_MASK 0x0010

#define	CMT_OUTPUTMODE_MT9 0x8000

#define	CMT_OUTPUTMODE_XM 0x0000

#define	CMT_OUTPUTMODE_RAW 0x4000

#define	CMT_OUTPUTMODE_GPSPVT_PRESSURE 0x1000

#define	CMT_OUTPUTMODE_TEMP 0x0001

#define	CMT_OUTPUTMODE_CALIB 0x0002

#define	CMT_OUTPUTMODE_ORIENT 0x0004

#define	CMT_OUTPUTMODE_AUXILIARY 0x0008

#define	CMT_OUTPUTMODE_POSITION 0x0010

#define	CMT_OUTPUTMODE_VELOCITY 0x0020

#define	CMT_OUTPUTMODE_STATUS 0x0800

#define	CMT_OUTPUTSETTINGS_XM 0x00000001

#define	CMT_OUTPUTSETTINGS_TIMESTAMP_NONE 0x00000000

#define	CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT 0x00000001

#define	CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLEUTC 0x00000002

#define	CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION 0x00000000

#define	CMT_OUTPUTSETTINGS_ORIENTMODE_EULER 0x00000004

#define	CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX 0x00000008

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG 0x00000000

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACC 0x00000060

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR 0x00000040

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG 0x00000020

#define	CMT_OUTPUTSETTINGS_CALIBMODE_GYR 0x00000050

#define	CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG 0x00000010

#define	CMT_OUTPUTSETTINGS_CALIBMODE_MAG 0x00000030

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG_MASK 0x00000070

#define	CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT 0x00000000

#define	CMT_OUTPUTSETTINGS_DATAFORMAT_F1220 0x00000100

#define	CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632 0x00000200

#define	CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1 0x00000800

#define	CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2 0x00000400

#define	CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84 0x00000000

#define	CMT_OUTPUTSETTINGS_VELOCITYMODE_MS_XYZ 0x00000000

#define	CMT_OUTPUTSETTINGS_TIMESTAMP_MASK 0x00000003

#define	CMT_OUTPUTSETTINGS_ORIENTMODE_MASK 0x0000000C

#define	CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK 0x00000010

#define	CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK 0x00000020

#define	CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK 0x00000040

#define	CMT_OUTPUTSETTINGS_CALIBMODE_MASK 0x00000070

#define	CMT_OUTPUTSETTINGS_DATAFORMAT_MASK 0x00000300

#define	CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK 0x00000400

#define	CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK 0x00000800

#define	CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK 0x00000C00

#define	CMT_OUTPUTSETTINGS_POSITIONMODE_MASK 0x0001C000

#define	CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK 0x00060000

#define	CMT_OUTPUTSETTINGS_COORDINATES_NED 0x80000000

#define	CMT_EXTOUTPUTMODE_DISABLED 0x0000

#define	CMT_EXTOUTPUTMODE_EULER 0x0001

#define	CMT_PROCESSINGFLAGS_IGBU_ENABLED 0x0001

#define	CMT_PROCESSINGFLAGS_FIXED_GRAVITY 0x0002

#define	CMT_SENDRAWSTRING_INIT 0

#define	CMT_SENDRAWSTRING_DEFAULT 1

#define	CMT_SENDRAWSTRING_SEND 2

#define	CMT_TO_DEFAULT 500

#define	CMT_TO_INIT 250

#define	CMT_TO_RETRY 50

#define	CMT_PERIOD_10HZ 11520

#define	CMT_PERIOD_12HZ 9600

#define	CMT_PERIOD_15HZ 7680

#define	CMT_PERIOD_16HZ 7200

#define	CMT_PERIOD_18HZ 6400

#define	CMT_PERIOD_20HZ 5760

#define	CMT_PERIOD_24HZ 4800

#define	CMT_PERIOD_25HZ 4608

#define	CMT_PERIOD_30HZ 3840

#define	CMT_PERIOD_32HZ 3600

#define	CMT_PERIOD_36HZ 3200

#define	CMT_PERIOD_40HZ 2880

#define	CMT_PERIOD_45HZ 2560

#define	CMT_PERIOD_48HZ 2400

#define	CMT_PERIOD_50HZ 2304

#define	CMT_PERIOD_60HZ 1920

#define	CMT_PERIOD_64HZ 1800

#define	CMT_PERIOD_72HZ 1600

#define	CMT_PERIOD_75HZ 1536

#define	CMT_PERIOD_80HZ 1440

#define	CMT_PERIOD_90HZ 1280

#define	CMT_PERIOD_96HZ 1200

#define	CMT_PERIOD_100HZ 1152

#define	CMT_PERIOD_120HZ 960

#define	CMT_PERIOD_128HZ 900

#define	CMT_PERIOD_144HZ 800

#define	CMT_PERIOD_150HZ 768

#define	CMT_PERIOD_160HZ 720

#define	CMT_PERIOD_180HZ 640

#define	CMT_PERIOD_192HZ 600

#define	CMT_PERIOD_200HZ 576

#define	CMT_PERIOD_225HZ 512

#define	CMT_PERIOD_240HZ 480

#define	CMT_PERIOD_256HZ 450

#define	CMT_PERIOD_288HZ 400

#define	CMT_PERIOD_300HZ 384

#define	CMT_PERIOD_320HZ 360

#define	CMT_PERIOD_360HZ 320

#define	CMT_PERIOD_384HZ 300

#define	CMT_PERIOD_400HZ 288

#define	CMT_PERIOD_450HZ 256

#define	CMT_PERIOD_480HZ 240

#define	CMT_PERIOD_512HZ 225

#define	CMT_BAUD_RATE_4800 B4800

#define	CMT_BAUD_RATE_9600 B9600

#define	CMT_BAUD_RATE_19K2 B19200

#define	CMT_BAUD_RATE_38K4 B38400

#define	CMT_BAUD_RATE_57K6 B57600

#define	CMT_BAUD_RATE_115K2 B115200

#define	CMT_BAUD_RATE_230K4 B230400

#define	CMT_BAUD_RATE_460K8 B460800

#define	CMT_BAUD_RATE_921K6 B921600

#define	CMT_DEFAULT_OUTPUT_MODE CMT_OUTPUTMODE_ORIENT

#define	CMT_DEFAULT_OUTPUT_SETTINGS

#define	CMT_GOTO_CONFIG_TRIES 3

#define	CMT_MAX_DEVICES_PER_PORT 11

#define	CMT_DEFAULT_SAMPLE_FREQUENCY 100

#define	CMT_DEFAULT_PERIOD 1152

#define	CMT_DEFAULT_SKIP 0

#define	CMT_SYNCOUT_DEFAULT_PULSE_WIDTH 1000000

#define	CMT_MAX_PORTS_PER_THREAD 20

#define	CMT_MAX_FILES_PER_THREAD 20

#define	CMT_MAX_DEVICES (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)

#define	CMT_MAX_PACKETS_PER_BUNDLE CMT_MAX_PORTS_PER_THREAD

#define	CMT_BUNDLE_QUEUE_SIZE 256

#define	CMT_MAX_ITEMS_IN_PACKET 10

#define	CMT_DEFAULT_READ_BUFFER_SIZE (CMT_MAXDATALEN*8)
	The default size of the serial read buffer in bytes. More...

#define	CMT_DEFAULT_WRITE_BUFFER_SIZE CMT_MAXDATALEN
	The default size of the serial write buffer in bytes. More...

#define	CMT_DEFAULT_BAUD_RATE CMT_BAUD_RATE_115K2
	The default baud rate of the Cmt1s serial communication. More...

#define	CMT2_DATA_QUEUE_SIZE 60
	The size of the L2 data-message fifo-queue. More...

#define	CMT3_CONFIG_TIMEOUT 100
	The timeout value for "goto config"-message acknowledgement. More...

#define	CMT1_DEFAULT_TIMEOUT 10
	The default timeout value for blocking CMT1s operations in ms. More...

#define	CMT2_DEFAULT_TIMEOUT 50
	Timeout in ms for level 2. More...

#define	CMT3_DEFAULT_TIMEOUT_MEAS 16
	The default timeout value for L3 data reading. More...

#define	CMT3_DEFAULT_TIMEOUT_CONF 3000
	The default timeout value for L3 configuration settings. More...

#define	CMT4_DEFAULT_TIMEOUT_MEAS 1
	The default timeout value for L4 data reading at L2 and 3. More...

#define	CMT4_DEFAULT_TIMEOUT_CONF CMT3_DEFAULT_TIMEOUT_CONF
	The default timeout value for L4 configuration settings. More...

#define	CMT4_MEASUREMENT_REQ_TIMEOUT 200
	The timeout to use for requests during measurement mode. More...

#define	CMT4_DEFAULT_TIMEOUT_DATA 3000
	The standard timeout to use for data receipt in measurement mode. More...

#define	CMT4_CONFIGWAIT_TIMEOUT 50
	The timeout used for reading a wakeup message in config mode. More...

#define	CMT_MAX_FILENAME_LENGTH 512

#define	CMT_DID_BROADCAST 0x80000000

#define	CMT_DID_MASTER 0

#define	CMT_MAX_SCENARIOS_IN_MT 5

#define	CMT_MAX_SCENARIOS 254

#define	CmtCallbackSelector CmtCallbackType

#define	CmtRawGpsData CmtGpsPvtData
	obsolete, use CmtGpsPvtData instead More...

#define	CMT_MAX_SVINFO 16

#define	CMT_AUTO_SAVE_FRAMES 5000

#define	CMT_FILE_LAST_FRAME 0xFFFFFFFF

#define	CMT_BID_BROADCAST (const uint8_t)0x00

#define	CMT_BID_INVALID (const uint8_t)0xFE

#define	CMT_MID_REQEMTS (const uint8_t)0x90

#define	CMT_MID_EMTSDATA (const uint8_t)0x91

#define	CMT_EMTS_SIZE 1320

#define	CMT_STATUSFLAG_SELFTEST_OK 0x01

#define	CMT_STATUSFLAG_XKFVALID 0x02

#define	CMT_STATUSFLAG_GPSVALID 0x04

#define	CMT_STATUSFLAG_NOROTATION_MASK 0x18

#define	CMT_STATUSFLAG_NOROTATION 0x18

#define	CMT_STATUSFLAG_NOROTATION_ABORTED 0x10

#define	CMT_STATUSFLAG_NOROTATION_SAMPLES_REJECTED 0x08

#define	CMT_MAX_VPORTNAME_LEN 32

Typedefs
typedef uint32_t	CmtDeviceId
	The type of a Device Id. More...

typedef uint32_t	CmtOutputMode
	An output mode bit-field. More...

typedef uint64_t	CmtOutputSettings
	An output settings bit-field. More...

typedef uint16_t	CmtMtTimeStamp
	An MT timestamp (sample count) More...

typedef void(__cdecl *	CmtCallbackFunction) (int32_t instance, int32_t callbackType, void param, void userParam)
	Function prototype for Cmt callback functions. More...

typedef int64_t	CmtTimeStamp

Enumerations
enum	CmtControlLine { CMT_CONTROL_DCD = 0x0001, CMT_CONTROL_RD = 0x0002, CMT_CONTROL_TD = 0x0004, CMT_CONTROL_DTR = 0x0008, CMT_CONTROL_GND = 0x0010, CMT_CONTROL_DSR = 0x0020, CMT_CONTROL_RTS = 0x0040, CMT_CONTROL_CTS = 0x0080, CMT_CONTROL_RI = 0x0100 }

enum	CmtResetMethod { CMT_RESETORIENTATION_STORE = 0, CMT_RESETORIENTATION_HEADING, CMT_RESETORIENTATION_GLOBAL, CMT_RESETORIENTATION_OBJECT, CMT_RESETORIENTATION_ALIGN }

enum	CmtXmSyncMode { CMT_XM_SYNC_OFF = 0x00, CMT_XM_SYNC_PWM = 0x01, CMT_XM_SYNC_MASTER = 0x10, CMT_XM_SYNC_SLAVE = 0x20, CMT_XM_SYNC_TOGGLE = 0x30 }

enum	CmtCallbackType { CMT_CALLBACK_LIST_TERMINATOR = -1, CMT_CALLBACK_ONMEASUREMENTPREPARE, CMT_CALLBACK_ONMEASUREMENTSTART, CMT_CALLBACK_ONMEASUREMENTSTOP, CMT_CALLBACK_ONPOSTPROCESS, CMT_CALLBACK_ONBYTESRECEIVED, CMT_CALLBACK_ONMESSAGERECEIVED, CMT_CALLBACK_ONMESSAGESENT, CMT_CALLBACK_ONMISSINGSAMPLES, CMT_CALLBACK_ONWAKEUPRECEIVED, CMT_CALLBACK_ONINSTANCE, CMT_CALLBACK_ONPLAYBACK, CMT_CALLBACK_COUNT }

enum	CmtQueueMode { CMT_QM_FIFO = 0, CMT_QM_LAST = 1, CMT_QM_RAW = 2 }

Detailed Description

Macros and types for use in the Xsens communication protocol and CMT classes.

This file contains useful macros for the Xsens CMT classes. These include Message Ids, sizes of messages, result/error codes, etc.

The macros and enumerators in this file are either used on multiple levels (XsensResultValue) or so numerous (CMT_MID_...) that it would not be justifiable to put them in a header file of a particular level.

Copyright Notice

This source code is intended for use only by Xsens Technologies BV and those that have explicit written permission to use it from Xsens Technologies BV.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Changelog

2006-05-01, v0.0.1

Job Mulder: Created Cmtdef.h

2006-07-21, v0.1.0

Job Mulder: Updated file for release 0.1.0

Macro Definition Documentation

#define __cdecl __attribute__((cdecl))

#define __stdcall __attribute__((stdcall))

#define B230400 0010003

#define B460800 0010004

#define B921600 0010007

#define CMT1_DEFAULT_TIMEOUT 10

The default timeout value for blocking CMT1s operations in ms.

#define CMT2_DATA_QUEUE_SIZE 60

The size of the L2 data-message fifo-queue.

#define CMT2_DEFAULT_TIMEOUT 50

Timeout in ms for level 2.

#define CMT3_CONFIG_TIMEOUT 100

The timeout value for "goto config"-message acknowledgement.

#define CMT3_DEFAULT_TIMEOUT_CONF 3000

The default timeout value for L3 configuration settings.

#define CMT3_DEFAULT_TIMEOUT_MEAS 16

The default timeout value for L3 data reading.

#define CMT4_CONFIGWAIT_TIMEOUT 50

The timeout used for reading a wakeup message in config mode.

#define CMT4_DEFAULT_TIMEOUT_CONF CMT3_DEFAULT_TIMEOUT_CONF

The default timeout value for L4 configuration settings.

#define CMT4_DEFAULT_TIMEOUT_DATA 3000

The standard timeout to use for data receipt in measurement mode.

#define CMT4_DEFAULT_TIMEOUT_MEAS 1

The default timeout value for L4 data reading at L2 and 3.

#define CMT4_MEASUREMENT_REQ_TIMEOUT 200

The timeout to use for requests during measurement mode.

#define CMT_AUTO_SAVE_FRAMES 5000

#define CMT_BAUD_RATE_115K2 B115200

#define CMT_BAUD_RATE_19K2 B19200

#define CMT_BAUD_RATE_230K4 B230400

#define CMT_BAUD_RATE_38K4 B38400

#define CMT_BAUD_RATE_460K8 B460800

#define CMT_BAUD_RATE_4800 B4800

#define CMT_BAUD_RATE_57K6 B57600

#define CMT_BAUD_RATE_921K6 B921600

#define CMT_BAUD_RATE_9600 B9600

#define CMT_BAUDCODE_115K2 0x02

#define CMT_BAUDCODE_19K2 0x07

#define CMT_BAUDCODE_230K4 0x01

#define CMT_BAUDCODE_38K4 0x05

#define CMT_BAUDCODE_460K8 0x00

#define CMT_BAUDCODE_4K8 0x0B

#define CMT_BAUDCODE_57K6 0x04

#define CMT_BAUDCODE_921K6 0x80

#define CMT_BAUDCODE_921K6_ALT 0x0A

#define CMT_BAUDCODE_9K6 0x09

#define CMT_BID_BROADCAST (const uint8_t)0x00

#define CMT_BID_INVALID (const uint8_t)0xFE

#define CMT_BID_MASTER 0xFF

#define CMT_BID_MT 0x01

#define CMT_BUNDLE_QUEUE_SIZE 256

#define CMT_CONF_BLOCKLEN 20

#define CMT_CONF_DATALENGTH 102

#define CMT_CONF_DATALENGTHLEN 2

#define CMT_CONF_DATE 16

#define CMT_CONF_DATELEN 8

#define CMT_CONF_DID 98

#define CMT_CONF_DIDLEN 4

#define CMT_CONF_MASTERDID 0

#define CMT_CONF_MASTERDIDLEN 4

#define CMT_CONF_NUMDEVICES 96

#define CMT_CONF_NUMDEVICESLEN 2

#define CMT_CONF_OUTPUTMODE 104

#define CMT_CONF_OUTPUTMODELEN 2

#define CMT_CONF_OUTPUTSETTINGS 106

#define CMT_CONF_OUTPUTSETTINGSLEN 4

#define CMT_CONF_OUTPUTSKIPFACTOR 6

#define CMT_CONF_OUTPUTSKIPFACTORLEN 2

#define CMT_CONF_PERIOD 4

#define CMT_CONF_PERIODLEN 2

#define CMT_CONF_RESERVED_CLIENTLEN 32

#define CMT_CONF_RESERVED_HOSTLEN 32

#define CMT_CONF_SYNCIN_MODE 8

#define CMT_CONF_SYNCIN_MODELEN 2

#define CMT_CONF_SYNCIN_OFFSET 12

#define CMT_CONF_SYNCIN_OFFSETLEN 4

#define CMT_CONF_SYNCIN_SKIPFACTOR 10

#define CMT_CONF_SYNCIN_SKIPFACTORLEN 2

#define CMT_CONF_TIME 24

#define CMT_CONF_TIMELEN 8

#define CMT_DEFAULT_BAUD_RATE CMT_BAUD_RATE_115K2

The default baud rate of the Cmt1s serial communication.

#define CMT_DEFAULT_OUTPUT_MODE CMT_OUTPUTMODE_ORIENT

#define CMT_DEFAULT_OUTPUT_SETTINGS

Value:

(CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION |\

CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT)

CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT

#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT

Definition: cmtdef.h:676

CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION

#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION

Definition: cmtdef.h:678

#define CMT_DEFAULT_PERIOD 1152

#define CMT_DEFAULT_READ_BUFFER_SIZE (CMT_MAXDATALEN*8)

The default size of the serial read buffer in bytes.

#define CMT_DEFAULT_SAMPLE_FREQUENCY 100

#define CMT_DEFAULT_SKIP 0

#define CMT_DEFAULT_WRITE_BUFFER_SIZE CMT_MAXDATALEN

The default size of the serial write buffer in bytes.

#define CMT_DID_BROADCAST 0x80000000

#define CMT_DID_MASTER 0

#define CMT_DID_TYPE_MASK 0x00FF0000

#define CMT_DID_TYPE_MASK_MT_232 0x00300000

#define CMT_DID_TYPE_MASK_MT_422 0x00310000

#define CMT_DID_TYPE_MASK_MT_485 0x00330000

#define CMT_DID_TYPE_MASK_MT_XM 0x00020000

#define CMT_DID_TYPEH_MASK 0x00F00000

#define CMT_DID_TYPEH_MT 0x00000000

#define CMT_DID_TYPEH_MTI_MTX 0x00300000

#define CMT_DID_TYPEH_MTIG 0x00500000

#define CMT_DID_TYPEH_XM 0x00100000

#define CMT_DID_TYPEL_MASK 0x000F0000

#define CMT_EMTS_SIZE 1320

#define CMT_ERROR_BAUDRATEINVALID 0x20

#define CMT_ERROR_BUSNOTREADY 0x02

#define CMT_ERROR_INITOFBUSFAILED1 0x10

#define CMT_ERROR_INITOFBUSFAILED2 0x11

#define CMT_ERROR_INITOFBUSFAILED3 0x12

#define CMT_ERROR_MEASUREMENTFAILED1 0x18

#define CMT_ERROR_MEASUREMENTFAILED2 0x19

#define CMT_ERROR_MEASUREMENTFAILED3 0x1A

#define CMT_ERROR_MEASUREMENTFAILED4 0x1B

#define CMT_ERROR_MEASUREMENTFAILED5 0x1C

#define CMT_ERROR_MEASUREMENTFAILED6 0x1D

#define CMT_ERROR_MEASUREMENTFAILED7 0x23

#define CMT_ERROR_MESSAGEINVALID 0x04

#define CMT_ERROR_NOBUSCOMM 0x01

#define CMT_ERROR_PARAMETERINVALID 0x21

#define CMT_ERROR_PERIODINVALID 0x03

#define CMT_ERROR_SETBIDPROCFAILED1 0x14

#define CMT_ERROR_SETBIDPROCFAILED2 0x15

#define CMT_ERROR_TIMEROVERFLOW 0x1E

#define CMT_ERRORMODE_IGNORE 0x0000

#define CMT_ERRORMODE_INCSAMPLECNT 0x0001

#define CMT_ERRORMODE_INCSAMPLECNT_SENDERROR 0x0002

#define CMT_ERRORMODE_SENDERROR_GOTOCONFIG 0x0003

#define CMT_EXTLENCODE 0xFF

#define CMT_EXTOUTPUTMODE_DISABLED 0x0000

#define CMT_EXTOUTPUTMODE_EULER 0x0001

#define CMT_FILE_LAST_FRAME 0xFFFFFFFF

#define CMT_FLDNUM_CALIB_ACCX 0

#define CMT_FLDNUM_CALIB_ACCY 1

#define CMT_FLDNUM_CALIB_ACCZ 2

#define CMT_FLDNUM_CALIB_GYRX 3

#define CMT_FLDNUM_CALIB_GYRY 4

#define CMT_FLDNUM_CALIB_GYRZ 5

#define CMT_FLDNUM_CALIB_MAGX 6

#define CMT_FLDNUM_CALIB_MAGY 7

#define CMT_FLDNUM_CALIB_MAGZ 8

#define CMT_FLDNUM_ORIENT_A 0

#define CMT_FLDNUM_ORIENT_B 1

#define CMT_FLDNUM_ORIENT_C 2

#define CMT_FLDNUM_ORIENT_D 3

#define CMT_FLDNUM_ORIENT_E 4

#define CMT_FLDNUM_ORIENT_F 5

#define CMT_FLDNUM_ORIENT_G 6

#define CMT_FLDNUM_ORIENT_H 7

#define CMT_FLDNUM_ORIENT_I 8

#define CMT_FLDNUM_ORIENT_PITCH 1

#define CMT_FLDNUM_ORIENT_Q0 0

#define CMT_FLDNUM_ORIENT_Q1 1

#define CMT_FLDNUM_ORIENT_Q2 2

#define CMT_FLDNUM_ORIENT_Q3 3

#define CMT_FLDNUM_ORIENT_ROLL 0

#define CMT_FLDNUM_ORIENT_YAW 2

#define CMT_FLDNUM_RAW_ACCX 0

#define CMT_FLDNUM_RAW_ACCY 1

#define CMT_FLDNUM_RAW_ACCZ 2

#define CMT_FLDNUM_RAW_GYRX 3

#define CMT_FLDNUM_RAW_GYRY 4

#define CMT_FLDNUM_RAW_GYRZ 5

#define CMT_FLDNUM_RAW_MAGX 6

#define CMT_FLDNUM_RAW_MAGY 7

#define CMT_FLDNUM_RAW_MAGZ 8

#define CMT_FLDNUM_RAW_TEMP 9

#define CMT_GOTO_CONFIG_TRIES 3

#define CMT_IND_BID 1

#define CMT_IND_CALIB_ACCX 0

#define CMT_IND_CALIB_ACCY 4

#define CMT_IND_CALIB_ACCZ 8

#define CMT_IND_CALIB_GYRX 12

#define CMT_IND_CALIB_GYRY 16

#define CMT_IND_CALIB_GYRZ 20

#define CMT_IND_CALIB_MAGX 24

#define CMT_IND_CALIB_MAGY 28

#define CMT_IND_CALIB_MAGZ 32

#define CMT_IND_DATA0 4

#define CMT_IND_DATAEXT0 6

#define CMT_IND_LEN 3

#define CMT_IND_LENEXTH 4

#define CMT_IND_LENEXTL 5

#define CMT_IND_MID 2

#define CMT_IND_ORIENT_A 0

#define CMT_IND_ORIENT_B 4

#define CMT_IND_ORIENT_C 8

#define CMT_IND_ORIENT_D 12

#define CMT_IND_ORIENT_E 16

#define CMT_IND_ORIENT_F 20

#define CMT_IND_ORIENT_G 24

#define CMT_IND_ORIENT_H 28

#define CMT_IND_ORIENT_I 32

#define CMT_IND_ORIENT_PITCH 4

#define CMT_IND_ORIENT_Q0 0

#define CMT_IND_ORIENT_Q1 4

#define CMT_IND_ORIENT_Q2 8

#define CMT_IND_ORIENT_Q3 12

#define CMT_IND_ORIENT_ROLL 0

#define CMT_IND_ORIENT_YAW 8

#define CMT_IND_PREAMBLE 0

#define CMT_IND_RAW_ACCX 0

#define CMT_IND_RAW_ACCY 2

#define CMT_IND_RAW_ACCZ 4

#define CMT_IND_RAW_GYRX 6

#define CMT_IND_RAW_GYRY 8

#define CMT_IND_RAW_GYRZ 10

#define CMT_IND_RAW_MAGX 12

#define CMT_IND_RAW_MAGY 14

#define CMT_IND_RAW_MAGZ 16

#define CMT_IND_RAW_TEMP 18

#define CMT_IND_SAMPLECNTH 0

#define CMT_IND_SAMPLECNTL 1

#define CMT_INVALIDSETTINGVALUE 0xFFFFFFFF

#define CMT_LEN_AMD 2

#define CMT_LEN_AVAILABLESCENARIOS (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)

#define CMT_LEN_BAUDRATE 1

#define CMT_LEN_BTDISABLE 1

#define CMT_LEN_BUFFERSIZE 2

#define CMT_LEN_BUSPWR 2

#define CMT_LEN_CALIB_ACCDATA 12

#define CMT_LEN_CALIB_ACCX 4

#define CMT_LEN_CALIB_ACCY 4

#define CMT_LEN_CALIB_ACCZ 4

#define CMT_LEN_CALIB_GYRDATA 12

#define CMT_LEN_CALIB_GYRX 4

#define CMT_LEN_CALIB_GYRY 4

#define CMT_LEN_CALIB_GYRZ 4

#define CMT_LEN_CALIB_MAGDATA 12

#define CMT_LEN_CALIB_MAGX 4

#define CMT_LEN_CALIB_MAGY 4

#define CMT_LEN_CALIB_MAGZ 4

#define CMT_LEN_CALIBDATA 36

#define CMT_LEN_CALIBDATA_FLT 9

#define CMT_LEN_CHECKSUM 1

#define CMT_LEN_CONFIGURATION 118

#define CMT_LEN_DATALENGTH 2

#define CMT_LEN_DEVICEID 4

#define CMT_LEN_ERRORMODE 2

#define CMT_LEN_EXTOUTPUTMODE 2

#define CMT_LEN_FILTERSETTINGS 4

#define CMT_LEN_FIRMWAREREV 3

#define CMT_LEN_FLOAT 4

#define CMT_LEN_GPSLEVERARM 12

#define CMT_LEN_GPSSTATUS (1+5*16)

#define CMT_LEN_GRAVITYMAGNITUDE 4

#define CMT_LEN_HEADING 4

#define CMT_LEN_INITBUSRESULTS 4

#define CMT_LEN_INITTRACKMODE 2

#define CMT_LEN_LATLONALT 18

#define CMT_LEN_LOCATIONID 2

#define CMT_LEN_MAGNETICDECLINATION 4

#define CMT_LEN_MSGEXTHEADER 6

#define CMT_LEN_MSGEXTHEADERCS 7

#define CMT_LEN_MSGHEADER 4

#define CMT_LEN_MSGHEADERCS 5

#define CMT_LEN_OBJECTALIGNMENT 36

#define CMT_LEN_OPMODE 1

#define CMT_LEN_ORIENT_A 4

#define CMT_LEN_ORIENT_B 4

#define CMT_LEN_ORIENT_C 4

#define CMT_LEN_ORIENT_D 4

#define CMT_LEN_ORIENT_E 4

#define CMT_LEN_ORIENT_EULERDATA 12

#define CMT_LEN_ORIENT_EULERDATA_FLT 3

#define CMT_LEN_ORIENT_F 4

#define CMT_LEN_ORIENT_G 4

#define CMT_LEN_ORIENT_H 4

#define CMT_LEN_ORIENT_I 4

#define CMT_LEN_ORIENT_MATRIXDATA 36

#define CMT_LEN_ORIENT_MATRIXDATA_FLT 9

#define CMT_LEN_ORIENT_PITCH 4

#define CMT_LEN_ORIENT_Q0 4

#define CMT_LEN_ORIENT_Q1 4

#define CMT_LEN_ORIENT_Q2 4

#define CMT_LEN_ORIENT_Q3 4

#define CMT_LEN_ORIENT_QUATDATA 16

#define CMT_LEN_ORIENT_QUATDATA_FLT 4

#define CMT_LEN_ORIENT_ROLL 4

#define CMT_LEN_ORIENT_YAW 4

#define CMT_LEN_OUTPUTMODE 2

#define CMT_LEN_OUTPUTSETTINGS 4

#define CMT_LEN_OUTPUTSKIPFACTOR 2

#define CMT_LEN_PERIOD 2

#define CMT_LEN_PROCESSINGFLAGS 2

#define CMT_LEN_PRODUCTCODE 20

#define CMT_LEN_RAW_ACCX 2

#define CMT_LEN_RAW_ACCY 2

#define CMT_LEN_RAW_ACCZ 2

#define CMT_LEN_RAW_GYRX 2

#define CMT_LEN_RAW_GYRY 2

#define CMT_LEN_RAW_GYRZ 2

#define CMT_LEN_RAW_MAGX 2

#define CMT_LEN_RAW_MAGY 2

#define CMT_LEN_RAW_MAGZ 2

#define CMT_LEN_RAW_TEMP 2

#define CMT_LEN_RAWDATA 20

#define CMT_LEN_REQSCENARIOACK 2

#define CMT_LEN_RESETORIENTATION 2

#define CMT_LEN_SAMPLECNT 2

#define CMT_LEN_SCENARIOFULL (1+1+CMT_LEN_SCENARIOLABEL)

#define CMT_LEN_SCENARIOLABEL 20

#define CMT_LEN_SETNOROTATION 2

#define CMT_LEN_SETSCENARIO 1

#define CMT_LEN_STOREXKFSTATE 0

#define CMT_LEN_SYNCINMODE 2

#define CMT_LEN_SYNCINOFFSET 4

#define CMT_LEN_SYNCINSKIPFACTOR 2

#define CMT_LEN_SYNCMODE 1

#define CMT_LEN_SYNCOUTMODE 2

#define CMT_LEN_SYNCOUTOFFSET 4

#define CMT_LEN_SYNCOUTPULSEWIDTH 4

#define CMT_LEN_SYNCOUTSKIPFACTOR 2

#define CMT_LEN_TEMPDATA 4

#define CMT_LEN_TEMPDATA_FLT 1

#define CMT_LEN_TRANSMITDELAY 2

#define CMT_LEN_UNSIGINT 4

#define CMT_LEN_UNSIGSHORT 2

#define CMT_LEN_UTCTIME 12

#define CMT_LEN_XMERRORMODE 2

#define CMT_LEN_XMPWROFF 0

#define CMT_MAX_DEVICES (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)

#define CMT_MAX_DEVICES_PER_PORT 11

#define CMT_MAX_FILENAME_LENGTH 512

#define CMT_MAX_FILES_PER_THREAD 20

#define CMT_MAX_ITEMS_IN_PACKET 10

#define CMT_MAX_PACKETS_PER_BUNDLE CMT_MAX_PORTS_PER_THREAD

#define CMT_MAX_PORTS_PER_THREAD 20

#define CMT_MAX_SCENARIOS 254

#define CMT_MAX_SCENARIOS_IN_MT 5

#define CMT_MAX_SVINFO 16

#define CMT_MAX_VPORTNAME_LEN 32

#define CMT_MAXDATALEN 8192

#define CMT_MAXGARBAGE (CMT_MAXMSGLEN+1)

#define CMT_MAXMSGLEN (CMT_MAXDATALEN+7)

#define CMT_MAXSHORTDATALEN 254

#define CMT_MAXSHORTMSGLEN (CMT_MAXSHORTDATALEN+5)

#define CMT_MID_AUTOSTART 0x06

#define CMT_MID_AUTOSTARTACK 0x07

#define CMT_MID_AVAILABLESCENARIOS 0x63

#define CMT_MID_BATLEVEL 0x89

#define CMT_MID_BUSDATA 0x32

#define CMT_MID_BUSPWR 0x08

#define CMT_MID_BUSPWRACK 0x09

#define CMT_MID_CONFIGURATION 0x0D

#define CMT_MID_DATALENGTH 0x0B

#define CMT_MID_DEVICEID 0x01

#define CMT_MID_DISABLEBT 0x14

#define CMT_MID_DISABLEBTACK 0x15

#define CMT_MID_EMTSDATA (const uint8_t)0x91

#define CMT_MID_ERROR 0x42

#define CMT_MID_FIRMWAREREV 0x13

#define CMT_MID_GOTOCONFIG 0x30

#define CMT_MID_GOTOCONFIGACK 0x31

#define CMT_MID_GOTOMEASUREMENT 0x10

#define CMT_MID_GOTOMEASUREMENTACK 0x11

#define CMT_MID_GPSSTATUS 0xA7

#define CMT_MID_INITBUS 0x02

#define CMT_MID_INITBUSRESULTS 0x03

#define CMT_MID_MTDATA 0x32

#define CMT_MID_PREPAREDATA 0x32

#define CMT_MID_PRODUCTCODE 0x1D

#define CMT_MID_REQAMD 0xA2

#define CMT_MID_REQAMDACK 0xA3

#define CMT_MID_REQAVAILABLESCENARIOS 0x62

#define CMT_MID_REQBATLEVEL 0x88

#define CMT_MID_REQBAUDRATE 0x18

#define CMT_MID_REQBAUDRATEACK 0x19

#define CMT_MID_REQBTDISABLE 0x14

#define CMT_MID_REQBTDISABLEACK 0x15

#define CMT_MID_REQBUFFERSIZE 0x84

#define CMT_MID_REQBUFFERSIZEACK 0x85

#define CMT_MID_REQCONFIGURATION 0x0C

#define CMT_MID_REQDATA 0x34

#define CMT_MID_REQDATAACK 0x35

#define CMT_MID_REQDATALENGTH 0x0A

#define CMT_MID_REQDID 0x00

#define CMT_MID_REQEMTS (const uint8_t)0x90

#define CMT_MID_REQERRORMODE 0xDA

#define CMT_MID_REQERRORMODEACK 0xDB

#define CMT_MID_REQEXTOUTPUTMODE 0x86

#define CMT_MID_REQEXTOUTPUTMODEACK 0x87

#define CMT_MID_REQFILTERSETTINGS 0xA0

#define CMT_MID_REQFILTERSETTINGSACK 0xA1

#define CMT_MID_REQFWREV 0x12

#define CMT_MID_REQGPSLEVERARM 0x68

#define CMT_MID_REQGPSLEVERARMACK 0x69

#define CMT_MID_REQGPSSTATUS 0xA6

#define CMT_MID_REQGRAVITYMAGNITUDE 0x66

#define CMT_MID_REQGRAVITYMAGNITUDEACK 0x67

#define CMT_MID_REQHEADING 0x82

#define CMT_MID_REQHEADINGACK 0x83

#define CMT_MID_REQINITTRACKMODE 0x88

#define CMT_MID_REQINITTRACKMODEACK 0x89

#define CMT_MID_REQLATLONALT 0x6E

#define CMT_MID_REQLATLONALTACK 0x6F

#define CMT_MID_REQLOCATIONID 0x84

#define CMT_MID_REQLOCATIONIDACK 0x85

#define CMT_MID_REQMAGNETICDECLINATION 0x6A

#define CMT_MID_REQMAGNETICDECLINATIONACK 0x6B

#define CMT_MID_REQOBJECTALIGNMENT 0xE0

#define CMT_MID_REQOBJECTALIGNMENTACK 0xE1

#define CMT_MID_REQOPMODE 0x16

#define CMT_MID_REQOPMODEACK 0x17

#define CMT_MID_REQOUTPUTMODE 0xD0

#define CMT_MID_REQOUTPUTMODEACK 0xD1

#define CMT_MID_REQOUTPUTSETTINGS 0xD2

#define CMT_MID_REQOUTPUTSETTINGSACK 0xD3

#define CMT_MID_REQOUTPUTSKIPFACTOR 0xD4

#define CMT_MID_REQOUTPUTSKIPFACTORACK 0xD5

#define CMT_MID_REQPERIOD 0x04

#define CMT_MID_REQPERIODACK 0x05

#define CMT_MID_REQPROCESSINGFLAGS 0x20

#define CMT_MID_REQPROCESSINGFLAGSACK 0x21

#define CMT_MID_REQPRODUCTCODE 0x1C

#define CMT_MID_REQSCENARIO 0x64

#define CMT_MID_REQSCENARIOACK 0x65

#define CMT_MID_REQSYNCINSETTINGS 0xD6

#define CMT_MID_REQSYNCINSETTINGSACK 0xD7

#define CMT_MID_REQSYNCMODE 0x1A

#define CMT_MID_REQSYNCMODEACK 0x1B

#define CMT_MID_REQSYNCOUTSETTINGS 0xD8

#define CMT_MID_REQSYNCOUTSETTINGSACK 0xD9

#define CMT_MID_REQTRANSMITDELAY 0xDC

#define CMT_MID_REQTRANSMITDELAYACK 0xDD

#define CMT_MID_REQUTCTIME 0x60

#define CMT_MID_REQXMERRORMODE 0x82

#define CMT_MID_REQXMERRORMODEACK 0x83

#define CMT_MID_RESET 0x40

#define CMT_MID_RESETACK 0x41

#define CMT_MID_RESETORIENTATION 0xA4

#define CMT_MID_RESETORIENTATIONACK 0xA5

#define CMT_MID_RESTOREFACTORYDEF 0x0E

#define CMT_MID_RESTOREFACTORYDEFACK 0x0F

#define CMT_MID_RUNSELFTEST 0x24

#define CMT_MID_SELFTESTRESULTS 0x25

#define CMT_MID_SETAMD 0xA2

#define CMT_MID_SETAMDACK 0xA3

#define CMT_MID_SETBAUDRATE 0x18

#define CMT_MID_SETBAUDRATEACK 0x19

#define CMT_MID_SETBID 0x06

#define CMT_MID_SETBIDACK 0x07

#define CMT_MID_SETBUFFERSIZE 0x84

#define CMT_MID_SETBUFFERSIZEACK 0x85

#define CMT_MID_SETERRORMODE 0xDA

#define CMT_MID_SETERRORMODEACK 0xDB

#define CMT_MID_SETEXTOUTPUTMODE 0x86

#define CMT_MID_SETEXTOUTPUTMODEACK 0x87

#define CMT_MID_SETFILTERSETTINGS 0xA0

#define CMT_MID_SETFILTERSETTINGSACK 0xA1

#define CMT_MID_SETGPSLEVERARM 0x68

#define CMT_MID_SETGPSLEVERARMACK 0x69

#define CMT_MID_SETGRAVITYMAGNITUDE 0x66

#define CMT_MID_SETGRAVITYMAGNITUDEACK 0x67

#define CMT_MID_SETHEADING 0x82

#define CMT_MID_SETHEADINGACK 0x83

#define CMT_MID_SETINITTRACKMODE 0x88

#define CMT_MID_SETINITTRACKMODEACK 0x89

#define CMT_MID_SETLATLONALT 0x6E

#define CMT_MID_SETLATLONALTACK 0x6F

#define CMT_MID_SETLOCATIONID 0x84

#define CMT_MID_SETLOCATIONIDACK 0x85

#define CMT_MID_SETMAGNETICDECLINATION 0x6A

#define CMT_MID_SETMAGNETICDECLINATIONACK 0x6B

#define CMT_MID_SETNOROTATION 0x22

#define CMT_MID_SETNOROTATIONACK 0x23

#define CMT_MID_SETOBJECTALIGNMENT 0xE0

#define CMT_MID_SETOBJECTALIGNMENTACK 0xE1

#define CMT_MID_SETOPMODE 0x16

#define CMT_MID_SETOPMODEACK 0x17

#define CMT_MID_SETOUTPUTMODE 0xD0

#define CMT_MID_SETOUTPUTMODEACK 0xD1

#define CMT_MID_SETOUTPUTSETTINGS 0xD2

#define CMT_MID_SETOUTPUTSETTINGSACK 0xD3

#define CMT_MID_SETOUTPUTSKIPFACTOR 0xD4

#define CMT_MID_SETOUTPUTSKIPFACTORACK 0xD5

#define CMT_MID_SETPERIOD 0x04

#define CMT_MID_SETPERIODACK 0x05

#define CMT_MID_SETPROCESSINGFLAGS 0x20

#define CMT_MID_SETPROCESSINGFLAGSACK 0x21

#define CMT_MID_SETSCENARIO 0x64

#define CMT_MID_SETSCENARIOACK 0x65

#define CMT_MID_SETSYNCINSETTINGS 0xD6

#define CMT_MID_SETSYNCINSETTINGSACK 0xD7

#define CMT_MID_SETSYNCMODE 0x1A

#define CMT_MID_SETSYNCMODEACK 0x1B

#define CMT_MID_SETSYNCOUTSETTINGS 0xD8

#define CMT_MID_SETSYNCOUTSETTINGSACK 0xD9

#define CMT_MID_SETTRANSMITDELAY 0xDC

#define CMT_MID_SETTRANSMITDELAYACK 0xDD

#define CMT_MID_SETXMERRORMODE 0x82

#define CMT_MID_SETXMERRORMODEACK 0x83

#define CMT_MID_STOREXKFSTATE 0x8A

#define CMT_MID_STOREXKFSTATEACK 0x8B

#define CMT_MID_UTCTIME 0x61

#define CMT_MID_WAKEUP 0x3E

#define CMT_MID_WAKEUPACK 0x3F

#define CMT_MID_XMPWROFF 0x44

#define CMT_OUTPUTMODE_AUXILIARY 0x0008

#define CMT_OUTPUTMODE_CALIB 0x0002

#define CMT_OUTPUTMODE_GPSPVT_PRESSURE 0x1000

#define CMT_OUTPUTMODE_MT9 0x8000

#define CMT_OUTPUTMODE_ORIENT 0x0004

#define CMT_OUTPUTMODE_POSITION 0x0010

#define CMT_OUTPUTMODE_RAW 0x4000

#define CMT_OUTPUTMODE_STATUS 0x0800

#define CMT_OUTPUTMODE_TEMP 0x0001

#define CMT_OUTPUTMODE_VELOCITY 0x0020

#define CMT_OUTPUTMODE_XM 0x0000

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1 0x00000800

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK 0x00000400

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2 0x00000400

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK 0x00000800

#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK 0x00000C00

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC 0x00000060

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK 0x00000010

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR 0x00000040

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG 0x00000000

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG_MASK 0x00000070

#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG 0x00000020

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR 0x00000050

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK 0x00000020

#define CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG 0x00000010

#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG 0x00000030

#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK 0x00000040

#define CMT_OUTPUTSETTINGS_CALIBMODE_MASK 0x00000070

#define CMT_OUTPUTSETTINGS_COORDINATES_NED 0x80000000

#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220 0x00000100

#define CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT 0x00000000

#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632 0x00000200

#define CMT_OUTPUTSETTINGS_DATAFORMAT_MASK 0x00000300

#define CMT_OUTPUTSETTINGS_ORIENTMODE_EULER 0x00000004

#define CMT_OUTPUTSETTINGS_ORIENTMODE_MASK 0x0000000C

#define CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX 0x00000008

#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION 0x00000000

#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84 0x00000000

#define CMT_OUTPUTSETTINGS_POSITIONMODE_MASK 0x0001C000

#define CMT_OUTPUTSETTINGS_TIMESTAMP_MASK 0x00000003

#define CMT_OUTPUTSETTINGS_TIMESTAMP_NONE 0x00000000

#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT 0x00000001

#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLEUTC 0x00000002

#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK 0x00060000

#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MS_XYZ 0x00000000

#define CMT_OUTPUTSETTINGS_XM 0x00000001

#define CMT_PARAM_SYNCIN_MODE 0x00

#define CMT_PARAM_SYNCIN_OFFSET 0x02

#define CMT_PARAM_SYNCIN_SKIPFACTOR 0x01

#define CMT_PARAM_SYNCOUT_MODE 0x00

#define CMT_PARAM_SYNCOUT_OFFSET 0x02

#define CMT_PARAM_SYNCOUT_PULSEWIDTH 0x03

#define CMT_PARAM_SYNCOUT_SKIPFACTOR 0x01

#define CMT_PERIOD_100HZ 1152

#define CMT_PERIOD_10HZ 11520

#define CMT_PERIOD_120HZ 960

#define CMT_PERIOD_128HZ 900

#define CMT_PERIOD_12HZ 9600

#define CMT_PERIOD_144HZ 800

#define CMT_PERIOD_150HZ 768

#define CMT_PERIOD_15HZ 7680

#define CMT_PERIOD_160HZ 720

#define CMT_PERIOD_16HZ 7200

#define CMT_PERIOD_180HZ 640

#define CMT_PERIOD_18HZ 6400

#define CMT_PERIOD_192HZ 600

#define CMT_PERIOD_200HZ 576

#define CMT_PERIOD_20HZ 5760

#define CMT_PERIOD_225HZ 512

#define CMT_PERIOD_240HZ 480

#define CMT_PERIOD_24HZ 4800

#define CMT_PERIOD_256HZ 450

#define CMT_PERIOD_25HZ 4608

#define CMT_PERIOD_288HZ 400

#define CMT_PERIOD_300HZ 384

#define CMT_PERIOD_30HZ 3840

#define CMT_PERIOD_320HZ 360

#define CMT_PERIOD_32HZ 3600

#define CMT_PERIOD_360HZ 320

#define CMT_PERIOD_36HZ 3200

#define CMT_PERIOD_384HZ 300

#define CMT_PERIOD_400HZ 288

#define CMT_PERIOD_40HZ 2880

#define CMT_PERIOD_450HZ 256

#define CMT_PERIOD_45HZ 2560

#define CMT_PERIOD_480HZ 240

#define CMT_PERIOD_48HZ 2400

#define CMT_PERIOD_50HZ 2304

#define CMT_PERIOD_512HZ 225

#define CMT_PERIOD_60HZ 1920

#define CMT_PERIOD_64HZ 1800

#define CMT_PERIOD_72HZ 1600

#define CMT_PERIOD_75HZ 1536

#define CMT_PERIOD_80HZ 1440

#define CMT_PERIOD_90HZ 1280

#define CMT_PERIOD_96HZ 1200

#define CMT_PREAMBLE 0xFA

#define CMT_PROCESSINGFLAGS_FIXED_GRAVITY 0x0002

#define CMT_PROCESSINGFLAGS_IGBU_ENABLED 0x0001

#define CMT_SELFTEST_OK 0x1FF

#define CMT_SENDRAWSTRING_DEFAULT 1

#define CMT_SENDRAWSTRING_INIT 0

#define CMT_SENDRAWSTRING_SEND 2

#define CMT_STATUSFLAG_GPSVALID 0x04

#define CMT_STATUSFLAG_NOROTATION 0x18

#define CMT_STATUSFLAG_NOROTATION_ABORTED 0x10

#define CMT_STATUSFLAG_NOROTATION_MASK 0x18

#define CMT_STATUSFLAG_NOROTATION_SAMPLES_REJECTED 0x08

#define CMT_STATUSFLAG_SELFTEST_OK 0x01

#define CMT_STATUSFLAG_XKFVALID 0x02

#define CMT_SYNC_CLOCK_NS_TO_TICKS (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)

#define CMT_SYNC_CLOCK_TICKS_TO_NS (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)

#define CMT_SYNC_CLOCKFREQMHZ 29.4912

#define CMT_SYNCIN_DISABLED 0x0000

#define CMT_SYNCIN_EDGE_BOTH 0x0003

#define CMT_SYNCIN_EDGE_FALLING 0x0002

#define CMT_SYNCIN_EDGE_MASK 0x0003

#define CMT_SYNCIN_EDGE_RISING 0x0001

#define CMT_SYNCIN_TYPE_CLOCK 0x0010

#define CMT_SYNCIN_TYPE_DOSAMPLING 0x0000

#define CMT_SYNCIN_TYPE_MASK 0x001C

#define CMT_SYNCIN_TYPE_SENDLASTDATA 0x0004

#define CMT_SYNCOUT_DEFAULT_PULSE_WIDTH 1000000

#define CMT_SYNCOUT_DISABLED 0x0000

#define CMT_SYNCOUT_POL_MASK 0x0010

#define CMT_SYNCOUT_POL_NEG 0x0000

#define CMT_SYNCOUT_POL_POS 0x0010

#define CMT_SYNCOUT_TYPE_MASK 0x000F

#define CMT_SYNCOUT_TYPE_PULSE 0x0002

#define CMT_SYNCOUT_TYPE_TOGGLE 0x0001

#define CMT_TO_DEFAULT 500

#define CMT_TO_INIT 250

#define CMT_TO_RETRY 50

#define CMT_VALUE_CALIB_ACC 4

#define CMT_VALUE_CALIB_GYR 5

#define CMT_VALUE_CALIB_MAG 6

#define CMT_VALUE_ORIENT_EULER 8

#define CMT_VALUE_ORIENT_MATRIX 9

#define CMT_VALUE_ORIENT_QUAT 7

#define CMT_VALUE_RAW_ACC 0

#define CMT_VALUE_RAW_GYR 1

#define CMT_VALUE_RAW_MAG 2

#define CMT_VALUE_RAW_TEMP 3

#define CMT_VALUE_SAMPLECNT 10

#define CMT_VALUE_TEMP 11

#define CmtCallbackSelector CmtCallbackType

#define CmtRawGpsData CmtGpsPvtData

obsolete, use CmtGpsPvtData instead

Typedef Documentation

typedef void(__cdecl * CmtCallbackFunction) (int32_t instance, int32_t callbackType, void *param, void *userParam)

Function prototype for Cmt callback functions.

typedef uint32_t CmtDeviceId

The type of a Device Id.

typedef uint16_t CmtMtTimeStamp

An MT timestamp (sample count)

typedef uint32_t CmtOutputMode

An output mode bit-field.

typedef uint64_t CmtOutputSettings

An output settings bit-field.

typedef int64_t CmtTimeStamp

Enumeration Type Documentation

enum CmtCallbackType

Enumerator
CMT_CALLBACK_LIST_TERMINATOR	Not a callback function. Used to define the end of a CallbackSelector list.
CMT_CALLBACK_ONMEASUREMENTPREPARE	Called right before sending a GotoMeasurement message.
CMT_CALLBACK_ONMEASUREMENTSTART	Called right after successfully switching to Measurement mode.
CMT_CALLBACK_ONMEASUREMENTSTOP	Called right before switching from Measurement mode to Config mode.
CMT_CALLBACK_ONPOSTPROCESS	Called when a full data bundle is available and has been processed by the CMT. The first void* parameter supplied to this function can be handed as the bundle parameter in cmtData... The function is intended to manipulate or process the newly received bundle. Manipulation is allowed, but only 'custom data' will be written to a file when logging.
CMT_CALLBACK_ONBYTESRECEIVED	Called when bytes have been read from a port.
CMT_CALLBACK_ONMESSAGERECEIVED	Called when a full message has been received from a port.
CMT_CALLBACK_ONMESSAGESENT	Called when a full message has been sent by a port.
CMT_CALLBACK_ONMISSINGSAMPLES	Called when interpolation mode != 0 and missing samples are detected.
CMT_CALLBACK_ONWAKEUPRECEIVED	Called when receiving a wakeup message in config mode. Advise to refresh that port cache as soon as possible.
CMT_CALLBACK_ONINSTANCE	Called when a new CMT instance was created or an existing one is about to be destroyed. Also called once for all existing CMT instances when a plugin becomes enabled. If param is non-null, the instance is created, otherwise it is about to be destroyed. The return value of this callback is ignored.
CMT_CALLBACK_ONPLAYBACK	Called when a full data bundle is available and has been processed by the CMT. The first void* parameter supplied to this function can be handed as the bundle parameter in cmtData... The function is intended to process the newly read bundle. Manipulation is allowed, but nothing gets written back to the file.
CMT_CALLBACK_COUNT	Not a callback function. Used internally for list management.

enum CmtControlLine

Enumerator
CMT_CONTROL_DCD
CMT_CONTROL_RD
CMT_CONTROL_TD
CMT_CONTROL_DTR
CMT_CONTROL_GND
CMT_CONTROL_DSR
CMT_CONTROL_RTS
CMT_CONTROL_CTS
CMT_CONTROL_RI

enum CmtQueueMode

Enumerator
CMT_QM_FIFO
CMT_QM_LAST
CMT_QM_RAW

enum CmtResetMethod

Enumerator
CMT_RESETORIENTATION_STORE
CMT_RESETORIENTATION_HEADING
CMT_RESETORIENTATION_GLOBAL
CMT_RESETORIENTATION_OBJECT
CMT_RESETORIENTATION_ALIGN

enum CmtXmSyncMode

Enumerator
CMT_XM_SYNC_OFF
CMT_XM_SYNC_PWM
CMT_XM_SYNC_MASTER
CMT_XM_SYNC_SLAVE
CMT_XM_SYNC_TOGGLE

Classes

Macros