// MTComm.h: interface for the CMTComm class. // // Version 1.2.0 // Public release // // v1.2.0 // 27-02-2006 - Renamed Xbus class to Motion Tracker C++ Communication class, short MTComm // - Defines XBRV_* accordingly renamed to MTRV_* // - Fixed device length not correct for bid 0 when using Xbus Master and setDeviceMode function // // v1.1.7 // 15-02-2006 - Added fixed point signed 12.20 dataformat support // Added selective calibrated data output per sensor type support // Added outputmode temperature support // Fixed warning C4244: '=' : conversion from '' to '', possible loss of data // v1.1.6 // 25-01-2006 - Added escape function for CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK // // v1.1.5 // 14-11-2005 - Made swapEndian a static member function, Job Mulder // // v1.1.4 // 08-11-2005 - Changed practically all uses of m_timeOut into uses of the new m_clkEnd // - Changed COM timeout in win32 to return immediately if data is available, // but wait 1ms otherwise // // v1.1.3 // 18-10-2005 - Added MID_REQPRODUCTCODE, MID_REQ/SETTRANSMITDELAY // - Added XBRV_TIMEOUTNODATA indicating timeout occurred due to no data read // // v1.1.2 // 16-09-2005 - Added eMTS version 0.1->1.0 changes (EMTS_FACTORYMODE) // - Added factory output mode defines // // v1.1.1 // 01-09-2005 - Added defines for Extended output mode // - Added reqSetting (byte array in + out & no param variant) // // v1.1 // 08-08-2005 - Added file read and write support // - Added functions for data retrieval (getValue etc) // for easy data retrieval of acc, gyr, mag etc // - ReadMessageRaw: // - added a temporary buffer for unprocessed bytes // - check for invalid length messages // - Changed BID_MT into 1 and added BID_MASTER (=0xFF) // - Changed various ....SerialPort functions to .....Port // - Changed mtSendMessage functions to mtWriteMessage // - Added numerous defines // - Deleted obsolete functions // - Changed function getLastErrorCode into getLastDeviceError // - Changed OpenPort function for compatiblity with Bluetooth ports // - Added workaround for lockup of USB driver (close function) // - Added workaround for clock() problem with read function of USB driver // // v1.0.2 // 29-06-2005 - Inserted initSerialPort with devicename input // - Changed return value defines names from X_ to XBRV_ // - Removed unneeded includes for linux // // v1.0.1 // 22-06-2005 - Fixed ReqSetting functions (byte array & param variant) // mtSendRawString had wrong length input // // v1.0.0 // 20-06-2005 - Initial release // // ---------------------------------------------------------------------------- // This file is an Xsens Code Example. // // Copyright (C) Xsens Technologies B.V., 2005. All rights reserved. // // This source code is intended only as a example of the implementation // of the Xsens MT Communication protocol. // It was written for cross platform capabilities. // // 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. ////////////////////////////////////////////////////////////////////// #if !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_) #define AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_ #if _MSC_VER > 1000 #pragma once #endif // _MSC_VER > 1000 #include #include #ifdef WIN32 #include #include #include #else #include /* POSIX Standard: 6.5 File Control Operations */ #include /* terminal i/o system, talks to /dev/tty* ports */ #include /* Read function */ #include /* gettimeofday function */ #endif #ifndef INVALID_SET_FILE_POINTER #define INVALID_SET_FILE_POINTER ((DWORD)(-1)) #endif // Field message indexes #define IND_PREAMBLE 0 #define IND_BID 1 #define IND_MID 2 #define IND_LEN 3 #define IND_DATA0 4 #define IND_LENEXTH 4 #define IND_LENEXTL 5 #define IND_DATAEXT0 6 // Maximum number of sensors supported #define MAXDEVICES 20 #define PREAMBLE (const unsigned char)0xFA #define BID_MASTER (const unsigned char)0xFF #define BID_MT (const unsigned char)0x01 #define EXTLENCODE 0xFF #define LEN_MSGHEADER (const unsigned short)4 #define LEN_MSGEXTHEADER (const unsigned short)6 #define LEN_MSGHEADERCS (const unsigned short)5 #define LEN_MSGEXTHEADERCS (const unsigned short)7 #define LEN_CHECKSUM (const unsigned short)1 #define LEN_UNSIGSHORT (const unsigned short)2 #define LEN_UNSIGINT (const unsigned short)4 #define LEN_FLOAT (const unsigned short)4 // Maximum message/data length #define MAXDATALEN (const unsigned short)2048 #define MAXSHORTDATALEN (const unsigned short)254 #define MAXMSGLEN (const unsigned short)(MAXDATALEN+7) #define MAXSHORTMSGLEN (const unsigned short)(MAXSHORTDATALEN+5) // DID Type (high nibble) #define DID_TYPEH_MASK (const unsigned long)0x00F00000 #define DID_TYPEH_MT (const unsigned long)0x00000000 #define DID_TYPEH_XM (const unsigned long)0x00100000 #define DID_TYPEH_MTI_MTX (const unsigned long)0x00300000 // All Message identifiers // WakeUp state messages #define MID_WAKEUP (const unsigned char)0x3E #define MID_WAKEUPACK (const unsigned char)0x3F // Config state messages #define MID_REQDID (const unsigned char)0x00 #define MID_DEVICEID (const unsigned char)0x01 #define LEN_DEVICEID (const unsigned short)4 #define MID_INITBUS (const unsigned char)0x02 #define MID_INITBUSRESULTS (const unsigned char)0x03 #define LEN_INITBUSRESULTS (const unsigned short)4 #define MID_REQPERIOD (const unsigned char)0x04 #define MID_REQPERIODACK (const unsigned char)0x05 #define LEN_PERIOD (const unsigned short)2 #define MID_SETPERIOD (const unsigned char)0x04 #define MID_SETPERIODACK (const unsigned char)0x05 // XbusMaster #define MID_SETBID (const unsigned char)0x06 #define MID_SETBIDACK (const unsigned char)0x07 #define MID_AUTOSTART (const unsigned char)0x06 #define MID_AUTOSTARTACK (const unsigned char)0x07 #define MID_BUSPWROFF (const unsigned char)0x08 #define MID_BUSPWROFFACK (const unsigned char)0x09 // End XbusMaster #define MID_REQDATALENGTH (const unsigned char)0x0A #define MID_DATALENGTH (const unsigned char)0x0B #define LEN_DATALENGTH (const unsigned short)2 #define MID_REQCONFIGURATION (const unsigned char)0x0C #define MID_CONFIGURATION (const unsigned char)0x0D #define LEN_CONFIGURATION (const unsigned short)118 #define MID_RESTOREFACTORYDEF (const unsigned char)0x0E #define MID_RESTOREFACTORYDEFACK (const unsigned char)0x0F #define MID_GOTOMEASUREMENT (const unsigned char)0x10 #define MID_GOTOMEASUREMENTACK (const unsigned char)0x11 #define MID_REQFWREV (const unsigned char)0x12 #define MID_FIRMWAREREV (const unsigned char)0x13 #define LEN_FIRMWAREREV (const unsigned short)3 // XbusMaster #define MID_REQBTDISABLE (const unsigned char)0x14 #define MID_REQBTDISABLEACK (const unsigned char)0x15 #define MID_DISABLEBT (const unsigned char)0x14 #define MID_DISABLEBTACK (const unsigned char)0x15 #define MID_REQOPMODE (const unsigned char)0x16 #define MID_REQOPMODEACK (const unsigned char)0x17 #define MID_SETOPMODE (const unsigned char)0x16 #define MID_SETOPMODEACK (const unsigned char)0x17 // End XbusMaster #define MID_REQBAUDRATE (const unsigned char)0x18 #define MID_REQBAUDRATEACK (const unsigned char)0x19 #define LEN_BAUDRATE (const unsigned short)1 #define MID_SETBAUDRATE (const unsigned char)0x18 #define MID_SETBAUDRATEACK (const unsigned char)0x19 // XbusMaster #define MID_REQSYNCMODE (const unsigned char)0x1A #define MID_REQSYNCMODEACK (const unsigned char)0x1B #define MID_SETSYNCMODE (const unsigned char)0x1A #define MID_SETSYNCMODEACK (const unsigned char)0x1B // End XbusMaster #define MID_REQPRODUCTCODE (const unsigned char)0x1C #define MID_PRODUCTCODE (const unsigned char)0x1D #define MID_REQOUTPUTMODE (const unsigned char)0xD0 #define MID_REQOUTPUTMODEACK (const unsigned char)0xD1 #define LEN_OUTPUTMODE (const unsigned short)2 #define MID_SETOUTPUTMODE (const unsigned char)0xD0 #define MID_SETOUTPUTMODEACK (const unsigned char)0xD1 #define MID_REQOUTPUTSETTINGS (const unsigned char)0xD2 #define MID_REQOUTPUTSETTINGSACK (const unsigned char)0xD3 #define LEN_OUTPUTSETTINGS (const unsigned short)4 #define MID_SETOUTPUTSETTINGS (const unsigned char)0xD2 #define MID_SETOUTPUTSETTINGSACK (const unsigned char)0xD3 #define MID_REQOUTPUTSKIPFACTOR (const unsigned char)0xD4 #define MID_REQOUTPUTSKIPFACTORACK (const unsigned char)0xD5 #define LEN_OUTPUTSKIPFACTOR (const unsigned short)2 #define MID_SETOUTPUTSKIPFACTOR (const unsigned char)0xD4 #define MID_SETOUTPUTSKIPFACTORACK (const unsigned char)0xD5 #define MID_REQSYNCINSETTINGS (const unsigned char)0xD6 #define MID_REQSYNCINSETTINGSACK (const unsigned char)0xD7 #define LEN_SYNCINMODE (const unsigned short)2 #define LEN_SYNCINSKIPFACTOR (const unsigned short)2 #define LEN_SYNCINOFFSET (const unsigned short)4 #define MID_SETSYNCINSETTINGS (const unsigned char)0xD6 #define MID_SETSYNCINSETTINGSACK (const unsigned char)0xD7 #define MID_REQSYNCOUTSETTINGS (const unsigned char)0xD8 #define MID_REQSYNCOUTSETTINGSACK (const unsigned char)0xD9 #define LEN_SYNCOUTMODE (const unsigned short)2 #define LEN_SYNCOUTSKIPFACTOR (const unsigned short)2 #define LEN_SYNCOUTOFFSET (const unsigned short)4 #define LEN_SYNCOUTPULSEWIDTH (const unsigned short)4 #define MID_SETSYNCOUTSETTINGS (const unsigned char)0xD8 #define MID_SETSYNCOUTSETTINGSACK (const unsigned char)0xD9 #define MID_REQERRORMODE (const unsigned char)0xDA #define MID_REQERRORMODEACK (const unsigned char)0xDB #define LEN_ERRORMODE (const unsigned short)2 #define MID_SETERRORMODE (const unsigned char)0xDA #define MID_SETERRORMODEACK (const unsigned char)0xDB #define MID_REQTRANSMITDELAY (const unsigned char)0xDC #define MID_REQTRANSMITDELAYACK (const unsigned char)0xDD #define LEN_TRANSMITDELAY (const unsigned short)2 #define MID_SETTRANSMITDELAY (const unsigned char)0xDC #define MID_SETTRANSMITDELAYACK (const unsigned char)0xDD // Xbus Master #define MID_REQXMERRORMODE (const unsigned char)0x82 #define MID_REQXMERRORMODEACK (const unsigned char)0x83 #define LEN_XMERRORMODE (const unsigned short)2 #define MID_SETXMERRORMODE (const unsigned char)0x82 #define MID_SETXMERRORMODEACK (const unsigned char)0x83 #define MID_REQBUFFERSIZE (const unsigned char)0x84 #define MID_REQBUFFERSIZEACK (const unsigned char)0x85 #define LEN_BUFFERSIZE (const unsigned short)2 #define MID_SETBUFFERSIZE (const unsigned char)0x84 #define MID_SETBUFFERSIZEACK (const unsigned char)0x85 // End Xbus Master #define MID_REQHEADING (const unsigned char)0x82 #define MID_REQHEADINGACK (const unsigned char)0x83 #define LEN_HEADING (const unsigned short)4 #define MID_SETHEADING (const unsigned char)0x82 #define MID_SETHEADINGACK (const unsigned char)0x83 #define MID_REQLOCATIONID (const unsigned char)0x84 #define MID_REQLOCATIONIDACK (const unsigned char)0x85 #define LEN_LOCATIONID (const unsigned short)2 #define MID_SETLOCATIONID (const unsigned char)0x84 #define MID_SETLOCATIONIDACK (const unsigned char)0x85 #define MID_REQEXTOUTPUTMODE (const unsigned char)0x86 #define MID_REQEXTOUTPUTMODEACK (const unsigned char)0x87 #define LEN_EXTOUTPUTMODE (const unsigned short)2 #define MID_SETEXTOUTPUTMODE (const unsigned char)0x86 #define MID_SETEXTOUTPUTMODEACK (const unsigned char)0x87 // XbusMaster #define MID_REQBATLEVEL (const unsigned char)0x88 #define MID_BATLEVEL (const unsigned char)0x89 // End XbusMaster #define MID_REQINITTRACKMODE (const unsigned char)0x88 #define MID_REQINITTRACKMODEACK (const unsigned char)0x89 #define LEN_INITTRACKMODE (const unsigned short)2 #define MID_SETINITTRACKMODE (const unsigned char)0x88 #define MID_SETINITTRACKMODEACK (const unsigned char)0x89 #define MID_STOREFILTERSTATE (const unsigned char)0x8A #define MID_STOREFILTERSTATEACK (const unsigned char)0x8B // Measurement state #define MID_GOTOCONFIG (const unsigned char)0x30 #define MID_GOTOCONFIGACK (const unsigned char)0x31 #define MID_BUSDATA (const unsigned char)0x32 #define MID_MTDATA (const unsigned char)0x32 // Manual #define MID_PREPAREDATA (const unsigned char)0x32 #define MID_REQDATA (const unsigned char)0x34 #define MID_REQDATAACK (const unsigned char)0x35 // MTData defines // Length of data blocks in bytes #define LEN_RAWDATA (const unsigned short)20 #define LEN_CALIBDATA (const unsigned short)36 #define LEN_CALIB_ACCDATA (const unsigned short)12 #define LEN_CALIB_GYRDATA (const unsigned short)12 #define LEN_CALIB_MAGDATA (const unsigned short)12 #define LEN_ORIENT_QUATDATA (const unsigned short)16 #define LEN_ORIENT_EULERDATA (const unsigned short)12 #define LEN_ORIENT_MATRIXDATA (const unsigned short)36 #define LEN_SAMPLECNT (const unsigned short)2 #define LEN_TEMPDATA (const unsigned short)4 // Length of data blocks in floats #define LEN_CALIBDATA_FLT (const unsigned short)9 #define LEN_ORIENT_QUATDATA_FLT (const unsigned short)4 #define LEN_ORIENT_EULERDATA_FLT (const unsigned short)3 #define LEN_ORIENT_MATRIXDATA_FLT (const unsigned short)9 // Indices of fields in DATA field of MTData message in bytes // use in combination with LEN_CALIB etc // Un-calibrated raw data #define IND_RAW_ACCX 0 #define IND_RAW_ACCY 2 #define IND_RAW_ACCZ 4 #define IND_RAW_GYRX 6 #define IND_RAW_GYRY 8 #define IND_RAW_GYRZ 10 #define IND_RAW_MAGX 12 #define IND_RAW_MAGY 14 #define IND_RAW_MAGZ 16 #define IND_RAW_TEMP 18 // Calibrated data #define IND_CALIB_ACCX 0 #define IND_CALIB_ACCY 4 #define IND_CALIB_ACCZ 8 #define IND_CALIB_GYRX 12 #define IND_CALIB_GYRY 16 #define IND_CALIB_GYRZ 20 #define IND_CALIB_MAGX 24 #define IND_CALIB_MAGY 28 #define IND_CALIB_MAGZ 32 // Orientation data - quat #define IND_ORIENT_Q0 0 #define IND_ORIENT_Q1 4 #define IND_ORIENT_Q2 8 #define IND_ORIENT_Q3 12 // Orientation data - euler #define IND_ORIENT_ROLL 0 #define IND_ORIENT_PITCH 4 #define IND_ORIENT_YAW 8 // Orientation data - matrix #define IND_ORIENT_A 0 #define IND_ORIENT_B 4 #define IND_ORIENT_C 8 #define IND_ORIENT_D 12 #define IND_ORIENT_E 16 #define IND_ORIENT_F 20 #define IND_ORIENT_G 24 #define IND_ORIENT_H 28 #define IND_ORIENT_I 32 // Orientation data - euler #define IND_SAMPLECNTH 0 #define IND_SAMPLECNTL 1 // Indices of fields in DATA field of MTData message // Un-calibrated raw data #define FLDNUM_RAW_ACCX 0 #define FLDNUM_RAW_ACCY 1 #define FLDNUM_RAW_ACCZ 2 #define FLDNUM_RAW_GYRX 3 #define FLDNUM_RAW_GYRY 4 #define FLDNUM_RAW_GYRZ 5 #define FLDNUM_RAW_MAGX 6 #define FLDNUM_RAW_MAGY 7 #define FLDNUM_RAW_MAGZ 8 #define FLDNUM_RAW_TEMP 9 // Calibrated data #define FLDNUM_CALIB_ACCX 0 #define FLDNUM_CALIB_ACCY 1 #define FLDNUM_CALIB_ACCZ 2 #define FLDNUM_CALIB_GYRX 3 #define FLDNUM_CALIB_GYRY 4 #define FLDNUM_CALIB_GYRZ 5 #define FLDNUM_CALIB_MAGX 6 #define FLDNUM_CALIB_MAGY 7 #define FLDNUM_CALIB_MAGZ 8 // Orientation data - quat #define FLDNUM_ORIENT_Q0 0 #define FLDNUM_ORIENT_Q1 1 #define FLDNUM_ORIENT_Q2 2 #define FLDNUM_ORIENT_Q3 3 // Orientation data - euler #define FLDNUM_ORIENT_ROLL 0 #define FLDNUM_ORIENT_PITCH 1 #define FLDNUM_ORIENT_YAW 2 // Orientation data - matrix #define FLDNUM_ORIENT_A 0 #define FLDNUM_ORIENT_B 1 #define FLDNUM_ORIENT_C 2 #define FLDNUM_ORIENT_D 3 #define FLDNUM_ORIENT_E 4 #define FLDNUM_ORIENT_F 5 #define FLDNUM_ORIENT_G 6 #define FLDNUM_ORIENT_H 7 #define FLDNUM_ORIENT_I 8 // Length // Uncalibrated raw data #define LEN_RAW_ACCX 2 #define LEN_RAW_ACCY 2 #define LEN_RAW_ACCZ 2 #define LEN_RAW_GYRX 2 #define LEN_RAW_GYRY 2 #define LEN_RAW_GYRZ 2 #define LEN_RAW_MAGX 2 #define LEN_RAW_MAGY 2 #define LEN_RAW_MAGZ 2 #define LEN_RAW_TEMP 2 // Calibrated data #define LEN_CALIB_ACCX 4 #define LEN_CALIB_ACCY 4 #define LEN_CALIB_ACCZ 4 #define LEN_CALIB_GYRX 4 #define LEN_CALIB_GYRY 4 #define LEN_CALIB_GYRZ 4 #define LEN_CALIB_MAGX 4 #define LEN_CALIB_MAGY 4 #define LEN_CALIB_MAGZ 4 // Orientation data - quat #define LEN_ORIENT_Q0 4 #define LEN_ORIENT_Q1 4 #define LEN_ORIENT_Q2 4 #define LEN_ORIENT_Q3 4 // Orientation data - euler #define LEN_ORIENT_ROLL 4 #define LEN_ORIENT_PITCH 4 #define LEN_ORIENT_YAW 4 // Orientation data - matrix #define LEN_ORIENT_A 4 #define LEN_ORIENT_B 4 #define LEN_ORIENT_C 4 #define LEN_ORIENT_D 4 #define LEN_ORIENT_E 4 #define LEN_ORIENT_F 4 #define LEN_ORIENT_G 4 #define LEN_ORIENT_H 4 #define LEN_ORIENT_I 4 // Defines for getDataValue #define VALUE_RAW_ACC 0 #define VALUE_RAW_GYR 1 #define VALUE_RAW_MAG 2 #define VALUE_RAW_TEMP 3 #define VALUE_CALIB_ACC 4 #define VALUE_CALIB_GYR 5 #define VALUE_CALIB_MAG 6 #define VALUE_ORIENT_QUAT 7 #define VALUE_ORIENT_EULER 8 #define VALUE_ORIENT_MATRIX 9 #define VALUE_SAMPLECNT 10 #define VALUE_TEMP 11 #define INVALIDSETTINGVALUE 0xFFFFFFFF // Valid in all states #define MID_RESET (const unsigned char)0x40 #define MID_RESETACK (const unsigned char)0x41 #define MID_ERROR (const unsigned char)0x42 #define LEN_ERROR (const unsigned short)1 // XbusMaster #define MID_XMPWROFF (const unsigned char)0x44 // End XbusMaster #define MID_REQFILTERSETTINGS (const unsigned char)0xA0 #define MID_REQFILTERSETTINGSACK (const unsigned char)0xA1 #define LEN_FILTERSETTINGS (const unsigned short)4 #define MID_SETFILTERSETTINGS (const unsigned char)0xA0 #define MID_SETFILTERSETTINGSACK (const unsigned char)0xA1 #define MID_REQAMD (const unsigned char)0xA2 #define MID_REQAMDACK (const unsigned char)0xA3 #define LEN_AMD (const unsigned short)2 #define MID_SETAMD (const unsigned char)0xA2 #define MID_SETAMDACK (const unsigned char)0xA3 #define MID_RESETORIENTATION (const unsigned char)0xA4 #define MID_RESETORIENTATIONACK (const unsigned char)0xA5 #define LEN_RESETORIENTATION (const unsigned short)2 // All Messages // WakeUp state messages #define MSG_WAKEUPLEN 5 #define MSG_WAKEUPACK (const unsigned char *)"\xFA\xFF\x3F\x00" #define MSG_WAKEUPACKLEN 4 // Config state messages #define MSG_REQDID (const unsigned char *)"\xFA\xFF\x00\x00" #define MSG_REQDIDLEN 4 #define MSG_DEVICEIDLEN 9 #define MSG_INITBUS (const unsigned char *)"\xFA\xFF\x02\x00" #define MSG_INITBUSLEN 4 #define MSG_INITBUSRESMAXLEN (5 + 4 * MAXSENSORS) #define MSG_REQPERIOD (const unsigned char *)"\xFA\xFF\x04\x00" #define MSG_REQPERIODLEN 4 #define MSG_REQPERIODACKLEN 7 #define MSG_SETPERIOD (const unsigned char *)"\xFA\xFF\x04\x02" #define MSG_SETPERIODLEN 6 #define MSG_SETPERIODACKLEN 5 #define MSG_SETBID (const unsigned char *)"\xFA\xFF\x06\x05" #define MSG_SETBIDLEN 9 #define MSG_SETBIDACKLEN 5 #define MSG_AUTOSTART (const unsigned char *)"\xFA\xFF\x06\x00" #define MSG_AUTOSTARTLEN 4 #define MSG_AUTOSTARTACKLEN 5 #define MSG_BUSPWROFF (const unsigned char *)"\xFA\xFF\x08\x00" #define MSG_BUSPWROFFLEN 4 #define MSG_BUSPWROFFACKLEN 5 #define MSG_RESTOREFACTORYDEF (const unsigned char *)"\xFA\xFF\x0E\x00" #define MSG_RESTOREFACTORYDEFLEN 4 #define MSG_RESTOREFACTORYDEFACKLEN 5 #define MSG_REQDATALENGTH (const unsigned char *)"\xFA\xFF\x0A\x00" #define MSG_REQDATALENGTHLEN 4 #define MSG_DATALENGTHLEN 7 #define MSG_REQCONFIGURATION (const unsigned char *)"\xFA\xFF\x0C\x00" #define MSG_REQCONFIGURATIONLEN 4 #define MSG_GOTOMEASUREMENT (const unsigned char *)"\xFA\xFF\x10\x00" #define MSG_GOTOMEASUREMENTLEN 4 #define MSG_GOTOMEASMAN (const unsigned char *)"\xFA\x01\x10\x00" #define MSG_GOTOMEASMANLEN 4 #define MSG_GOTOMEASACKLEN 5 #define MSG_REQFWREV (const unsigned char *)"\xFA\xFF\x12\x00" #define MSG_REQFWREVLEN 4 #define MSG_FIRMWAREREVLEN 8 #define MSG_REQBTDISABLED (const unsigned char *)"\xFA\xFF\x14\x00" #define MSG_REQBTDISABLEDLEN 4 #define MSG_REQBTDISABLEDACKLEN 6 #define MSG_DISABLEBT (const unsigned char *)"\xFA\xFF\x14\x01" #define MSG_DISABLEBTLEN 5 #define MSG_DISABLEBTACKLEN 5 #define MSG_REQOPMODE (const unsigned char *)"\xFA\xFF\x16\x00" #define MSG_REQOPMODELEN 4 #define MSG_REQOPMODEACKLEN 6 #define MSG_SETOPMODE (const unsigned char *)"\xFA\xFF\x16\x01" #define MSG_SETOPMODELEN 5 #define MSG_SETOPMODEACKLEN 5 #define MSG_REQBAUDRATE (const unsigned char *)"\xFA\xFF\x18\x00" #define MSG_REQBAUDRATELEN 4 #define MSG_REQBAUDRATEACKLEN 6 #define MSG_SETBAUDRATE (const unsigned char *)"\xFA\xFF\x18\x01" #define MSG_SETBAUDRATELEN 5 #define MSG_SETBAUDRATEACKLEN 5 #define MSG_REQSYNCMODE (const unsigned char *)"\xFA\xFF\x1A\x00" #define MSG_REQSYNCMODELEN 4 #define MSG_REQSYNCMODEACKLEN 6 #define MSG_SETSYNCMODE (const unsigned char *)"\xFA\xFF\x1A\x01" #define MSG_SETSYNCMODELEN 5 #define MSG_SETSYNCMODEACKLEN 6 #define MSG_REQMTS (const unsigned char *)"\xFA\xFF\x90\x01" #define MSG_REQMTSLEN 5 #define MSG_MTSDATA 61 #define MSG_STORECUSMTS (const unsigned char *)"\xFA\xFF\x92\x58" #define MSG_STORECUSMTSLEN 92 #define MSG_STORECUSMTSACKLEN 5 #define MSG_REVTOORGMTS (const unsigned char *)"\xFA\xFF\x94\x00" #define MSG_REVTOORGMTSLEN 4 #define MSG_REVTOORGMTSACKLEN 5 #define MSG_STOREMTS (const unsigned char *)"\xFA\xFF\x96\x41" #define MSG_STOREMTSLEN 69 #define MSG_STOREMTSACKLEN 5 #define MSG_REQSYNCOUTMODE (const unsigned char *)"\xFA\xFF\xD8\x01\x00" #define MSG_REQSYNCOUTMODELEN 5 #define MSG_REQSYNCOUTSKIPFACTOR (const unsigned char *)"\xFA\xFF\xD8\x01\x01" #define MSG_REQSYNCOUTSKIPFACTORLEN 5 #define MSG_REQSYNCOUTOFFSET (const unsigned char *)"\xFA\xFF\xD8\x01\x02" #define MSG_REQSYNCOUTOFFSETLEN 5 #define MSG_REQSYNCOUTPULSEWIDTH (const unsigned char *)"\xFA\xFF\xD8\x01\x03" #define MSG_REQSYNCOUTPULSEWIDTHLEN 5 #define MSG_REQERRORMODE (const unsigned char *)"\xFA\xFF\xDA\x00" #define MSG_REQERRORMODELEN 4 #define MSG_REQERRORMODEACKLEN 7 // Measurement state - auto messages #define MSG_GOTOCONFIG (const unsigned char *)"\xFA\xFF\x30\x00" #define MSG_GOTOCONFIGLEN 4 #define MSG_GOTOCONFIGACKLEN 5 // Measurement state - manual messages (Use DID = 0x01) #define MSG_GOTOCONFIGM (const unsigned char *)"\xFA\x01\x30\x00" #define MSG_GOTOCONFIGMLEN 4 #define MSG_GOTOCONFIGMACKLEN 5 #define MSG_PREPAREDATA (const unsigned char *)"\xFA\x01\x32\x00" #define MSG_PREPAREDATALEN 4 #define MSG_REQDATA (const unsigned char *)"\xFA\x01\x34\x00" #define MSG_REQDATALEN 4 // Valid in all states #define MSG_RESET (const unsigned char *)"\xFA\xFF\x40\x00" #define MSG_RESETLEN 4 #define MSG_RESETACKLEN 5 #define MSG_XMPWROFF (const unsigned char *)"\xFA\xFF\x44\x00" #define MSG_XMPWROFFLEN 4 #define MSG_XMPWROFFACKLEN 5 // Baudrate defines for SetBaudrate message #define BAUDRATE_9K6 0x09 #define BAUDRATE_14K4 0x08 #define BAUDRATE_19K2 0x07 #define BAUDRATE_28K8 0x06 #define BAUDRATE_38K4 0x05 #define BAUDRATE_57K6 0x04 #define BAUDRATE_76K8 0x03 #define BAUDRATE_115K2 0x02 #define BAUDRATE_230K4 0x01 #define BAUDRATE_460K8 0x00 #define BAUDRATE_921K6 0x80 // Xbus protocol error codes (Error) #define ERROR_NOBUSCOMM 0x01 #define ERROR_BUSNOTREADY 0x02 #define ERROR_PERIODINVALID 0x03 #define ERROR_MESSAGEINVALID 0x04 #define ERROR_INITOFBUSFAILED1 0x10 #define ERROR_INITOFBUSFAILED2 0x11 #define ERROR_INITOFBUSFAILED3 0x12 #define ERROR_SETBIDPROCFAILED1 0x14 #define ERROR_SETBIDPROCFAILED2 0x15 #define ERROR_MEASUREMENTFAILED1 0x18 #define ERROR_MEASUREMENTFAILED2 0x19 #define ERROR_MEASUREMENTFAILED3 0x1A #define ERROR_MEASUREMENTFAILED4 0x1B #define ERROR_MEASUREMENTFAILED5 0x1C #define ERROR_MEASUREMENTFAILED6 0x1D #define ERROR_TIMEROVERFLOW 0x1E #define ERROR_BAUDRATEINVALID 0x20 #define ERROR_PARAMETERINVALID 0x21 #define ERROR_MEASUREMENTFAILED7 0x23 // Error modes (SetErrorMode) #define ERRORMODE_IGNORE 0x0000 #define ERRORMODE_INCSAMPLECNT 0x0001 #define ERRORMODE_INCSAMPLECNT_SENDERROR 0x0002 #define ERRORMODE_SENDERROR_GOTOCONFIG 0x0003 // Configuration message defines #define CONF_MASTERDID 0 #define CONF_PERIOD 4 #define CONF_OUTPUTSKIPFACTOR 6 #define CONF_SYNCIN_MODE 8 #define CONF_SYNCIN_SKIPFACTOR 10 #define CONF_SYNCIN_OFFSET 12 #define CONF_DATE 16 #define CONF_TIME 24 #define CONF_NUMDEVICES 96 // Configuration sensor block properties #define CONF_DID 98 #define CONF_DATALENGTH 102 #define CONF_OUTPUTMODE 104 #define CONF_OUTPUTSETTINGS 106 #define CONF_BLOCKLEN 20 // To calculate the offset in data field for output mode of sensor #2 use // CONF_OUTPUTMODE + 1*CONF_BLOCKLEN #define CONF_MASTERDIDLEN 4 #define CONF_PERIODLEN 2 #define CONF_OUTPUTSKIPFACTORLEN 2 #define CONF_SYNCIN_MODELEN 2 #define CONF_SYNCIN_SKIPFACTORLEN 2 #define CONF_SYNCIN_OFFSETLEN 4 #define CONF_DATELEN 8 #define CONF_TIMELEN 8 #define CONF_RESERVED_CLIENTLEN 32 #define CONF_RESERVED_HOSTLEN 32 #define CONF_NUMDEVICESLEN 2 // Configuration sensor block properties #define CONF_DIDLEN 4 #define CONF_DATALENGTHLEN 2 #define CONF_OUTPUTMODELEN 2 #define CONF_OUTPUTSETTINGSLEN 4 // Clock frequency for offset & pulse width #define SYNC_CLOCKFREQ 29.4912e6 // SyncIn params #define PARAM_SYNCIN_MODE (const unsigned char)0x00 #define PARAM_SYNCIN_SKIPFACTOR (const unsigned char)0x01 #define PARAM_SYNCIN_OFFSET (const unsigned char)0x02 // SyncIn mode #define SYNCIN_DISABLED 0x0000 #define SYNCIN_EDGE_RISING 0x0001 #define SYNCIN_EDGE_FALLING 0x0002 #define SYNCIN_EDGE_BOTH 0x0003 #define SYNCIN_TYPE_SENDLASTDATA 0x0004 #define SYNCIN_TYPE_DOSAMPLING 0x0000 #define SYNCIN_EDGE_MASK 0x0003 #define SYNCIN_TYPE_MASK 0x000C // SyncOut params #define PARAM_SYNCOUT_MODE (const unsigned char)0x00 #define PARAM_SYNCOUT_SKIPFACTOR (const unsigned char)0x01 #define PARAM_SYNCOUT_OFFSET (const unsigned char)0x02 #define PARAM_SYNCOUT_PULSEWIDTH (const unsigned char)0x03 // SyncOut mode #define SYNCOUT_DISABLED 0x0000 #define SYNCOUT_TYPE_TOGGLE 0x0001 #define SYNCOUT_TYPE_PULSE 0x0002 #define SYNCOUT_POL_NEG 0x0000 #define SYNCOUT_POL_POS 0x0010 #define SYNCOUT_TYPE_MASK 0x000F #define SYNCOUT_POL_MASK 0x0010 // Sample frequencies (SetPeriod) #define PERIOD_10HZ 0x2D00 #define PERIOD_12HZ 0x2580 #define PERIOD_15HZ 0x1E00 #define PERIOD_16HZ 0x1C20 #define PERIOD_18HZ 0x1900 #define PERIOD_20HZ 0x1680 #define PERIOD_24HZ 0x12C0 #define PERIOD_25HZ 0x1200 #define PERIOD_30HZ 0x0F00 #define PERIOD_32HZ 0x0E10 #define PERIOD_36HZ 0x0C80 #define PERIOD_40HZ 0x0B40 #define PERIOD_45HZ 0x0A00 #define PERIOD_48HZ 0x0960 #define PERIOD_50HZ 0x0900 #define PERIOD_60HZ 0x0780 #define PERIOD_64HZ 0x0708 #define PERIOD_72HZ 0x0640 #define PERIOD_75HZ 0x0600 #define PERIOD_80HZ 0x05A0 #define PERIOD_90HZ 0x0500 #define PERIOD_96HZ 0x04B0 #define PERIOD_100HZ 0x0480 #define PERIOD_120HZ 0x03C0 #define PERIOD_128HZ 0x0384 #define PERIOD_144HZ 0x0320 #define PERIOD_150HZ 0x0300 #define PERIOD_160HZ 0x02D0 #define PERIOD_180HZ 0x0280 #define PERIOD_192HZ 0x0258 #define PERIOD_200HZ 0x0240 #define PERIOD_225HZ 0x0200 #define PERIOD_240HZ 0x01E0 #define PERIOD_256HZ 0x01C2 #define PERIOD_288HZ 0x0190 #define PERIOD_300HZ 0x0180 #define PERIOD_320HZ 0x0168 #define PERIOD_360HZ 0x0140 #define PERIOD_384HZ 0x012C #define PERIOD_400HZ 0x0120 #define PERIOD_450HZ 0x0100 #define PERIOD_480HZ 0x00F0 #define PERIOD_512HZ 0x00E1 // OutputModes #define OUTPUTMODE_MT9 0x8000 #define OUTPUTMODE_XM 0x0000 #define OUTPUTMODE_RAW 0x4000 #define OUTPUTMODE_TEMP 0x0001 #define OUTPUTMODE_CALIB 0x0002 #define OUTPUTMODE_ORIENT 0x0004 // OutputSettings #define OUTPUTSETTINGS_XM 0x00000001 #define OUTPUTSETTINGS_TIMESTAMP_NONE 0x00000000 #define OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT 0x00000001 #define OUTPUTSETTINGS_ORIENTMODE_QUATERNION 0x00000000 #define OUTPUTSETTINGS_ORIENTMODE_EULER 0x00000004 #define OUTPUTSETTINGS_ORIENTMODE_MATRIX 0x00000008 #define OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG 0x00000000 #define OUTPUTSETTINGS_CALIBMODE_ACC 0x00000060 #define OUTPUTSETTINGS_CALIBMODE_ACCGYR 0x00000040 #define OUTPUTSETTINGS_CALIBMODE_ACCMAG 0x00000020 #define OUTPUTSETTINGS_CALIBMODE_GYR 0x00000050 #define OUTPUTSETTINGS_CALIBMODE_GYRMAG 0x00000010 #define OUTPUTSETTINGS_CALIBMODE_MAG 0x00000030 #define OUTPUTSETTINGS_DATAFORMAT_FLOAT 0x00000000 #define OUTPUTSETTINGS_DATAFORMAT_F1220 0x00000100 #define OUTPUTSETTINGS_TIMESTAMP_MASK 0x00000003 #define OUTPUTSETTINGS_ORIENTMODE_MASK 0x0000000C #define OUTPUTSETTINGS_CALIBMODE_ACC_MASK 0x00000010 #define OUTPUTSETTINGS_CALIBMODE_GYR_MASK 0x00000020 #define OUTPUTSETTINGS_CALIBMODE_MAG_MASK 0x00000040 #define OUTPUTSETTINGS_CALIBMODE_MASK 0x00000070 #define OUTPUTSETTINGS_DATAFORMAT_MASK 0x00000300 // Extended Output Modes #define EXTOUTPUTMODE_DISABLED 0x0000 #define EXTOUTPUTMODE_EULER 0x0001 // Factory Output Mode #define FACTORYOUTPUTMODE_DISABLE 0x0000 #define FACTORYOUTPUTMODE_DEFAULT 0x0001 #define FACTORYOUTPUTMODE_CUSTOM 0x0002 // Initial tracking mode (SetInitTrackMode) #define INITTRACKMODE_DISABLED 0x0000 #define INITTRACKMODE_ENABLED 0x0001 // Filter settings params #define PARAM_FILTER_GAIN (const unsigned char)0x00 #define PARAM_FILTER_RHO (const unsigned char)0x01 #define DONOTSTORE 0x00 #define STORE 0x01 // AMDSetting (SetAMD) #define AMDSETTING_DISABLED 0x0000 #define AMDSETTING_ENABLED 0x0001 // Reset orientation message type #define RESETORIENTATION_STORE 0 #define RESETORIENTATION_HEADING 1 #define RESETORIENTATION_GLOBAL 2 #define RESETORIENTATION_OBJECT 3 #define RESETORIENTATION_ALIGN 4 // Send raw string mode #define SENDRAWSTRING_INIT 0 #define SENDRAWSTRING_DEFAULT 1 #define SENDRAWSTRING_SEND 2 // Timeouts #define TO_DEFAULT 500 #define TO_INIT 250 #define TO_RETRY 50 // openPort baudrates #ifdef WIN32 #define PBR_9600 CBR_9600 #define PBR_14K4 CBR_14400 #define PBR_19K2 CBR_19200 #define PBR_28K8 28800 #define PBR_38K4 CBR_38400 #define PBR_57K6 CBR_57600 #define PBR_76K8 76800 #define PBR_115K2 CBR_115200 #define PBR_230K4 230400 #define PBR_460K8 460800 #define PBR_921K6 921600 #else #define PBR_9600 B9600 #define PBR_14K4 B14400 #define PBR_19K2 B19200 #define PBR_28K8 B28800 #define PBR_38K4 B38400 #define PBR_57K6 B57600 #define PBR_76K8 B76800 #define PBR_115K2 B115200 #define PBR_230K4 B230400 #define PBR_460K8 B460800 #define PBR_921K6 B921600 #endif // setFilePos defines #ifdef WIN32 #define FILEPOS_BEGIN FILE_BEGIN #define FILEPOS_CURRENT FILE_CURRENT #define FILEPOS_END FILE_END #else #define FILEPOS_BEGIN SEEK_SET #define FILEPOS_CURRENT SEEK_CUR #define FILEPOS_END SEEK_END #endif // Return values #define MTRV_OK 0 // Operation successful #define MTRV_NOTSUCCESSFUL 1 // General no success return value #define MTRV_TIMEOUT 2 // Operation aborted because of a timeout #define MTRV_TIMEOUTNODATA 3 // Operation aborted because of no data read #define MTRV_CHECKSUMFAULT 4 // Checksum fault occured #define MTRV_NODATA 5 // No data is received #define MTRV_RECVERRORMSG 6 // A error message is received #define MTRV_OUTOFMEMORY 7 // No internal memory available #define MTRV_UNKNOWDATA 8 // An invalid message is read #define MTRV_INVALIDTIMEOUT 9 // An invalid value is used to set the timeout #define MTRV_UNEXPECTEDMSG 10 // Unexpected message received (e.g. no acknowledge message received) #define MTRV_INPUTCANNOTBEOPENED 11 // The specified file / serial port can not be opened #define MTRV_ANINPUTALREADYOPEN 12 // File and serial port can not be opened at same time #define MTRV_ENDOFFILE 13 // End of file is reached #define MTRV_NOINPUTINITIALIZED 14 // No file or serial port opened for reading/writing #define MTRV_NOVALIDMODESPECIFIED 15 // No valid outputmode or outputsettings are specified (use // mtGetDeviceMode or mtSetMode) #define MTRV_INVALIDVALUESPEC 16 // Value specifier does not match value type or not available in data #define MTRV_INVALIDFORFILEINPUT 17 // Function is not valid for file based interfaces class CMTComm { public: CMTComm(); virtual ~CMTComm(); // Low level general functions clock_t clockms(); // Low level COM port / file functions short openPort(const int portNumber, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024); short openPort(const char *portName, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024); short openFile(const char *fileName, bool createAlways = false); bool isPortOpen(); bool isFileOpen(); int readData(unsigned char* msgBuffer, const int nBytesToRead); int writeData(const unsigned char* msgBuffer, const int nBytesToWrite); void flush(); void escape(unsigned long function); void setPortQueueSize(const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024); short setFilePos(long relPos, unsigned long moveMethod = FILEPOS_BEGIN); short getFileSize(unsigned long &fileSize); short close(); // Read & write message functions short readMessage(unsigned char &mid, unsigned char data[], short &dataLen, unsigned char *bid = NULL); short readDataMessage(unsigned char data[], short &dataLen); short readMessageRaw(unsigned char *msgBuffer, short *msgBufferLength); short writeMessage(const unsigned char mid, const unsigned long dataValue = 0, const unsigned char dataValueLen = 0, const unsigned char bid = BID_MASTER); short writeMessage(const unsigned char mid, const unsigned char data[], const unsigned short &dataLen, const unsigned char bid = BID_MASTER); short waitForMessage(const unsigned char mid, unsigned char data[] = NULL, short *dataLen = NULL, unsigned char *bid = NULL); // Request & set setting functions short reqSetting(const unsigned char mid, unsigned long &value, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, const unsigned char param, unsigned long &value, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, float &value, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, const unsigned char param, float &value, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, unsigned char data[], short &dataLen, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, unsigned char dataIn[], short dataInLen, unsigned char dataOut[], short &dataOutLen, const unsigned char bid = BID_MASTER); short reqSetting(const unsigned char mid, const unsigned char param, unsigned char data[], short &dataLen, const unsigned char bid = BID_MASTER); short setSetting(const unsigned char mid, const unsigned long value, const unsigned short valuelen, const unsigned char bid = BID_MASTER); short setSetting(const unsigned char mid, const unsigned char param, const unsigned long value, const unsigned short valuelen, const unsigned char bid = BID_MASTER); short setSetting(const unsigned char mid, const float value, const unsigned char bid = BID_MASTER); short setSetting(const unsigned char mid, const unsigned char param, const float value, const unsigned char bid = BID_MASTER); short setSetting(const unsigned char mid, const unsigned char param, const float value, const bool store, const unsigned char bid = BID_MASTER); // Data-related functions short getDeviceMode(unsigned short *numDevices = NULL); short setDeviceMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER); short getMode(unsigned long &OutputMode, unsigned long &OutputSettings, unsigned short &dataLength, const unsigned char bid = BID_MASTER); short setMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER); short getValue(const unsigned long valueSpec, unsigned short &value, const unsigned char data[], const unsigned char bid = BID_MT); short getValue(const unsigned long valueSpec, unsigned short value[], const unsigned char data[], const unsigned char bid = BID_MT); short getValue(const unsigned long valueSpec, float value[], const unsigned char data[], const unsigned char bid = BID_MT); // Generic MTComm functions short getLastDeviceError(); short getLastRetVal(); short setTimeOut(short timeOutMs); static void swapEndian(const unsigned char input[], unsigned char output[], const short length); void calcChecksum(unsigned char *msgBuffer, const int msgBufferLength); bool checkChecksum(const unsigned char *msgBuffer, const int msgBufferLength); protected: // member variables #ifdef WIN32 HANDLE m_handle; #else int m_handle; #endif bool m_portOpen; bool m_fileOpen; short m_deviceError; short m_retVal; short m_timeOut; clock_t m_clkEnd; // OutputMode, OutputSettings & DataLength for connected devices + 1 for master unsigned long m_storedOutputMode[MAXDEVICES+1]; unsigned long m_storedOutputSettings[MAXDEVICES+1]; unsigned long m_storedDataLength[MAXDEVICES+1]; // Temporary buffer for excess bytes read in ReadMessageRaw unsigned char m_tempBuffer[MAXMSGLEN]; int m_nTempBufferLen; private: }; #endif // !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_)