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MTComm.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 // MTComm.h: interface for the CMTComm class.
3 //
4 // Version 1.2.0
5 // Public release
6 //
7 // v1.2.0
8 // 27-02-2006 - Renamed Xbus class to Motion Tracker C++ Communication class, short MTComm
9 // - Defines XBRV_* accordingly renamed to MTRV_*
10 // - Fixed device length not correct for bid 0 when using Xbus Master and setDeviceMode function
11 //
12 // v1.1.7
13 // 15-02-2006 - Added fixed point signed 12.20 dataformat support
14 // Added selective calibrated data output per sensor type support
15 // Added outputmode temperature support
16 // Fixed warning C4244: '=' : conversion from '' to '', possible loss of data
17 // v1.1.6
18 // 25-01-2006 - Added escape function for CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK
19 //
20 // v1.1.5
21 // 14-11-2005 - Made swapEndian a static member function, Job Mulder
22 //
23 // v1.1.4
24 // 08-11-2005 - Changed practically all uses of m_timeOut into uses of the new m_clkEnd
25 // - Changed COM timeout in win32 to return immediately if data is available,
26 // but wait 1ms otherwise
27 //
28 // v1.1.3
29 // 18-10-2005 - Added MID_REQPRODUCTCODE, MID_REQ/SETTRANSMITDELAY
30 // - Added XBRV_TIMEOUTNODATA indicating timeout occurred due to no data read
31 //
32 // v1.1.2
33 // 16-09-2005 - Added eMTS version 0.1->1.0 changes (EMTS_FACTORYMODE)
34 // - Added factory output mode defines
35 //
36 // v1.1.1
37 // 01-09-2005 - Added defines for Extended output mode
38 // - Added reqSetting (byte array in + out & no param variant)
39 //
40 // v1.1
41 // 08-08-2005 - Added file read and write support
42 // - Added functions for data retrieval (getValue etc)
43 // for easy data retrieval of acc, gyr, mag etc
44 // - ReadMessageRaw:
45 // - added a temporary buffer for unprocessed bytes
46 // - check for invalid length messages
47 // - Changed BID_MT into 1 and added BID_MASTER (=0xFF)
48 // - Changed various ....SerialPort functions to .....Port
49 // - Changed mtSendMessage functions to mtWriteMessage
50 // - Added numerous defines
51 // - Deleted obsolete functions
52 // - Changed function getLastErrorCode into getLastDeviceError
53 // - Changed OpenPort function for compatiblity with Bluetooth ports
54 // - Added workaround for lockup of USB driver (close function)
55 // - Added workaround for clock() problem with read function of USB driver
56 //
57 // v1.0.2
58 // 29-06-2005 - Inserted initSerialPort with devicename input
59 // - Changed return value defines names from X_ to XBRV_
60 // - Removed unneeded includes for linux
61 //
62 // v1.0.1
63 // 22-06-2005 - Fixed ReqSetting functions (byte array & param variant)
64 // mtSendRawString had wrong length input
65 //
66 // v1.0.0
67 // 20-06-2005 - Initial release
68 //
69 // ----------------------------------------------------------------------------
70 // This file is an Xsens Code Example.
71 //
72 // Copyright (C) Xsens Technologies B.V., 2005. All rights reserved.
73 //
74 // This source code is intended only as a example of the implementation
75 // of the Xsens MT Communication protocol.
76 // It was written for cross platform capabilities.
77 //
78 // THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
79 // KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
80 // IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
81 // PARTICULAR PURPOSE.
83 
84 #if !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_)
85 #define AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_
86 
87 #if _MSC_VER > 1000
88 #pragma once
89 #endif // _MSC_VER > 1000
90 
91 #include <string.h>
92 #include <stdio.h>
93 #include <time.h>
94 #ifdef WIN32
95 #include <windows.h>
96 #include <conio.h>
97 #else
98 #include <fcntl.h> /* POSIX Standard: 6.5 File Control Operations */
99 #include <termios.h> /* terminal i/o system, talks to /dev/tty* ports */
100 #include <unistd.h> /* Read function */
101 #include <sys/time.h> /* gettimeofday function */
102 #include <sys/stat.h> /* fstat function */
103 #endif
104 
105 #ifndef INVALID_SET_FILE_POINTER
106 #define INVALID_SET_FILE_POINTER ((DWORD)(-1))
107 #endif
108 
109 // Field message indexes
110 #define IND_PREAMBLE 0
111 #define IND_BID 1
112 #define IND_MID 2
113 #define IND_LEN 3
114 #define IND_DATA0 4
115 #define IND_LENEXTH 4
116 #define IND_LENEXTL 5
117 #define IND_DATAEXT0 6
118 
119 // Maximum number of sensors supported
120 #define MAXDEVICES 20
121 
122 #define PREAMBLE (const unsigned char)0xFA
123 #define BID_MASTER (const unsigned char)0xFF
124 #define BID_MT (const unsigned char)0x01
125 #define EXTLENCODE 0xFF
126 
127 #define LEN_MSGHEADER (const unsigned short)4
128 #define LEN_MSGEXTHEADER (const unsigned short)6
129 #define LEN_MSGHEADERCS (const unsigned short)5
130 #define LEN_MSGEXTHEADERCS (const unsigned short)7
131 #define LEN_CHECKSUM (const unsigned short)1
132 #define LEN_UNSIGSHORT (const unsigned short)2
133 #define LEN_UNSIGINT (const unsigned short)4
134 #define LEN_FLOAT (const unsigned short)4
135 
136 // Maximum message/data length
137 #define MAXDATALEN (const unsigned short)2048
138 #define MAXSHORTDATALEN (const unsigned short)254
139 #define MAXMSGLEN (const unsigned short)(MAXDATALEN+7)
140 #define MAXSHORTMSGLEN (const unsigned short)(MAXSHORTDATALEN+5)
141 
142 
143 // DID Type (high nibble)
144 #define DID_TYPEH_MASK (const unsigned long)0x00F00000
145 #define DID_TYPEH_MT (const unsigned long)0x00000000
146 #define DID_TYPEH_XM (const unsigned long)0x00100000
147 #define DID_TYPEH_MTI_MTX (const unsigned long)0x00300000
148 
149 // All Message identifiers
150 // WakeUp state messages
151 #define MID_WAKEUP (const unsigned char)0x3E
152 #define MID_WAKEUPACK (const unsigned char)0x3F
153 
154 // Config state messages
155 #define MID_REQDID (const unsigned char)0x00
156 #define MID_DEVICEID (const unsigned char)0x01
157 #define LEN_DEVICEID (const unsigned short)4
158 #define MID_INITBUS (const unsigned char)0x02
159 #define MID_INITBUSRESULTS (const unsigned char)0x03
160 #define LEN_INITBUSRESULTS (const unsigned short)4
161 #define MID_REQPERIOD (const unsigned char)0x04
162 #define MID_REQPERIODACK (const unsigned char)0x05
163 #define LEN_PERIOD (const unsigned short)2
164 #define MID_SETPERIOD (const unsigned char)0x04
165 #define MID_SETPERIODACK (const unsigned char)0x05
166 // XbusMaster
167 #define MID_SETBID (const unsigned char)0x06
168 #define MID_SETBIDACK (const unsigned char)0x07
169 #define MID_AUTOSTART (const unsigned char)0x06
170 #define MID_AUTOSTARTACK (const unsigned char)0x07
171 #define MID_BUSPWROFF (const unsigned char)0x08
172 #define MID_BUSPWROFFACK (const unsigned char)0x09
173 // End XbusMaster
174 #define MID_REQDATALENGTH (const unsigned char)0x0A
175 #define MID_DATALENGTH (const unsigned char)0x0B
176 #define LEN_DATALENGTH (const unsigned short)2
177 #define MID_REQCONFIGURATION (const unsigned char)0x0C
178 #define MID_CONFIGURATION (const unsigned char)0x0D
179 #define LEN_CONFIGURATION (const unsigned short)118
180 #define MID_RESTOREFACTORYDEF (const unsigned char)0x0E
181 #define MID_RESTOREFACTORYDEFACK (const unsigned char)0x0F
182 
183 #define MID_GOTOMEASUREMENT (const unsigned char)0x10
184 #define MID_GOTOMEASUREMENTACK (const unsigned char)0x11
185 #define MID_REQFWREV (const unsigned char)0x12
186 #define MID_FIRMWAREREV (const unsigned char)0x13
187 #define LEN_FIRMWAREREV (const unsigned short)3
188 // XbusMaster
189 #define MID_REQBTDISABLE (const unsigned char)0x14
190 #define MID_REQBTDISABLEACK (const unsigned char)0x15
191 #define MID_DISABLEBT (const unsigned char)0x14
192 #define MID_DISABLEBTACK (const unsigned char)0x15
193 #define MID_REQOPMODE (const unsigned char)0x16
194 #define MID_REQOPMODEACK (const unsigned char)0x17
195 #define MID_SETOPMODE (const unsigned char)0x16
196 #define MID_SETOPMODEACK (const unsigned char)0x17
197 // End XbusMaster
198 #define MID_REQBAUDRATE (const unsigned char)0x18
199 #define MID_REQBAUDRATEACK (const unsigned char)0x19
200 #define LEN_BAUDRATE (const unsigned short)1
201 #define MID_SETBAUDRATE (const unsigned char)0x18
202 #define MID_SETBAUDRATEACK (const unsigned char)0x19
203 // XbusMaster
204 #define MID_REQSYNCMODE (const unsigned char)0x1A
205 #define MID_REQSYNCMODEACK (const unsigned char)0x1B
206 #define MID_SETSYNCMODE (const unsigned char)0x1A
207 #define MID_SETSYNCMODEACK (const unsigned char)0x1B
208 // End XbusMaster
209 #define MID_REQPRODUCTCODE (const unsigned char)0x1C
210 #define MID_PRODUCTCODE (const unsigned char)0x1D
211 
212 #define MID_REQOUTPUTMODE (const unsigned char)0xD0
213 #define MID_REQOUTPUTMODEACK (const unsigned char)0xD1
214 #define LEN_OUTPUTMODE (const unsigned short)2
215 #define MID_SETOUTPUTMODE (const unsigned char)0xD0
216 #define MID_SETOUTPUTMODEACK (const unsigned char)0xD1
217 
218 #define MID_REQOUTPUTSETTINGS (const unsigned char)0xD2
219 #define MID_REQOUTPUTSETTINGSACK (const unsigned char)0xD3
220 #define LEN_OUTPUTSETTINGS (const unsigned short)4
221 #define MID_SETOUTPUTSETTINGS (const unsigned char)0xD2
222 #define MID_SETOUTPUTSETTINGSACK (const unsigned char)0xD3
223 
224 #define MID_REQOUTPUTSKIPFACTOR (const unsigned char)0xD4
225 #define MID_REQOUTPUTSKIPFACTORACK (const unsigned char)0xD5
226 #define LEN_OUTPUTSKIPFACTOR (const unsigned short)2
227 #define MID_SETOUTPUTSKIPFACTOR (const unsigned char)0xD4
228 #define MID_SETOUTPUTSKIPFACTORACK (const unsigned char)0xD5
229 
230 #define MID_REQSYNCINSETTINGS (const unsigned char)0xD6
231 #define MID_REQSYNCINSETTINGSACK (const unsigned char)0xD7
232 #define LEN_SYNCINMODE (const unsigned short)2
233 #define LEN_SYNCINSKIPFACTOR (const unsigned short)2
234 #define LEN_SYNCINOFFSET (const unsigned short)4
235 #define MID_SETSYNCINSETTINGS (const unsigned char)0xD6
236 #define MID_SETSYNCINSETTINGSACK (const unsigned char)0xD7
237 
238 #define MID_REQSYNCOUTSETTINGS (const unsigned char)0xD8
239 #define MID_REQSYNCOUTSETTINGSACK (const unsigned char)0xD9
240 #define LEN_SYNCOUTMODE (const unsigned short)2
241 #define LEN_SYNCOUTSKIPFACTOR (const unsigned short)2
242 #define LEN_SYNCOUTOFFSET (const unsigned short)4
243 #define LEN_SYNCOUTPULSEWIDTH (const unsigned short)4
244 #define MID_SETSYNCOUTSETTINGS (const unsigned char)0xD8
245 #define MID_SETSYNCOUTSETTINGSACK (const unsigned char)0xD9
246 
247 #define MID_REQERRORMODE (const unsigned char)0xDA
248 #define MID_REQERRORMODEACK (const unsigned char)0xDB
249 #define LEN_ERRORMODE (const unsigned short)2
250 #define MID_SETERRORMODE (const unsigned char)0xDA
251 #define MID_SETERRORMODEACK (const unsigned char)0xDB
252 
253 #define MID_REQTRANSMITDELAY (const unsigned char)0xDC
254 #define MID_REQTRANSMITDELAYACK (const unsigned char)0xDD
255 #define LEN_TRANSMITDELAY (const unsigned short)2
256 #define MID_SETTRANSMITDELAY (const unsigned char)0xDC
257 #define MID_SETTRANSMITDELAYACK (const unsigned char)0xDD
258 
259 // Xbus Master
260 #define MID_REQXMERRORMODE (const unsigned char)0x82
261 #define MID_REQXMERRORMODEACK (const unsigned char)0x83
262 #define LEN_XMERRORMODE (const unsigned short)2
263 #define MID_SETXMERRORMODE (const unsigned char)0x82
264 #define MID_SETXMERRORMODEACK (const unsigned char)0x83
265 
266 #define MID_REQBUFFERSIZE (const unsigned char)0x84
267 #define MID_REQBUFFERSIZEACK (const unsigned char)0x85
268 #define LEN_BUFFERSIZE (const unsigned short)2
269 #define MID_SETBUFFERSIZE (const unsigned char)0x84
270 #define MID_SETBUFFERSIZEACK (const unsigned char)0x85
271 // End Xbus Master
272 
273 #define MID_REQHEADING (const unsigned char)0x82
274 #define MID_REQHEADINGACK (const unsigned char)0x83
275 #define LEN_HEADING (const unsigned short)4
276 #define MID_SETHEADING (const unsigned char)0x82
277 #define MID_SETHEADINGACK (const unsigned char)0x83
278 
279 #define MID_REQLOCATIONID (const unsigned char)0x84
280 #define MID_REQLOCATIONIDACK (const unsigned char)0x85
281 #define LEN_LOCATIONID (const unsigned short)2
282 #define MID_SETLOCATIONID (const unsigned char)0x84
283 #define MID_SETLOCATIONIDACK (const unsigned char)0x85
284 
285 #define MID_REQEXTOUTPUTMODE (const unsigned char)0x86
286 #define MID_REQEXTOUTPUTMODEACK (const unsigned char)0x87
287 #define LEN_EXTOUTPUTMODE (const unsigned short)2
288 #define MID_SETEXTOUTPUTMODE (const unsigned char)0x86
289 #define MID_SETEXTOUTPUTMODEACK (const unsigned char)0x87
290 
291 // XbusMaster
292 #define MID_REQBATLEVEL (const unsigned char)0x88
293 #define MID_BATLEVEL (const unsigned char)0x89
294 // End XbusMaster
295 
296 #define MID_REQINITTRACKMODE (const unsigned char)0x88
297 #define MID_REQINITTRACKMODEACK (const unsigned char)0x89
298 #define LEN_INITTRACKMODE (const unsigned short)2
299 #define MID_SETINITTRACKMODE (const unsigned char)0x88
300 #define MID_SETINITTRACKMODEACK (const unsigned char)0x89
301 
302 #define MID_STOREFILTERSTATE (const unsigned char)0x8A
303 #define MID_STOREFILTERSTATEACK (const unsigned char)0x8B
304 
305 // Measurement state
306 #define MID_GOTOCONFIG (const unsigned char)0x30
307 #define MID_GOTOCONFIGACK (const unsigned char)0x31
308 #define MID_BUSDATA (const unsigned char)0x32
309 #define MID_MTDATA (const unsigned char)0x32
310 
311 // Manual
312 #define MID_PREPAREDATA (const unsigned char)0x32
313 #define MID_REQDATA (const unsigned char)0x34
314 #define MID_REQDATAACK (const unsigned char)0x35
315 
316 // MTData defines
317 // Length of data blocks in bytes
318 #define LEN_RAWDATA (const unsigned short)20
319 #define LEN_CALIBDATA (const unsigned short)36
320 #define LEN_CALIB_ACCDATA (const unsigned short)12
321 #define LEN_CALIB_GYRDATA (const unsigned short)12
322 #define LEN_CALIB_MAGDATA (const unsigned short)12
323 #define LEN_ORIENT_QUATDATA (const unsigned short)16
324 #define LEN_ORIENT_EULERDATA (const unsigned short)12
325 #define LEN_ORIENT_MATRIXDATA (const unsigned short)36
326 #define LEN_SAMPLECNT (const unsigned short)2
327 #define LEN_TEMPDATA (const unsigned short)4
328 
329 // Length of data blocks in floats
330 #define LEN_CALIBDATA_FLT (const unsigned short)9
331 #define LEN_ORIENT_QUATDATA_FLT (const unsigned short)4
332 #define LEN_ORIENT_EULERDATA_FLT (const unsigned short)3
333 #define LEN_ORIENT_MATRIXDATA_FLT (const unsigned short)9
334 
335 // Indices of fields in DATA field of MTData message in bytes
336 // use in combination with LEN_CALIB etc
337 // Un-calibrated raw data
338 #define IND_RAW_ACCX 0
339 #define IND_RAW_ACCY 2
340 #define IND_RAW_ACCZ 4
341 #define IND_RAW_GYRX 6
342 #define IND_RAW_GYRY 8
343 #define IND_RAW_GYRZ 10
344 #define IND_RAW_MAGX 12
345 #define IND_RAW_MAGY 14
346 #define IND_RAW_MAGZ 16
347 #define IND_RAW_TEMP 18
348 // Calibrated data
349 #define IND_CALIB_ACCX 0
350 #define IND_CALIB_ACCY 4
351 #define IND_CALIB_ACCZ 8
352 #define IND_CALIB_GYRX 12
353 #define IND_CALIB_GYRY 16
354 #define IND_CALIB_GYRZ 20
355 #define IND_CALIB_MAGX 24
356 #define IND_CALIB_MAGY 28
357 #define IND_CALIB_MAGZ 32
358 // Orientation data - quat
359 #define IND_ORIENT_Q0 0
360 #define IND_ORIENT_Q1 4
361 #define IND_ORIENT_Q2 8
362 #define IND_ORIENT_Q3 12
363 // Orientation data - euler
364 #define IND_ORIENT_ROLL 0
365 #define IND_ORIENT_PITCH 4
366 #define IND_ORIENT_YAW 8
367 // Orientation data - matrix
368 #define IND_ORIENT_A 0
369 #define IND_ORIENT_B 4
370 #define IND_ORIENT_C 8
371 #define IND_ORIENT_D 12
372 #define IND_ORIENT_E 16
373 #define IND_ORIENT_F 20
374 #define IND_ORIENT_G 24
375 #define IND_ORIENT_H 28
376 #define IND_ORIENT_I 32
377 // Orientation data - euler
378 #define IND_SAMPLECNTH 0
379 #define IND_SAMPLECNTL 1
380 
381 // Indices of fields in DATA field of MTData message
382 // Un-calibrated raw data
383 #define FLDNUM_RAW_ACCX 0
384 #define FLDNUM_RAW_ACCY 1
385 #define FLDNUM_RAW_ACCZ 2
386 #define FLDNUM_RAW_GYRX 3
387 #define FLDNUM_RAW_GYRY 4
388 #define FLDNUM_RAW_GYRZ 5
389 #define FLDNUM_RAW_MAGX 6
390 #define FLDNUM_RAW_MAGY 7
391 #define FLDNUM_RAW_MAGZ 8
392 #define FLDNUM_RAW_TEMP 9
393 // Calibrated data
394 #define FLDNUM_CALIB_ACCX 0
395 #define FLDNUM_CALIB_ACCY 1
396 #define FLDNUM_CALIB_ACCZ 2
397 #define FLDNUM_CALIB_GYRX 3
398 #define FLDNUM_CALIB_GYRY 4
399 #define FLDNUM_CALIB_GYRZ 5
400 #define FLDNUM_CALIB_MAGX 6
401 #define FLDNUM_CALIB_MAGY 7
402 #define FLDNUM_CALIB_MAGZ 8
403 // Orientation data - quat
404 #define FLDNUM_ORIENT_Q0 0
405 #define FLDNUM_ORIENT_Q1 1
406 #define FLDNUM_ORIENT_Q2 2
407 #define FLDNUM_ORIENT_Q3 3
408 // Orientation data - euler
409 #define FLDNUM_ORIENT_ROLL 0
410 #define FLDNUM_ORIENT_PITCH 1
411 #define FLDNUM_ORIENT_YAW 2
412 // Orientation data - matrix
413 #define FLDNUM_ORIENT_A 0
414 #define FLDNUM_ORIENT_B 1
415 #define FLDNUM_ORIENT_C 2
416 #define FLDNUM_ORIENT_D 3
417 #define FLDNUM_ORIENT_E 4
418 #define FLDNUM_ORIENT_F 5
419 #define FLDNUM_ORIENT_G 6
420 #define FLDNUM_ORIENT_H 7
421 #define FLDNUM_ORIENT_I 8
422 // Length
423 // Uncalibrated raw data
424 #define LEN_RAW_ACCX 2
425 #define LEN_RAW_ACCY 2
426 #define LEN_RAW_ACCZ 2
427 #define LEN_RAW_GYRX 2
428 #define LEN_RAW_GYRY 2
429 #define LEN_RAW_GYRZ 2
430 #define LEN_RAW_MAGX 2
431 #define LEN_RAW_MAGY 2
432 #define LEN_RAW_MAGZ 2
433 #define LEN_RAW_TEMP 2
434 // Calibrated data
435 #define LEN_CALIB_ACCX 4
436 #define LEN_CALIB_ACCY 4
437 #define LEN_CALIB_ACCZ 4
438 #define LEN_CALIB_GYRX 4
439 #define LEN_CALIB_GYRY 4
440 #define LEN_CALIB_GYRZ 4
441 #define LEN_CALIB_MAGX 4
442 #define LEN_CALIB_MAGY 4
443 #define LEN_CALIB_MAGZ 4
444 // Orientation data - quat
445 #define LEN_ORIENT_Q0 4
446 #define LEN_ORIENT_Q1 4
447 #define LEN_ORIENT_Q2 4
448 #define LEN_ORIENT_Q3 4
449 // Orientation data - euler
450 #define LEN_ORIENT_ROLL 4
451 #define LEN_ORIENT_PITCH 4
452 #define LEN_ORIENT_YAW 4
453 // Orientation data - matrix
454 #define LEN_ORIENT_A 4
455 #define LEN_ORIENT_B 4
456 #define LEN_ORIENT_C 4
457 #define LEN_ORIENT_D 4
458 #define LEN_ORIENT_E 4
459 #define LEN_ORIENT_F 4
460 #define LEN_ORIENT_G 4
461 #define LEN_ORIENT_H 4
462 #define LEN_ORIENT_I 4
463 
464 // Defines for getDataValue
465 #define VALUE_RAW_ACC 0
466 #define VALUE_RAW_GYR 1
467 #define VALUE_RAW_MAG 2
468 #define VALUE_RAW_TEMP 3
469 #define VALUE_CALIB_ACC 4
470 #define VALUE_CALIB_GYR 5
471 #define VALUE_CALIB_MAG 6
472 #define VALUE_ORIENT_QUAT 7
473 #define VALUE_ORIENT_EULER 8
474 #define VALUE_ORIENT_MATRIX 9
475 #define VALUE_SAMPLECNT 10
476 #define VALUE_TEMP 11
477 
478 #define INVALIDSETTINGVALUE 0xFFFFFFFF
479 
480 
481 // Valid in all states
482 #define MID_RESET (const unsigned char)0x40
483 #define MID_RESETACK (const unsigned char)0x41
484 #define MID_ERROR (const unsigned char)0x42
485 #define LEN_ERROR (const unsigned short)1
486 // XbusMaster
487 #define MID_XMPWROFF (const unsigned char)0x44
488 // End XbusMaster
489 
490 #define MID_REQFILTERSETTINGS (const unsigned char)0xA0
491 #define MID_REQFILTERSETTINGSACK (const unsigned char)0xA1
492 #define LEN_FILTERSETTINGS (const unsigned short)4
493 #define MID_SETFILTERSETTINGS (const unsigned char)0xA0
494 #define MID_SETFILTERSETTINGSACK (const unsigned char)0xA1
495 #define MID_REQAMD (const unsigned char)0xA2
496 #define MID_REQAMDACK (const unsigned char)0xA3
497 #define LEN_AMD (const unsigned short)2
498 #define MID_SETAMD (const unsigned char)0xA2
499 #define MID_SETAMDACK (const unsigned char)0xA3
500 #define MID_RESETORIENTATION (const unsigned char)0xA4
501 #define MID_RESETORIENTATIONACK (const unsigned char)0xA5
502 #define LEN_RESETORIENTATION (const unsigned short)2
503 
504 // All Messages
505 // WakeUp state messages
506 #define MSG_WAKEUPLEN 5
507 #define MSG_WAKEUPACK (const unsigned char *)"\xFA\xFF\x3F\x00"
508 #define MSG_WAKEUPACKLEN 4
509 // Config state messages
510 #define MSG_REQDID (const unsigned char *)"\xFA\xFF\x00\x00"
511 #define MSG_REQDIDLEN 4
512 #define MSG_DEVICEIDLEN 9
513 #define MSG_INITBUS (const unsigned char *)"\xFA\xFF\x02\x00"
514 #define MSG_INITBUSLEN 4
515 #define MSG_INITBUSRESMAXLEN (5 + 4 * MAXSENSORS)
516 #define MSG_REQPERIOD (const unsigned char *)"\xFA\xFF\x04\x00"
517 #define MSG_REQPERIODLEN 4
518 #define MSG_REQPERIODACKLEN 7
519 #define MSG_SETPERIOD (const unsigned char *)"\xFA\xFF\x04\x02"
520 #define MSG_SETPERIODLEN 6
521 #define MSG_SETPERIODACKLEN 5
522 #define MSG_SETBID (const unsigned char *)"\xFA\xFF\x06\x05"
523 #define MSG_SETBIDLEN 9
524 #define MSG_SETBIDACKLEN 5
525 #define MSG_AUTOSTART (const unsigned char *)"\xFA\xFF\x06\x00"
526 #define MSG_AUTOSTARTLEN 4
527 #define MSG_AUTOSTARTACKLEN 5
528 #define MSG_BUSPWROFF (const unsigned char *)"\xFA\xFF\x08\x00"
529 #define MSG_BUSPWROFFLEN 4
530 #define MSG_BUSPWROFFACKLEN 5
531 #define MSG_RESTOREFACTORYDEF (const unsigned char *)"\xFA\xFF\x0E\x00"
532 #define MSG_RESTOREFACTORYDEFLEN 4
533 #define MSG_RESTOREFACTORYDEFACKLEN 5
534 #define MSG_REQDATALENGTH (const unsigned char *)"\xFA\xFF\x0A\x00"
535 #define MSG_REQDATALENGTHLEN 4
536 #define MSG_DATALENGTHLEN 7
537 #define MSG_REQCONFIGURATION (const unsigned char *)"\xFA\xFF\x0C\x00"
538 #define MSG_REQCONFIGURATIONLEN 4
539 #define MSG_GOTOMEASUREMENT (const unsigned char *)"\xFA\xFF\x10\x00"
540 #define MSG_GOTOMEASUREMENTLEN 4
541 #define MSG_GOTOMEASMAN (const unsigned char *)"\xFA\x01\x10\x00"
542 #define MSG_GOTOMEASMANLEN 4
543 #define MSG_GOTOMEASACKLEN 5
544 #define MSG_REQFWREV (const unsigned char *)"\xFA\xFF\x12\x00"
545 #define MSG_REQFWREVLEN 4
546 #define MSG_FIRMWAREREVLEN 8
547 #define MSG_REQBTDISABLED (const unsigned char *)"\xFA\xFF\x14\x00"
548 #define MSG_REQBTDISABLEDLEN 4
549 #define MSG_REQBTDISABLEDACKLEN 6
550 #define MSG_DISABLEBT (const unsigned char *)"\xFA\xFF\x14\x01"
551 #define MSG_DISABLEBTLEN 5
552 #define MSG_DISABLEBTACKLEN 5
553 #define MSG_REQOPMODE (const unsigned char *)"\xFA\xFF\x16\x00"
554 #define MSG_REQOPMODELEN 4
555 #define MSG_REQOPMODEACKLEN 6
556 #define MSG_SETOPMODE (const unsigned char *)"\xFA\xFF\x16\x01"
557 #define MSG_SETOPMODELEN 5
558 #define MSG_SETOPMODEACKLEN 5
559 #define MSG_REQBAUDRATE (const unsigned char *)"\xFA\xFF\x18\x00"
560 #define MSG_REQBAUDRATELEN 4
561 #define MSG_REQBAUDRATEACKLEN 6
562 #define MSG_SETBAUDRATE (const unsigned char *)"\xFA\xFF\x18\x01"
563 #define MSG_SETBAUDRATELEN 5
564 #define MSG_SETBAUDRATEACKLEN 5
565 #define MSG_REQSYNCMODE (const unsigned char *)"\xFA\xFF\x1A\x00"
566 #define MSG_REQSYNCMODELEN 4
567 #define MSG_REQSYNCMODEACKLEN 6
568 #define MSG_SETSYNCMODE (const unsigned char *)"\xFA\xFF\x1A\x01"
569 #define MSG_SETSYNCMODELEN 5
570 #define MSG_SETSYNCMODEACKLEN 6
571 #define MSG_REQMTS (const unsigned char *)"\xFA\xFF\x90\x01"
572 #define MSG_REQMTSLEN 5
573 #define MSG_MTSDATA 61
574 #define MSG_STORECUSMTS (const unsigned char *)"\xFA\xFF\x92\x58"
575 #define MSG_STORECUSMTSLEN 92
576 #define MSG_STORECUSMTSACKLEN 5
577 #define MSG_REVTOORGMTS (const unsigned char *)"\xFA\xFF\x94\x00"
578 #define MSG_REVTOORGMTSLEN 4
579 #define MSG_REVTOORGMTSACKLEN 5
580 #define MSG_STOREMTS (const unsigned char *)"\xFA\xFF\x96\x41"
581 #define MSG_STOREMTSLEN 69
582 #define MSG_STOREMTSACKLEN 5
583 #define MSG_REQSYNCOUTMODE (const unsigned char *)"\xFA\xFF\xD8\x01\x00"
584 #define MSG_REQSYNCOUTMODELEN 5
585 #define MSG_REQSYNCOUTSKIPFACTOR (const unsigned char *)"\xFA\xFF\xD8\x01\x01"
586 #define MSG_REQSYNCOUTSKIPFACTORLEN 5
587 #define MSG_REQSYNCOUTOFFSET (const unsigned char *)"\xFA\xFF\xD8\x01\x02"
588 #define MSG_REQSYNCOUTOFFSETLEN 5
589 #define MSG_REQSYNCOUTPULSEWIDTH (const unsigned char *)"\xFA\xFF\xD8\x01\x03"
590 #define MSG_REQSYNCOUTPULSEWIDTHLEN 5
591 #define MSG_REQERRORMODE (const unsigned char *)"\xFA\xFF\xDA\x00"
592 #define MSG_REQERRORMODELEN 4
593 #define MSG_REQERRORMODEACKLEN 7
594 // Measurement state - auto messages
595 #define MSG_GOTOCONFIG (const unsigned char *)"\xFA\xFF\x30\x00"
596 #define MSG_GOTOCONFIGLEN 4
597 #define MSG_GOTOCONFIGACKLEN 5
598 // Measurement state - manual messages (Use DID = 0x01)
599 #define MSG_GOTOCONFIGM (const unsigned char *)"\xFA\x01\x30\x00"
600 #define MSG_GOTOCONFIGMLEN 4
601 #define MSG_GOTOCONFIGMACKLEN 5
602 #define MSG_PREPAREDATA (const unsigned char *)"\xFA\x01\x32\x00"
603 #define MSG_PREPAREDATALEN 4
604 #define MSG_REQDATA (const unsigned char *)"\xFA\x01\x34\x00"
605 #define MSG_REQDATALEN 4
606 // Valid in all states
607 #define MSG_RESET (const unsigned char *)"\xFA\xFF\x40\x00"
608 #define MSG_RESETLEN 4
609 #define MSG_RESETACKLEN 5
610 #define MSG_XMPWROFF (const unsigned char *)"\xFA\xFF\x44\x00"
611 #define MSG_XMPWROFFLEN 4
612 #define MSG_XMPWROFFACKLEN 5
613 
614 // Baudrate defines for SetBaudrate message
615 #define BAUDRATE_9K6 0x09
616 #define BAUDRATE_14K4 0x08
617 #define BAUDRATE_19K2 0x07
618 #define BAUDRATE_28K8 0x06
619 #define BAUDRATE_38K4 0x05
620 #define BAUDRATE_57K6 0x04
621 #define BAUDRATE_76K8 0x03
622 #define BAUDRATE_115K2 0x02
623 #define BAUDRATE_230K4 0x01
624 #define BAUDRATE_460K8 0x00
625 #define BAUDRATE_921K6 0x80
626 
627 // Xbus protocol error codes (Error)
628 #define ERROR_NOBUSCOMM 0x01
629 #define ERROR_BUSNOTREADY 0x02
630 #define ERROR_PERIODINVALID 0x03
631 #define ERROR_MESSAGEINVALID 0x04
632 #define ERROR_INITOFBUSFAILED1 0x10
633 #define ERROR_INITOFBUSFAILED2 0x11
634 #define ERROR_INITOFBUSFAILED3 0x12
635 #define ERROR_SETBIDPROCFAILED1 0x14
636 #define ERROR_SETBIDPROCFAILED2 0x15
637 #define ERROR_MEASUREMENTFAILED1 0x18
638 #define ERROR_MEASUREMENTFAILED2 0x19
639 #define ERROR_MEASUREMENTFAILED3 0x1A
640 #define ERROR_MEASUREMENTFAILED4 0x1B
641 #define ERROR_MEASUREMENTFAILED5 0x1C
642 #define ERROR_MEASUREMENTFAILED6 0x1D
643 #define ERROR_TIMEROVERFLOW 0x1E
644 #define ERROR_BAUDRATEINVALID 0x20
645 #define ERROR_PARAMETERINVALID 0x21
646 #define ERROR_MEASUREMENTFAILED7 0x23
647 
648 // Error modes (SetErrorMode)
649 #define ERRORMODE_IGNORE 0x0000
650 #define ERRORMODE_INCSAMPLECNT 0x0001
651 #define ERRORMODE_INCSAMPLECNT_SENDERROR 0x0002
652 #define ERRORMODE_SENDERROR_GOTOCONFIG 0x0003
653 
654 // Configuration message defines
655 #define CONF_MASTERDID 0
656 #define CONF_PERIOD 4
657 #define CONF_OUTPUTSKIPFACTOR 6
658 #define CONF_SYNCIN_MODE 8
659 #define CONF_SYNCIN_SKIPFACTOR 10
660 #define CONF_SYNCIN_OFFSET 12
661 #define CONF_DATE 16
662 #define CONF_TIME 24
663 #define CONF_NUMDEVICES 96
664 // Configuration sensor block properties
665 #define CONF_DID 98
666 #define CONF_DATALENGTH 102
667 #define CONF_OUTPUTMODE 104
668 #define CONF_OUTPUTSETTINGS 106
669 #define CONF_BLOCKLEN 20
670 // To calculate the offset in data field for output mode of sensor #2 use
671 // CONF_OUTPUTMODE + 1*CONF_BLOCKLEN
672 #define CONF_MASTERDIDLEN 4
673 #define CONF_PERIODLEN 2
674 #define CONF_OUTPUTSKIPFACTORLEN 2
675 #define CONF_SYNCIN_MODELEN 2
676 #define CONF_SYNCIN_SKIPFACTORLEN 2
677 #define CONF_SYNCIN_OFFSETLEN 4
678 #define CONF_DATELEN 8
679 #define CONF_TIMELEN 8
680 #define CONF_RESERVED_CLIENTLEN 32
681 #define CONF_RESERVED_HOSTLEN 32
682 #define CONF_NUMDEVICESLEN 2
683 // Configuration sensor block properties
684 #define CONF_DIDLEN 4
685 #define CONF_DATALENGTHLEN 2
686 #define CONF_OUTPUTMODELEN 2
687 #define CONF_OUTPUTSETTINGSLEN 4
688 
689 // Clock frequency for offset & pulse width
690 #define SYNC_CLOCKFREQ 29.4912e6
691 
692 // SyncIn params
693 #define PARAM_SYNCIN_MODE (const unsigned char)0x00
694 #define PARAM_SYNCIN_SKIPFACTOR (const unsigned char)0x01
695 #define PARAM_SYNCIN_OFFSET (const unsigned char)0x02
696 
697 // SyncIn mode
698 #define SYNCIN_DISABLED 0x0000
699 #define SYNCIN_EDGE_RISING 0x0001
700 #define SYNCIN_EDGE_FALLING 0x0002
701 #define SYNCIN_EDGE_BOTH 0x0003
702 #define SYNCIN_TYPE_SENDLASTDATA 0x0004
703 #define SYNCIN_TYPE_DOSAMPLING 0x0000
704 #define SYNCIN_EDGE_MASK 0x0003
705 #define SYNCIN_TYPE_MASK 0x000C
706 
707 // SyncOut params
708 #define PARAM_SYNCOUT_MODE (const unsigned char)0x00
709 #define PARAM_SYNCOUT_SKIPFACTOR (const unsigned char)0x01
710 #define PARAM_SYNCOUT_OFFSET (const unsigned char)0x02
711 #define PARAM_SYNCOUT_PULSEWIDTH (const unsigned char)0x03
712 
713 // SyncOut mode
714 #define SYNCOUT_DISABLED 0x0000
715 #define SYNCOUT_TYPE_TOGGLE 0x0001
716 #define SYNCOUT_TYPE_PULSE 0x0002
717 #define SYNCOUT_POL_NEG 0x0000
718 #define SYNCOUT_POL_POS 0x0010
719 #define SYNCOUT_TYPE_MASK 0x000F
720 #define SYNCOUT_POL_MASK 0x0010
721 
722 // Sample frequencies (SetPeriod)
723 #define PERIOD_10HZ 0x2D00
724 #define PERIOD_12HZ 0x2580
725 #define PERIOD_15HZ 0x1E00
726 #define PERIOD_16HZ 0x1C20
727 #define PERIOD_18HZ 0x1900
728 #define PERIOD_20HZ 0x1680
729 #define PERIOD_24HZ 0x12C0
730 #define PERIOD_25HZ 0x1200
731 #define PERIOD_30HZ 0x0F00
732 #define PERIOD_32HZ 0x0E10
733 #define PERIOD_36HZ 0x0C80
734 #define PERIOD_40HZ 0x0B40
735 #define PERIOD_45HZ 0x0A00
736 #define PERIOD_48HZ 0x0960
737 #define PERIOD_50HZ 0x0900
738 #define PERIOD_60HZ 0x0780
739 #define PERIOD_64HZ 0x0708
740 #define PERIOD_72HZ 0x0640
741 #define PERIOD_75HZ 0x0600
742 #define PERIOD_80HZ 0x05A0
743 #define PERIOD_90HZ 0x0500
744 #define PERIOD_96HZ 0x04B0
745 #define PERIOD_100HZ 0x0480
746 #define PERIOD_120HZ 0x03C0
747 #define PERIOD_128HZ 0x0384
748 #define PERIOD_144HZ 0x0320
749 #define PERIOD_150HZ 0x0300
750 #define PERIOD_160HZ 0x02D0
751 #define PERIOD_180HZ 0x0280
752 #define PERIOD_192HZ 0x0258
753 #define PERIOD_200HZ 0x0240
754 #define PERIOD_225HZ 0x0200
755 #define PERIOD_240HZ 0x01E0
756 #define PERIOD_256HZ 0x01C2
757 #define PERIOD_288HZ 0x0190
758 #define PERIOD_300HZ 0x0180
759 #define PERIOD_320HZ 0x0168
760 #define PERIOD_360HZ 0x0140
761 #define PERIOD_384HZ 0x012C
762 #define PERIOD_400HZ 0x0120
763 #define PERIOD_450HZ 0x0100
764 #define PERIOD_480HZ 0x00F0
765 #define PERIOD_512HZ 0x00E1
766 
767 // OutputModes
768 #define OUTPUTMODE_MT9 0x8000
769 #define OUTPUTMODE_XM 0x0000
770 #define OUTPUTMODE_RAW 0x4000
771 #define OUTPUTMODE_TEMP 0x0001
772 #define OUTPUTMODE_CALIB 0x0002
773 #define OUTPUTMODE_ORIENT 0x0004
774 
775 // OutputSettings
776 #define OUTPUTSETTINGS_XM 0x00000001
777 #define OUTPUTSETTINGS_TIMESTAMP_NONE 0x00000000
778 #define OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT 0x00000001
779 #define OUTPUTSETTINGS_ORIENTMODE_QUATERNION 0x00000000
780 #define OUTPUTSETTINGS_ORIENTMODE_EULER 0x00000004
781 #define OUTPUTSETTINGS_ORIENTMODE_MATRIX 0x00000008
782 #define OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG 0x00000000
783 #define OUTPUTSETTINGS_CALIBMODE_ACC 0x00000060
784 #define OUTPUTSETTINGS_CALIBMODE_ACCGYR 0x00000040
785 #define OUTPUTSETTINGS_CALIBMODE_ACCMAG 0x00000020
786 #define OUTPUTSETTINGS_CALIBMODE_GYR 0x00000050
787 #define OUTPUTSETTINGS_CALIBMODE_GYRMAG 0x00000010
788 #define OUTPUTSETTINGS_CALIBMODE_MAG 0x00000030
789 #define OUTPUTSETTINGS_DATAFORMAT_FLOAT 0x00000000
790 #define OUTPUTSETTINGS_DATAFORMAT_F1220 0x00000100
791 #define OUTPUTSETTINGS_TIMESTAMP_MASK 0x00000003
792 #define OUTPUTSETTINGS_ORIENTMODE_MASK 0x0000000C
793 #define OUTPUTSETTINGS_CALIBMODE_ACC_MASK 0x00000010
794 #define OUTPUTSETTINGS_CALIBMODE_GYR_MASK 0x00000020
795 #define OUTPUTSETTINGS_CALIBMODE_MAG_MASK 0x00000040
796 #define OUTPUTSETTINGS_CALIBMODE_MASK 0x00000070
797 #define OUTPUTSETTINGS_DATAFORMAT_MASK 0x00000300
798 
799 // Extended Output Modes
800 #define EXTOUTPUTMODE_DISABLED 0x0000
801 #define EXTOUTPUTMODE_EULER 0x0001
802 
803 // Factory Output Mode
804 #define FACTORYOUTPUTMODE_DISABLE 0x0000
805 #define FACTORYOUTPUTMODE_DEFAULT 0x0001
806 #define FACTORYOUTPUTMODE_CUSTOM 0x0002
807 
808 // Initial tracking mode (SetInitTrackMode)
809 #define INITTRACKMODE_DISABLED 0x0000
810 #define INITTRACKMODE_ENABLED 0x0001
811 
812 // Filter settings params
813 #define PARAM_FILTER_GAIN (const unsigned char)0x00
814 #define PARAM_FILTER_RHO (const unsigned char)0x01
815 #define DONOTSTORE 0x00
816 #define STORE 0x01
817 
818 // AMDSetting (SetAMD)
819 #define AMDSETTING_DISABLED 0x0000
820 #define AMDSETTING_ENABLED 0x0001
821 
822 // Reset orientation message type
823 #define RESETORIENTATION_STORE 0
824 #define RESETORIENTATION_HEADING 1
825 #define RESETORIENTATION_GLOBAL 2
826 #define RESETORIENTATION_OBJECT 3
827 #define RESETORIENTATION_ALIGN 4
828 
829 // Send raw string mode
830 #define SENDRAWSTRING_INIT 0
831 #define SENDRAWSTRING_DEFAULT 1
832 #define SENDRAWSTRING_SEND 2
833 
834 // Timeouts
835 #define TO_DEFAULT 500
836 #define TO_INIT 250
837 #define TO_RETRY 50
838 
839 // openPort baudrates
840 #ifdef WIN32
841 #define PBR_9600 CBR_9600
842 #define PBR_14K4 CBR_14400
843 #define PBR_19K2 CBR_19200
844 #define PBR_28K8 28800
845 #define PBR_38K4 CBR_38400
846 #define PBR_57K6 CBR_57600
847 #define PBR_76K8 76800
848 #define PBR_115K2 CBR_115200
849 #define PBR_230K4 230400
850 #define PBR_460K8 460800
851 #define PBR_921K6 921600
852 #else
853 #define PBR_9600 B9600
854 #define PBR_14K4 B14400
855 #define PBR_19K2 B19200
856 #define PBR_28K8 B28800
857 #define PBR_38K4 B38400
858 #define PBR_57K6 B57600
859 #define PBR_76K8 B76800
860 #define PBR_115K2 B115200
861 #define PBR_230K4 B230400
862 #define PBR_460K8 B460800
863 #define PBR_921K6 B921600
864 #endif
865 
866 // setFilePos defines
867 #ifdef WIN32
868 #define FILEPOS_BEGIN FILE_BEGIN
869 #define FILEPOS_CURRENT FILE_CURRENT
870 #define FILEPOS_END FILE_END
871 #else
872 #define FILEPOS_BEGIN SEEK_SET
873 #define FILEPOS_CURRENT SEEK_CUR
874 #define FILEPOS_END SEEK_END
875 #endif
876 
877 // Return values
878 #define MTRV_OK 0 // Operation successful
879 #define MTRV_NOTSUCCESSFUL 1 // General no success return value
880 #define MTRV_TIMEOUT 2 // Operation aborted because of a timeout
881 #define MTRV_TIMEOUTNODATA 3 // Operation aborted because of no data read
882 #define MTRV_CHECKSUMFAULT 4 // Checksum fault occured
883 #define MTRV_NODATA 5 // No data is received
884 #define MTRV_RECVERRORMSG 6 // A error message is received
885 #define MTRV_OUTOFMEMORY 7 // No internal memory available
886 #define MTRV_UNKNOWDATA 8 // An invalid message is read
887 #define MTRV_INVALIDTIMEOUT 9 // An invalid value is used to set the timeout
888 #define MTRV_UNEXPECTEDMSG 10 // Unexpected message received (e.g. no acknowledge message received)
889 #define MTRV_INPUTCANNOTBEOPENED 11 // The specified file / serial port can not be opened
890 #define MTRV_ANINPUTALREADYOPEN 12 // File and serial port can not be opened at same time
891 #define MTRV_ENDOFFILE 13 // End of file is reached
892 #define MTRV_NOINPUTINITIALIZED 14 // No file or serial port opened for reading/writing
893 #define MTRV_NOVALIDMODESPECIFIED 15 // No valid outputmode or outputsettings are specified (use
894  // mtGetDeviceMode or mtSetMode)
895 #define MTRV_INVALIDVALUESPEC 16 // Value specifier does not match value type or not available in data
896 #define MTRV_INVALIDFORFILEINPUT 17 // Function is not valid for file based interfaces
897 
898 class CMTComm
899 {
900 public:
901  CMTComm();
902  virtual ~CMTComm();
903 
904  // Low level general functions
905  clock_t clockms();
906 
907  // Low level COM port / file functions
908  short openPort(const int portNumber, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
909  short openPort(const char *portName, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
910  short openFile(const char *fileName, bool createAlways = false);
911  bool isPortOpen();
912  bool isFileOpen();
913  int readData(unsigned char* msgBuffer, const int nBytesToRead);
914  int writeData(const unsigned char* msgBuffer, const int nBytesToWrite);
915  void flush();
916  void escape(unsigned long function);
917  void setPortQueueSize(const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
918  short setFilePos(long relPos, unsigned long moveMethod = FILEPOS_BEGIN);
919  short getFileSize(unsigned long &fileSize);
920  short close();
921 
922  // Read & write message functions
923  short readMessage(unsigned char &mid, unsigned char data[], short &dataLen, unsigned char *bid = NULL);
924  short readDataMessage(unsigned char data[], short &dataLen);
925  short readMessageRaw(unsigned char *msgBuffer, short *msgBufferLength);
926  short writeMessage(const unsigned char mid, const unsigned long dataValue = 0,
927  const unsigned char dataValueLen = 0, const unsigned char bid = BID_MASTER);
928  short writeMessage(const unsigned char mid, const unsigned char data[],
929  const unsigned short &dataLen, const unsigned char bid = BID_MASTER);
930  short waitForMessage(const unsigned char mid, unsigned char data[] = NULL, short *dataLen = NULL, unsigned char *bid = NULL);
931 
932  // Request & set setting functions
933  short reqSetting(const unsigned char mid, unsigned long &value, const unsigned char bid = BID_MASTER);
934  short reqSetting(const unsigned char mid, const unsigned char param, unsigned long &value,
935  const unsigned char bid = BID_MASTER);
936  short reqSetting(const unsigned char mid, float &value, const unsigned char bid = BID_MASTER);
937  short reqSetting(const unsigned char mid, const unsigned char param, float &value,
938  const unsigned char bid = BID_MASTER);
939  short reqSetting(const unsigned char mid,
940  unsigned char data[], short &dataLen, const unsigned char bid = BID_MASTER);
941  short reqSetting(const unsigned char mid,
942  unsigned char dataIn[], short dataInLen,
943  unsigned char dataOut[], short &dataOutLen,
944  const unsigned char bid = BID_MASTER);
945  short reqSetting(const unsigned char mid, const unsigned char param,
946  unsigned char data[], short &dataLen, const unsigned char bid = BID_MASTER);
947  short setSetting(const unsigned char mid,
948  const unsigned long value, const unsigned short valuelen,
949  const unsigned char bid = BID_MASTER);
950  short setSetting(const unsigned char mid, const unsigned char param,
951  const unsigned long value, const unsigned short valuelen,
952  const unsigned char bid = BID_MASTER);
953  short setSetting(const unsigned char mid, const float value, const unsigned char bid = BID_MASTER);
954  short setSetting(const unsigned char mid, const unsigned char param,
955  const float value, const unsigned char bid = BID_MASTER);
956  short setSetting(const unsigned char mid, const unsigned char param,
957  const float value, const bool store, const unsigned char bid = BID_MASTER);
958  // Data-related functions
959  short getDeviceMode(unsigned short *numDevices = NULL);
960  short setDeviceMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER);
961  short getMode(unsigned long &OutputMode, unsigned long &OutputSettings, unsigned short &dataLength,
962  const unsigned char bid = BID_MASTER);
963  short setMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER);
964  short getValue(const unsigned long valueSpec, unsigned short &value, const unsigned char data[],
965  const unsigned char bid = BID_MT);
966  short getValue(const unsigned long valueSpec, unsigned short value[], const unsigned char data[],
967  const unsigned char bid = BID_MT);
968  short getValue(const unsigned long valueSpec, float value[], const unsigned char data[],
969  const unsigned char bid = BID_MT);
970 
971  // Generic MTComm functions
972  short getLastDeviceError();
973  short getLastRetVal();
974  short setTimeOut(short timeOutMs);
975  static void swapEndian(const unsigned char input[], unsigned char output[], const short length);
976  void calcChecksum(unsigned char *msgBuffer, const int msgBufferLength);
977  bool checkChecksum(const unsigned char *msgBuffer, const int msgBufferLength);
978 protected:
979  // member variables
980 #ifdef WIN32
981  HANDLE m_handle;
982 #else
983  int m_handle;
984 #endif
988  short m_retVal;
989  short m_timeOut;
990  clock_t m_clkEnd;
991 
992  // OutputMode, OutputSettings & DataLength for connected devices + 1 for master
993  unsigned long m_storedOutputMode[MAXDEVICES+1];
995  unsigned long m_storedDataLength[MAXDEVICES+1];
996 
997  // Temporary buffer for excess bytes read in ReadMessageRaw
998  unsigned char m_tempBuffer[MAXMSGLEN];
1000 
1001 private:
1002 };
1003 
1004 #endif // !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_)
CMTComm::readMessageRaw
short readMessageRaw(unsigned char *msgBuffer, short *msgBufferLength)
Definition: MTComm.cpp:829
CMTComm::reqSetting
short reqSetting(const unsigned char mid, unsigned long &value, const unsigned char bid=BID_MASTER)
Definition: MTComm.cpp:1243
CMTComm::m_timeOut
short m_timeOut
Definition: MTComm.h:989
CMTComm::getDeviceMode
short getDeviceMode(unsigned short *numDevices=NULL)
Definition: MTComm.cpp:2021
CMTComm::~CMTComm
virtual ~CMTComm()
Definition: MTComm.cpp:112
CMTComm::CMTComm
CMTComm()
Definition: MTComm.cpp:96
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