xsens_mti_driver: xsdef.h Source File

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 //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
 //  are permitted provided that the following conditions are met:
 //  
 //  1.  Redistributions of source code must retain the above copyright notice,
 //      this list of conditions, and the following disclaimer.
 //  
 //  2.  Redistributions in binary form must reproduce the above copyright notice,
 //      this list of conditions, and the following disclaimer in the documentation
 //      and/or other materials provided with the distribution.
 //  
 //  3.  Neither the names of the copyright holders nor the names of their contributors
 //      may be used to endorse or promote products derived from this software without
 //      specific prior written permission.
 //  
 //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
 //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
 //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
 //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
 //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
 //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
 //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
 //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
 //  
  
  
 //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
 //  are permitted provided that the following conditions are met:
 //  
 //  1.  Redistributions of source code must retain the above copyright notice,
 //      this list of conditions, and the following disclaimer.
 //  
 //  2.  Redistributions in binary form must reproduce the above copyright notice,
 //      this list of conditions, and the following disclaimer in the documentation
 //      and/or other materials provided with the distribution.
 //  
 //  3.  Neither the names of the copyright holders nor the names of their contributors
 //      may be used to endorse or promote products derived from this software without
 //      specific prior written permission.
 //  
 //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
 //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
 //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
 //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
 //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
 //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
 //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
 //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
 //  
  
 #ifndef XSDEF_H
 #define XSDEF_H
  
 #include "xscontrollerconfig.h"
  
 // Field message indices
 #define XS_IND_PREAMBLE                         0
 #define XS_IND_BID                                      1
 #define XS_IND_MID                                      2
 #define XS_IND_LEN                                      3
 #define XS_IND_DATA0                            4
 #define XS_IND_LENEXTH                          4
 #define XS_IND_LENEXTL                          5
 #define XS_IND_DATAEXT0                         6
  
 #define XS_SELFTEST_OK                          0x1FF
  
 // message data lengths
 #define XS_LEN_TRANSPORTMODE                    1
 #define XS_LEN_DEVICEID                                 4
 #define XS_LEN_INITBUSRESULTS                   4
 #define XS_LEN_PERIOD                                   2
 #define XS_LEN_BUSPWR                                   2
 #define XS_LEN_DATALENGTH                               2
 #define XS_LEN_CONFIGURATION                    118
 #define XS_LEN_FIRMWAREREV                              3
 #define XS_LEN_BTDISABLE                                1
 #define XS_LEN_OPMODE                                   1
 #define XS_LEN_BAUDRATE                                 1
 #define XS_LEN_SYNCMODE                                 1
 #define XS_LEN_PRODUCTCODE                              20
 #define XS_LEN_PROCESSINGFLAGS                  2
 #define XS_LEN_XMPWROFF                                 0
 #define XS_LEN_OUTPUTMODE                               2
 #define XS_LEN_OUTPUTSETTINGS                   4
 #define XS_LEN_OUTPUTSKIPFACTOR                 2
 #define XS_LEN_SYNCINMODE                               2
 #define XS_LEN_SYNCINSKIPFACTOR                 2
 #define XS_LEN_SYNCINOFFSET                             4
 #define XS_LEN_SYNCOUTMODE                              2
 #define XS_LEN_SYNCOUTSKIPFACTOR                2
 #define XS_LEN_SYNCOUTOFFSET                    4
 #define XS_LEN_SYNCOUTPULSEWIDTH                4
 #define XS_LEN_ERRORMODE                                2
 #define XS_LEN_TRANSMITDELAY                    2
 #define XS_LEN_OBJECTALIGNMENT                  36
 #define XS_LEN_ALIGNMENTROTATION                (4*4)
 #define XS_LEN_XMERRORMODE                              2
 #define XS_LEN_BUFFERSIZE                               2
 #define XS_LEN_HEADING                                  4
 #define XS_LEN_MAGNETICFIELD                    12
 #define XS_LEN_LOCATIONID                               2
 #define XS_LEN_EXTOUTPUTMODE                    2
 #define XS_LEN_INITTRACKMODE                    2
 #define XS_LEN_STOREFILTERSTATE                 0
 #define XS_LEN_UTCTIME                                  12
 #define XS_LEN_FILTERPROFILELABEL               20
 #define XS_LEN_FILTERPROFILEFULL                (1+1+XS_LEN_FILTERPROFILELABEL)
 #define XS_LEN_AVAILABLEFILTERPROFILES  (XS_MAX_FILTERPROFILES_IN_MT*XS_LEN_FILTERPROFILEFULL)
 #define XS_LEN_REQFILTERPROFILEACK              2
 #define XS_LEN_SETFILTERPROFILE                 2
 #define XS_LEN_GRAVITYMAGNITUDE                 4
 #define XS_LEN_GPSLEVERARM                              12
 #define XS_LEN_LATLONALT                                18
 #define XS_LEN_SETNOROTATION                    2
 #define XS_LEN_FILTERSETTINGS                   4
 #define XS_LEN_AMD                                              2
 #define XS_LEN_RESETORIENTATION                 2
 #define XS_LEN_GPSSTATUS                                (1+5*16)
 #define XS_LEN_CLIENTUSAGE                              1
 #define XS_LEN_CLIENTPRIORITY                   1
 #define XS_LEN_WIRELESSCONFIG                   4
 #define XS_LEN_INFOREQUEST                              1
 #define XS_LEN_SETOUTPUTTRIGGER                 10
 #define XS_LEN_SETINPUTTRIGGER                  10
  
 // MTData defines
 // Length of data blocks in bytes
 #define XS_LEN_RAWDATA                          20
 #define XS_LEN_CALIBDATA                        36
 #define XS_LEN_CALIB_ACCDATA            12
 #define XS_LEN_CALIB_GYRDATA            12
 #define XS_LEN_CALIB_MAGDATA            12
 #define XS_LEN_ORIENT_QUATDATA          16
 #define XS_LEN_ORIENT_EULERDATA         12
 #define XS_LEN_ORIENT_MATRIXSTA         36
 #define XS_LEN_SAMPLECNT                        2
 #define XS_LEN_TEMPDATA                         4
  
 // Length of data blocks in floats
 #define XS_LEN_CALIBDATA_FLT                    9
 #define XS_LEN_TEMPDATA_FLT                             1
 #define XS_LEN_ORIENT_QUATDATA_FLT              4
 #define XS_LEN_ORIENT_EULERDATA_FLT             3
 #define XS_LEN_ORIENT_MATRIXSTA_FLT             9
  
 #define XS_INVALIDSETTINGVALUE                  0xFFFFFFFF
  
  
  
 // Configuration message defines
 #define XS_CONF_MASTERDID                               0
 #define XS_CONF_PERIOD                                  4
 #define XS_CONF_OUTPUTSKIPFACTOR                6
 #define XS_CONF_SYNCIN_MODE                             8
 #define XS_CONF_SYNCIN_SKIPFACTOR               10
 #define XS_CONF_SYNCIN_OFFSET                   12
 #define XS_CONF_DATE                                    16
 #define XS_CONF_TIME                                    24
 #define XS_CONF_NUMDEVICES                              96
 // Configuration sensor block properties
 #define XS_CONF_DID                                             98
 #define XS_CONF_DATALENGTH                              102
 #define XS_CONF_OUTPUTMODE                              104
 #define XS_CONF_OUTPUTSETTINGS                  106
 #define XS_CONF_BLOCKLEN                                20
 // To calculate the offset in data field for output mode of sensor #2 use
 //              CONF_OUTPUTMODE + 1*CONF_BLOCKLEN
 #define XS_CONF_MASTERDIDLEN                    4
 #define XS_CONF_PERIODLEN                               2
 #define XS_CONF_OUTPUTSKIPFACTORLEN             2
 #define XS_CONF_SYNCIN_MODELEN                  2
 #define XS_CONF_SYNCIN_SKIPFACTORLEN    2
 #define XS_CONF_SYNCIN_OFFSETLEN                4
 #define XS_CONF_DATELEN                                 8
 #define XS_CONF_TIMELEN                                 8
 #define XS_CONF_RESERVED_CLIENTLEN              32
 #define XS_CONF_RESERVED_HOSTLEN                32
 #define XS_CONF_NUMDEVICESLEN                   2
 // Configuration sensor block properties
 #define XS_CONF_DIDLEN                                  4
 #define XS_CONF_DATALENGTHLEN                   2
 #define XS_CONF_OUTPUTMODELEN                   2
 #define XS_CONF_OUTPUTSETTINGSLEN               4
  
 // Clock frequency for offset & pulse width
 #define XS_SYNC_CLOCKFREQMHZ                    29.4912
 #define XS_SYNC_CLOCK_NS_TO_TICKS               (XS_SYNC_CLOCKFREQMHZ * 1.0e-3)
 #define XS_SYNC_CLOCK_TICKS_TO_NS               (1.0e3 / XS_SYNC_CLOCKFREQMHZ)
 #define XS_SYNC_CLOCK_US_TO_TICKS               (XS_SYNC_CLOCKFREQMHZ * 1.0)
 #define XS_SYNC_CLOCK_TICKS_TO_US               (1.0 / XS_SYNC_CLOCKFREQMHZ)
  
 // SyncIn params
 #define XS_PARAM_SYNCIN_MODE                    0x00
 #define XS_PARAM_SYNCIN_SKIPFACTOR              0x01
 #define XS_PARAM_SYNCIN_OFFSET                  0x02
  
 // SyncIn mode
 #define XS_SYNCIN_DISABLED                              0x0000
 #define XS_SYNCIN_EDGE_RISING                   0x0001
 #define XS_SYNCIN_EDGE_FALLING                  0x0002
 #define XS_SYNCIN_EDGE_BOTH                             0x0003
 #define XS_SYNCIN_EDGE_MASK                             0x0003
 #define XS_SYNCIN_TYPE_DOSAMPLING               0x0000
 #define XS_SYNCIN_TYPE_SENDLASTDATA             0x0004
 #define XS_SYNCIN_TYPE_CLOCK                    0x0010
 #define XS_SYNCIN_TYPE_MASK                             0x001C
  
 // SyncOut params
 #define XS_PARAM_SYNCOUT_MODE                   0x00
 #define XS_PARAM_SYNCOUT_SKIPFACTOR             0x01
 #define XS_PARAM_SYNCOUT_OFFSET                 0x02
 #define XS_PARAM_SYNCOUT_PULSEWIDTH             0x03
  
 // SyncOut mode
 #define XS_SYNCOUT_DISABLED                     0x0000
 #define XS_SYNCOUT_TYPE_TOGGLE          0x0001
 #define XS_SYNCOUT_TYPE_PULSE           0x0002
 #define XS_SYNCOUT_POL_NEG                      0x0000
 #define XS_SYNCOUT_POL_POS                      0x0010
 #define XS_SYNCOUT_TYPE_MASK            0x000F
 #define XS_SYNCOUT_POL_MASK                     0x0010
  
 // Initial tracking mode (SetInitTrackMode)
 #define XS_INITTRACKMODE_DISABLED               0x0000
 #define XS_INITTRACKMODE_ENABLED                0x0001
  
 // Filter settings params
 #define XS_PARAM_FILTER_GAIN                    0x00
 #define XS_PARAM_FILTER_RHO                             0x01
 #define XS_DONOTSTORE                                   0x00
 #define XS_STORE                                                0x01
  
 // AMDSetting (SetAMD)
 #define XS_AMDSETTING_DISABLED                  0x0000
 #define XS_AMDSETTING_ENABLED                   0x0001
  
 #define XS_PARAM_ROTSENSOR                              0x00
 #define XS_PARAM_ROTLOCAL                               0x01
  
 // Send raw string mode
 #define XS_SENDRAWSTRING_INIT                   0
 #define XS_SENDRAWSTRING_DEFAULT                1
 #define XS_SENDRAWSTRING_SEND                   2
  
 // Timeouts
 #define XS_TO_DEFAULT                                   500
 #define XS_TO_INIT                                              250
 #define XS_TO_RETRY                                             50
  
 #define XS_PERIOD_10HZ                          11520           // invalid with gps pulse time correction
 #define XS_PERIOD_12HZ                          9600
 #define XS_PERIOD_15HZ                          7680            // invalid with gps pulse time correction
 #define XS_PERIOD_16HZ                          7200
 #define XS_PERIOD_18HZ                          6400            // invalid with gps pulse time correction
 #define XS_PERIOD_20HZ                          5760
 #define XS_PERIOD_24HZ                          4800
 #define XS_PERIOD_25HZ                          4608            // invalid with gps pulse time correction
 #define XS_PERIOD_30HZ                          3840
 #define XS_PERIOD_32HZ                          3600
 #define XS_PERIOD_36HZ                          3200
 #define XS_PERIOD_40HZ                          2880
 #define XS_PERIOD_45HZ                          2560            // invalid with gps pulse time correction
 #define XS_PERIOD_48HZ                          2400
 #define XS_PERIOD_50HZ                          2304            // invalid with gps pulse time correction
 #define XS_PERIOD_60HZ                          1920
 #define XS_PERIOD_64HZ                          1800
 #define XS_PERIOD_72HZ                          1600
 #define XS_PERIOD_75HZ                          1536            // invalid with gps pulse time correction
 #define XS_PERIOD_80HZ                          1440
 #define XS_PERIOD_90HZ                          1280            // invalid with gps pulse time correction
 #define XS_PERIOD_96HZ                          1200
  
 #define XS_PERIOD_100HZ                 1152
 #define XS_PERIOD_120HZ                 960
 #define XS_PERIOD_128HZ                 900
 #define XS_PERIOD_144HZ                 800
 #define XS_PERIOD_150HZ                 768                     // invalid with gps pulse time correction
 #define XS_PERIOD_160HZ                 720
 #define XS_PERIOD_180HZ                 640
 #define XS_PERIOD_192HZ                 600
 #define XS_PERIOD_200HZ                 576
 #define XS_PERIOD_225HZ                 512                     // invalid with gps pulse time correction
 #define XS_PERIOD_240HZ                 480
 #define XS_PERIOD_256HZ                 450
 #define XS_PERIOD_288HZ                 400
 #define XS_PERIOD_300HZ                 384
 #define XS_PERIOD_320HZ                 360
 #define XS_PERIOD_360HZ                 320
 #define XS_PERIOD_384HZ                 300
 #define XS_PERIOD_400HZ                 288
 #define XS_PERIOD_450HZ                 256                     // invalid with gps pulse time correction
 #define XS_PERIOD_480HZ                 240
 #define XS_PERIOD_512HZ                 225
  
 #ifndef NOT_FOR_PUBLIC_RELEASE
         #define XS_PERIOD_576HZ                 200
         #define XS_PERIOD_600HZ                 192
         #define XS_PERIOD_640HZ                 180
         #define XS_PERIOD_720HZ                 160
         #define XS_PERIOD_768HZ                 150
         #define XS_PERIOD_800HZ                 144
         #define XS_PERIOD_900HZ                 128
         #define XS_PERIOD_960HZ                 120
         #define XS_PERIOD_1152HZ                100
         #define XS_PERIOD_1200HZ                96
         #define XS_PERIOD_1280HZ                90
         #define XS_PERIOD_1440HZ                80
         #define XS_PERIOD_1536HZ                75
         #define XS_PERIOD_1600HZ                72
         #define XS_PERIOD_1800HZ                64
         #define XS_PERIOD_1920HZ                60
         #define XS_PERIOD_2304HZ                50
         #define XS_PERIOD_2400HZ                48
         #define XS_PERIOD_2560HZ                45
         #define XS_PERIOD_2880HZ                40
         #define XS_PERIOD_3200HZ                36
         #define XS_PERIOD_3600HZ                32
         #define XS_PERIOD_3840HZ                30
         #define XS_PERIOD_4608HZ                25
         #define XS_PERIOD_4800HZ                24
         #define XS_PERIOD_5760HZ                20
         #define XS_PERIOD_6400HZ                18
         #define XS_PERIOD_7200HZ                16
         #define XS_PERIOD_7680HZ                15
         #define XS_PERIOD_9600HZ                12
         #define XS_PERIOD_11520HZ               10
 #endif
  
 int XDA_DLL_API xsScaleBatteryLevel(int batteryLevel);
  
 #define XS_AUTO_SAVE_FRAMES     5000
 #define XS_FILE_LAST_FRAME      0xFFFFFFFF
  
 #define XEMTS_SIZE                      1320
  
 #define XS_MAX_VPORTNAME_LEN    32
  // XS_INTERNAL
 #endif