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mtdef.py

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"""Constant and messages definition for MT communication."""


class MID:
        """Values for the message id (MID)"""
        ## Error message, 1 data byte
        Error = 0x42
        ErrorCodes = {
                0x03: "Invalid period",
                0x04: "Invalid message",
                0x1E: "Timer overflow",
                0x20: "Invalid baudrate",
                0x21: "Invalid parameter"
        }

        # State MID
        ## Switch to measurement state
        GoToMeasurement = 0x10
        ## Switch to config state
        GoToConfig = 0x30
        ## Reset device
        Reset = 0x40

        # Informational messages
        ## Request device id
        ReqDID = 0x00
        ## DeviceID, 4 bytes: HH HL LH LL
        DeviceID = 0x01
        ## Request product code in plain text
        ReqProductCode = 0x1C
        ## Product code (max 20 bytes data)
        ProductCode = 0x1d
        ## Request firmware revision
        ReqFWRev = 0x12
        ## Firmware revision, 3 bytes: major minor rev
        FirmwareRev = 0x13
        ## Request data length according to current configuration
        ReqDataLength = 0x0a
        ## Data Length, 2 bytes
        DataLength = 0x0b
        ## Request GPS status
        ReqGPSStatus = 0xA6
        ## GPS status
        GPSStatus = 0xA7

        # Device specific messages
        ## Request baudrate
        ReqBaudrate = 0x18
        ## Set next baudrate
        SetBaudrate = 0x18
        ## Restore factory defaults
        RestoreFactoryDef = 0x0E

        # Configuration messages
        ## Request configuration
        ReqConfiguration = 0x0C
        ## Configuration, 118 bytes
        Configuration = 0x0D
        ## Set sampling period, 2 bytes
        SetPeriod = 0x04
        ## Set skip factor
        SetOutputSkipFactor = 0xD4
        ## Set output mode, 2 bytes
        SetOutputMode = 0xD0
        ## Set output settings, 4 bytes
        SetOutputSettings = 0xD2

        # Data messages
        ## Data packet
        MTData = 0x32

        # XKF Filter messages
        ## Request the available XKF scenarios on the device
        ReqAvailableScenarios = 0x62
        ## Request the ID of the currently used scenario
        ReqCurrentScenario = 0x64
        ## Set the scenario to use, 2 bytes
        SetCurrentScenario = 0x64


class Baudrates(object):
        """Baudrate information and conversion."""
        ## Baudrate mapping between ID and value
        Baudrates = [
                (0x00, 460800),
                (0x01, 230400),
                (0x02, 115200),
                (0x03,  76800),
                (0x04,  57600),
                (0x05,  38400),
                (0x06,  28800),
                (0x07,  19200),
                (0x08,  14400),
                (0x09,   9600),
                (0x80, 921600)]
        @classmethod
        def get_BRID(cls, baudrate):
                """Get baudrate id for a given baudrate."""
                for brid, br in cls.Baudrates:
                        if baudrate==br:
                                return brid
                raise MTException("unsupported baudrate.")
        @classmethod
        def     get_BR(cls, baudrate_id):
                """Get baudrate for a given baudrate id."""
                for brid, br in cls.Baudrates:
                        if baudrate_id==brid:
                                return br
                raise MTException("unknown baudrate id.")
        

class OutputMode:
        """Values for the output mode."""
        Temp            = 0x0001
        Calib           = 0x0002
        Orient          = 0x0004
        Auxiliary       = 0x0008
        Position        = 0x0010
        Velocity        = 0x0020
        Status          = 0x0800
        RAWGPS          = 0x1000        # supposed to be incompatible with previous
        RAW             = 0x4000        # incompatible with all except RAWGPS


class OutputSettings:
        """Values for the output settings."""
        Timestamp_None                  = 0x00000000
        Timestamp_SampleCnt     = 0x00000001
        OrientMode_Quaternion   = 0x00000000
        OrientMode_Euler                = 0x00000004
        OrientMode_Matrix               = 0x00000008
        CalibMode_AccGyrMag     = 0x00000000
        CalibMode_GyrMag                = 0x00000010
        CalibMode_AccMag                = 0x00000020
        CalibMode_Mag                   = 0x00000030
        CalibMode_AccGyr                = 0x00000040
        CalibMode_Gyr                   = 0x00000050
        CalibMode_Acc                   = 0x00000060
        CalibMode_Mask                  = 0x00000070
        DataFormat_Float                = 0x00000000
        DataFormat_12_20                = 0x00000100    # not supported yet
        DataFormat_16_32                = 0x00000200    # not supported yet
        DataFormat_Double               = 0x00000300    # not supported yet
        AuxiliaryMode_NoAIN1    = 0x00000400
        AuxiliaryMode_NoAIN2    = 0x00000800
        PositionMode_LLA_WGS84  = 0x00000000
        VelocityMode_MS_XYZ     = 0x00000000
        Coordinates_NED                 = 0x80000000


class MTException(Exception):
        def __init__(self, message):
                self.message = message
        def __str__(self):
                return "MT error: " + self.message

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xsens_driver
Author(s): Francis Colas
autogenerated on Tue Mar 5 11:56:00 2013