cmtdef.h File Reference

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

#include "pstdint.h"
#include <time.h>
#include <termios.h>
#include <string.h>
#include "xsens_std.h"
#include "xsens_time.h"
#include "cmtf.h"
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Go to the source code of this file.

Classes

struct  CmtVersion
 A structure for storing the firmware version. More...
struct  CmtDeviceConfiguration
 Structure containing a full device configuration as returned by the ReqConfig message. More...
struct  CmtDeviceConfiguration::_devInfo
struct  CmtDataFormat
 A structure for storing data formats. More...
struct  CmtSyncInSettings
 A structure for storing sync in settings. More...
struct  CmtSyncOutSettings
 A structure for storing sync out settings. More...
struct  CmtUtcTime
 A structure for storing UTC Time values. More...
struct  CmtDeviceMode
 A structure for storing device modes. More...
struct  CmtDeviceMode2
 A structure for storing device modes using period and skip factor (new default). More...
struct  CmtScenario
 A structure for storing scenario information. More...
struct  CmtBinaryData
struct  CmtPortInfo
 Structure for storing information about a serial port. More...
struct  CmtShortVector
struct  CmtRawData
struct  CmtGpsPvtData
struct  CmtRawPressureData
struct  CmtAnalogInData
struct  CmtVector
struct  CmtCalData
struct  CmtQuat
struct  CmtEuler
struct  CmtMatrix
struct  CmtGpsSatelliteInfo
struct  CmtGpsStatus

Defines

#define B230400   0010003
#define B460800   0010004
#define B921600   0010007
#define __cdecl   __attribute__((cdecl))
#define __stdcall   __attribute__((stdcall))
#define CMT_IND_PREAMBLE   0
#define CMT_IND_BID   1
#define CMT_IND_MID   2
#define CMT_IND_LEN   3
#define CMT_IND_DATA0   4
#define CMT_IND_LENEXTH   4
#define CMT_IND_LENEXTL   5
#define CMT_IND_DATAEXT0   6
#define CMT_PREAMBLE   0xFA
#define CMT_BID_MASTER   0xFF
#define CMT_BID_MT   0x01
#define CMT_EXTLENCODE   0xFF
#define CMT_LEN_MSGHEADER   4
#define CMT_LEN_MSGEXTHEADER   6
#define CMT_LEN_MSGHEADERCS   5
#define CMT_LEN_MSGEXTHEADERCS   7
#define CMT_LEN_CHECKSUM   1
#define CMT_LEN_UNSIGSHORT   2
#define CMT_LEN_UNSIGINT   4
#define CMT_LEN_FLOAT   4
#define CMT_MAXDATALEN   8192
#define CMT_MAXSHORTDATALEN   254
#define CMT_MAXMSGLEN   (CMT_MAXDATALEN+7)
#define CMT_MAXSHORTMSGLEN   (CMT_MAXSHORTDATALEN+5)
#define CMT_MAXGARBAGE   (CMT_MAXMSGLEN+1)
#define CMT_DID_TYPEH_MASK   0x00F00000
#define CMT_DID_TYPEL_MASK   0x000F0000
#define CMT_DID_TYPEH_MT   0x00000000
#define CMT_DID_TYPEH_XM   0x00100000
#define CMT_DID_TYPEH_MTI_MTX   0x00300000
#define CMT_DID_TYPEH_MTIG   0x00500000
#define CMT_DID_TYPE_MASK   0x00FF0000
#define CMT_DID_TYPE_MASK_MT_232   0x00300000
#define CMT_DID_TYPE_MASK_MT_422   0x00310000
#define CMT_DID_TYPE_MASK_MT_XM   0x00020000
#define CMT_DID_TYPE_MASK_MT_485   0x00330000
#define CMT_MID_WAKEUP   0x3E
#define CMT_MID_WAKEUPACK   0x3F
#define CMT_MID_REQDID   0x00
#define CMT_MID_DEVICEID   0x01
#define CMT_LEN_DEVICEID   4
#define CMT_MID_INITBUS   0x02
#define CMT_MID_INITBUSRESULTS   0x03
#define CMT_LEN_INITBUSRESULTS   4
#define CMT_MID_REQPERIOD   0x04
#define CMT_MID_REQPERIODACK   0x05
#define CMT_LEN_PERIOD   2
#define CMT_MID_SETPERIOD   0x04
#define CMT_MID_SETPERIODACK   0x05
#define CMT_MID_SETBID   0x06
#define CMT_MID_SETBIDACK   0x07
#define CMT_MID_AUTOSTART   0x06
#define CMT_MID_AUTOSTARTACK   0x07
#define CMT_MID_BUSPWR   0x08
#define CMT_LEN_BUSPWR   2
#define CMT_MID_BUSPWRACK   0x09
#define CMT_MID_REQDATALENGTH   0x0A
#define CMT_MID_DATALENGTH   0x0B
#define CMT_LEN_DATALENGTH   2
#define CMT_MID_REQCONFIGURATION   0x0C
#define CMT_MID_CONFIGURATION   0x0D
#define CMT_LEN_CONFIGURATION   118
#define CMT_MID_RESTOREFACTORYDEF   0x0E
#define CMT_MID_RESTOREFACTORYDEFACK   0x0F
#define CMT_MID_GOTOMEASUREMENT   0x10
#define CMT_MID_GOTOMEASUREMENTACK   0x11
#define CMT_MID_REQFWREV   0x12
#define CMT_MID_FIRMWAREREV   0x13
#define CMT_LEN_FIRMWAREREV   3
#define CMT_MID_REQBTDISABLE   0x14
#define CMT_MID_REQBTDISABLEACK   0x15
#define CMT_LEN_BTDISABLE   1
#define CMT_MID_DISABLEBT   0x14
#define CMT_MID_DISABLEBTACK   0x15
#define CMT_MID_REQOPMODE   0x16
#define CMT_MID_REQOPMODEACK   0x17
#define CMT_LEN_OPMODE   1
#define CMT_MID_SETOPMODE   0x16
#define CMT_MID_SETOPMODEACK   0x17
#define CMT_MID_REQBAUDRATE   0x18
#define CMT_MID_REQBAUDRATEACK   0x19
#define CMT_LEN_BAUDRATE   1
#define CMT_MID_SETBAUDRATE   0x18
#define CMT_MID_SETBAUDRATEACK   0x19
#define CMT_MID_REQSYNCMODE   0x1A
#define CMT_MID_REQSYNCMODEACK   0x1B
#define CMT_LEN_SYNCMODE   1
#define CMT_MID_SETSYNCMODE   0x1A
#define CMT_MID_SETSYNCMODEACK   0x1B
#define CMT_MID_REQPRODUCTCODE   0x1C
#define CMT_MID_PRODUCTCODE   0x1D
#define CMT_LEN_PRODUCTCODE   20
#define CMT_MID_REQPROCESSINGFLAGS   0x20
#define CMT_MID_REQPROCESSINGFLAGSACK   0x21
#define CMT_LEN_PROCESSINGFLAGS   2
#define CMT_MID_SETPROCESSINGFLAGS   0x20
#define CMT_MID_SETPROCESSINGFLAGSACK   0x21
#define CMT_MID_XMPWROFF   0x44
#define CMT_LEN_XMPWROFF   0
#define CMT_MID_REQOUTPUTMODE   0xD0
#define CMT_MID_REQOUTPUTMODEACK   0xD1
#define CMT_LEN_OUTPUTMODE   2
#define CMT_MID_SETOUTPUTMODE   0xD0
#define CMT_MID_SETOUTPUTMODEACK   0xD1
#define CMT_MID_REQOUTPUTSETTINGS   0xD2
#define CMT_MID_REQOUTPUTSETTINGSACK   0xD3
#define CMT_LEN_OUTPUTSETTINGS   4
#define CMT_MID_SETOUTPUTSETTINGS   0xD2
#define CMT_MID_SETOUTPUTSETTINGSACK   0xD3
#define CMT_MID_REQOUTPUTSKIPFACTOR   0xD4
#define CMT_MID_REQOUTPUTSKIPFACTORACK   0xD5
#define CMT_LEN_OUTPUTSKIPFACTOR   2
#define CMT_MID_SETOUTPUTSKIPFACTOR   0xD4
#define CMT_MID_SETOUTPUTSKIPFACTORACK   0xD5
#define CMT_MID_REQSYNCINSETTINGS   0xD6
#define CMT_MID_REQSYNCINSETTINGSACK   0xD7
#define CMT_LEN_SYNCINMODE   2
#define CMT_LEN_SYNCINSKIPFACTOR   2
#define CMT_LEN_SYNCINOFFSET   4
#define CMT_MID_SETSYNCINSETTINGS   0xD6
#define CMT_MID_SETSYNCINSETTINGSACK   0xD7
#define CMT_MID_REQSYNCOUTSETTINGS   0xD8
#define CMT_MID_REQSYNCOUTSETTINGSACK   0xD9
#define CMT_LEN_SYNCOUTMODE   2
#define CMT_LEN_SYNCOUTSKIPFACTOR   2
#define CMT_LEN_SYNCOUTOFFSET   4
#define CMT_LEN_SYNCOUTPULSEWIDTH   4
#define CMT_MID_SETSYNCOUTSETTINGS   0xD8
#define CMT_MID_SETSYNCOUTSETTINGSACK   0xD9
#define CMT_MID_REQERRORMODE   0xDA
#define CMT_MID_REQERRORMODEACK   0xDB
#define CMT_LEN_ERRORMODE   2
#define CMT_MID_SETERRORMODE   0xDA
#define CMT_MID_SETERRORMODEACK   0xDB
#define CMT_MID_REQTRANSMITDELAY   0xDC
#define CMT_MID_REQTRANSMITDELAYACK   0xDD
#define CMT_LEN_TRANSMITDELAY   2
#define CMT_MID_SETTRANSMITDELAY   0xDC
#define CMT_MID_SETTRANSMITDELAYACK   0xDD
#define CMT_MID_REQOBJECTALIGNMENT   0xE0
#define CMT_MID_REQOBJECTALIGNMENTACK   0xE1
#define CMT_LEN_OBJECTALIGNMENT   36
#define CMT_MID_SETOBJECTALIGNMENT   0xE0
#define CMT_MID_SETOBJECTALIGNMENTACK   0xE1
#define CMT_MID_REQXMERRORMODE   0x82
#define CMT_MID_REQXMERRORMODEACK   0x83
#define CMT_LEN_XMERRORMODE   2
#define CMT_MID_SETXMERRORMODE   0x82
#define CMT_MID_SETXMERRORMODEACK   0x83
#define CMT_MID_REQBUFFERSIZE   0x84
#define CMT_MID_REQBUFFERSIZEACK   0x85
#define CMT_LEN_BUFFERSIZE   2
#define CMT_MID_SETBUFFERSIZE   0x84
#define CMT_MID_SETBUFFERSIZEACK   0x85
#define CMT_MID_REQHEADING   0x82
#define CMT_MID_REQHEADINGACK   0x83
#define CMT_LEN_HEADING   4
#define CMT_MID_SETHEADING   0x82
#define CMT_MID_SETHEADINGACK   0x83
#define CMT_MID_REQMAGNETICDECLINATION   0x6A
#define CMT_MID_REQMAGNETICDECLINATIONACK   0x6B
#define CMT_LEN_MAGNETICDECLINATION   4
#define CMT_MID_SETMAGNETICDECLINATION   0x6A
#define CMT_MID_SETMAGNETICDECLINATIONACK   0x6B
#define CMT_MID_REQLOCATIONID   0x84
#define CMT_MID_REQLOCATIONIDACK   0x85
#define CMT_LEN_LOCATIONID   2
#define CMT_MID_SETLOCATIONID   0x84
#define CMT_MID_SETLOCATIONIDACK   0x85
#define CMT_MID_REQEXTOUTPUTMODE   0x86
#define CMT_MID_REQEXTOUTPUTMODEACK   0x87
#define CMT_LEN_EXTOUTPUTMODE   2
#define CMT_MID_SETEXTOUTPUTMODE   0x86
#define CMT_MID_SETEXTOUTPUTMODEACK   0x87
#define CMT_MID_REQBATLEVEL   0x88
#define CMT_MID_BATLEVEL   0x89
#define CMT_MID_REQINITTRACKMODE   0x88
#define CMT_MID_REQINITTRACKMODEACK   0x89
#define CMT_LEN_INITTRACKMODE   2
#define CMT_MID_SETINITTRACKMODE   0x88
#define CMT_MID_SETINITTRACKMODEACK   0x89
#define CMT_MID_STOREXKFSTATE   0x8A
#define CMT_LEN_STOREXKFSTATE   0
#define CMT_MID_STOREXKFSTATEACK   0x8B
#define CMT_MID_REQUTCTIME   0x60
#define CMT_MID_UTCTIME   0x61
#define CMT_LEN_UTCTIME   12
#define CMT_LEN_SCENARIOLABEL   20
#define CMT_LEN_SCENARIOFULL   (1+1+CMT_LEN_SCENARIOLABEL)
#define CMT_MID_REQAVAILABLESCENARIOS   0x62
#define CMT_MID_AVAILABLESCENARIOS   0x63
#define CMT_LEN_AVAILABLESCENARIOS   (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)
#define CMT_MID_REQSCENARIO   0x64
#define CMT_MID_REQSCENARIOACK   0x65
#define CMT_LEN_REQSCENARIOACK   2
#define CMT_MID_SETSCENARIO   0x64
#define CMT_MID_SETSCENARIOACK   0x65
#define CMT_LEN_SETSCENARIO   1
#define CMT_MID_REQGRAVITYMAGNITUDE   0x66
#define CMT_MID_REQGRAVITYMAGNITUDEACK   0x67
#define CMT_MID_SETGRAVITYMAGNITUDE   0x66
#define CMT_MID_SETGRAVITYMAGNITUDEACK   0x67
#define CMT_LEN_GRAVITYMAGNITUDE   4
#define CMT_MID_REQGPSLEVERARM   0x68
#define CMT_MID_REQGPSLEVERARMACK   0x69
#define CMT_MID_SETGPSLEVERARM   0x68
#define CMT_MID_SETGPSLEVERARMACK   0x69
#define CMT_LEN_GPSLEVERARM   12
#define CMT_MID_REQLATLONALT   0x6E
#define CMT_MID_REQLATLONALTACK   0x6F
#define CMT_LEN_LATLONALT   18
#define CMT_MID_SETLATLONALT   0x6E
#define CMT_MID_SETLATLONALTACK   0x6F
#define CMT_MID_GOTOCONFIG   0x30
#define CMT_MID_GOTOCONFIGACK   0x31
#define CMT_MID_BUSDATA   0x32
#define CMT_MID_MTDATA   0x32
#define CMT_MID_SETNOROTATION   0x22
#define CMT_MID_SETNOROTATIONACK   0x23
#define CMT_LEN_SETNOROTATION   2
#define CMT_MID_PREPAREDATA   0x32
#define CMT_MID_REQDATA   0x34
#define CMT_MID_REQDATAACK   0x35
#define CMT_LEN_RAWDATA   20
#define CMT_LEN_CALIBDATA   36
#define CMT_LEN_CALIB_ACCDATA   12
#define CMT_LEN_CALIB_GYRDATA   12
#define CMT_LEN_CALIB_MAGDATA   12
#define CMT_LEN_ORIENT_QUATDATA   16
#define CMT_LEN_ORIENT_EULERDATA   12
#define CMT_LEN_ORIENT_MATRIXDATA   36
#define CMT_LEN_SAMPLECNT   2
#define CMT_LEN_TEMPDATA   4
#define CMT_LEN_CALIBDATA_FLT   9
#define CMT_LEN_TEMPDATA_FLT   1
#define CMT_LEN_ORIENT_QUATDATA_FLT   4
#define CMT_LEN_ORIENT_EULERDATA_FLT   3
#define CMT_LEN_ORIENT_MATRIXDATA_FLT   9
#define CMT_IND_RAW_ACCX   0
#define CMT_IND_RAW_ACCY   2
#define CMT_IND_RAW_ACCZ   4
#define CMT_IND_RAW_GYRX   6
#define CMT_IND_RAW_GYRY   8
#define CMT_IND_RAW_GYRZ   10
#define CMT_IND_RAW_MAGX   12
#define CMT_IND_RAW_MAGY   14
#define CMT_IND_RAW_MAGZ   16
#define CMT_IND_RAW_TEMP   18
#define CMT_IND_CALIB_ACCX   0
#define CMT_IND_CALIB_ACCY   4
#define CMT_IND_CALIB_ACCZ   8
#define CMT_IND_CALIB_GYRX   12
#define CMT_IND_CALIB_GYRY   16
#define CMT_IND_CALIB_GYRZ   20
#define CMT_IND_CALIB_MAGX   24
#define CMT_IND_CALIB_MAGY   28
#define CMT_IND_CALIB_MAGZ   32
#define CMT_IND_ORIENT_Q0   0
#define CMT_IND_ORIENT_Q1   4
#define CMT_IND_ORIENT_Q2   8
#define CMT_IND_ORIENT_Q3   12
#define CMT_IND_ORIENT_ROLL   0
#define CMT_IND_ORIENT_PITCH   4
#define CMT_IND_ORIENT_YAW   8
#define CMT_IND_ORIENT_A   0
#define CMT_IND_ORIENT_B   4
#define CMT_IND_ORIENT_C   8
#define CMT_IND_ORIENT_D   12
#define CMT_IND_ORIENT_E   16
#define CMT_IND_ORIENT_F   20
#define CMT_IND_ORIENT_G   24
#define CMT_IND_ORIENT_H   28
#define CMT_IND_ORIENT_I   32
#define CMT_IND_SAMPLECNTH   0
#define CMT_IND_SAMPLECNTL   1
#define CMT_FLDNUM_RAW_ACCX   0
#define CMT_FLDNUM_RAW_ACCY   1
#define CMT_FLDNUM_RAW_ACCZ   2
#define CMT_FLDNUM_RAW_GYRX   3
#define CMT_FLDNUM_RAW_GYRY   4
#define CMT_FLDNUM_RAW_GYRZ   5
#define CMT_FLDNUM_RAW_MAGX   6
#define CMT_FLDNUM_RAW_MAGY   7
#define CMT_FLDNUM_RAW_MAGZ   8
#define CMT_FLDNUM_RAW_TEMP   9
#define CMT_FLDNUM_CALIB_ACCX   0
#define CMT_FLDNUM_CALIB_ACCY   1
#define CMT_FLDNUM_CALIB_ACCZ   2
#define CMT_FLDNUM_CALIB_GYRX   3
#define CMT_FLDNUM_CALIB_GYRY   4
#define CMT_FLDNUM_CALIB_GYRZ   5
#define CMT_FLDNUM_CALIB_MAGX   6
#define CMT_FLDNUM_CALIB_MAGY   7
#define CMT_FLDNUM_CALIB_MAGZ   8
#define CMT_FLDNUM_ORIENT_Q0   0
#define CMT_FLDNUM_ORIENT_Q1   1
#define CMT_FLDNUM_ORIENT_Q2   2
#define CMT_FLDNUM_ORIENT_Q3   3
#define CMT_FLDNUM_ORIENT_ROLL   0
#define CMT_FLDNUM_ORIENT_PITCH   1
#define CMT_FLDNUM_ORIENT_YAW   2
#define CMT_FLDNUM_ORIENT_A   0
#define CMT_FLDNUM_ORIENT_B   1
#define CMT_FLDNUM_ORIENT_C   2
#define CMT_FLDNUM_ORIENT_D   3
#define CMT_FLDNUM_ORIENT_E   4
#define CMT_FLDNUM_ORIENT_F   5
#define CMT_FLDNUM_ORIENT_G   6
#define CMT_FLDNUM_ORIENT_H   7
#define CMT_FLDNUM_ORIENT_I   8
#define CMT_LEN_RAW_ACCX   2
#define CMT_LEN_RAW_ACCY   2
#define CMT_LEN_RAW_ACCZ   2
#define CMT_LEN_RAW_GYRX   2
#define CMT_LEN_RAW_GYRY   2
#define CMT_LEN_RAW_GYRZ   2
#define CMT_LEN_RAW_MAGX   2
#define CMT_LEN_RAW_MAGY   2
#define CMT_LEN_RAW_MAGZ   2
#define CMT_LEN_RAW_TEMP   2
#define CMT_LEN_CALIB_ACCX   4
#define CMT_LEN_CALIB_ACCY   4
#define CMT_LEN_CALIB_ACCZ   4
#define CMT_LEN_CALIB_GYRX   4
#define CMT_LEN_CALIB_GYRY   4
#define CMT_LEN_CALIB_GYRZ   4
#define CMT_LEN_CALIB_MAGX   4
#define CMT_LEN_CALIB_MAGY   4
#define CMT_LEN_CALIB_MAGZ   4
#define CMT_LEN_ORIENT_Q0   4
#define CMT_LEN_ORIENT_Q1   4
#define CMT_LEN_ORIENT_Q2   4
#define CMT_LEN_ORIENT_Q3   4
#define CMT_LEN_ORIENT_ROLL   4
#define CMT_LEN_ORIENT_PITCH   4
#define CMT_LEN_ORIENT_YAW   4
#define CMT_LEN_ORIENT_A   4
#define CMT_LEN_ORIENT_B   4
#define CMT_LEN_ORIENT_C   4
#define CMT_LEN_ORIENT_D   4
#define CMT_LEN_ORIENT_E   4
#define CMT_LEN_ORIENT_F   4
#define CMT_LEN_ORIENT_G   4
#define CMT_LEN_ORIENT_H   4
#define CMT_LEN_ORIENT_I   4
#define CMT_VALUE_RAW_ACC   0
#define CMT_VALUE_RAW_GYR   1
#define CMT_VALUE_RAW_MAG   2
#define CMT_VALUE_RAW_TEMP   3
#define CMT_VALUE_CALIB_ACC   4
#define CMT_VALUE_CALIB_GYR   5
#define CMT_VALUE_CALIB_MAG   6
#define CMT_VALUE_ORIENT_QUAT   7
#define CMT_VALUE_ORIENT_EULER   8
#define CMT_VALUE_ORIENT_MATRIX   9
#define CMT_VALUE_SAMPLECNT   10
#define CMT_VALUE_TEMP   11
#define CMT_INVALIDSETTINGVALUE   0xFFFFFFFF
#define CMT_MID_RESET   0x40
#define CMT_MID_RESETACK   0x41
#define CMT_MID_ERROR   0x42
#define CMT_MID_XMPWROFF   0x44
#define CMT_MID_REQFILTERSETTINGS   0xA0
#define CMT_MID_REQFILTERSETTINGSACK   0xA1
#define CMT_LEN_FILTERSETTINGS   4
#define CMT_MID_SETFILTERSETTINGS   0xA0
#define CMT_MID_SETFILTERSETTINGSACK   0xA1
#define CMT_MID_REQAMD   0xA2
#define CMT_MID_REQAMDACK   0xA3
#define CMT_LEN_AMD   2
#define CMT_MID_SETAMD   0xA2
#define CMT_MID_SETAMDACK   0xA3
#define CMT_MID_RESETORIENTATION   0xA4
#define CMT_MID_RESETORIENTATIONACK   0xA5
#define CMT_LEN_RESETORIENTATION   2
#define CMT_MID_REQGPSSTATUS   0xA6
#define CMT_MID_GPSSTATUS   0xA7
#define CMT_LEN_GPSSTATUS   (1+5*16)
#define CMT_BAUDCODE_4K8   0x0B
#define CMT_BAUDCODE_9K6   0x09
#define CMT_BAUDCODE_19K2   0x07
#define CMT_BAUDCODE_38K4   0x05
#define CMT_BAUDCODE_57K6   0x04
#define CMT_BAUDCODE_115K2   0x02
#define CMT_BAUDCODE_230K4   0x01
#define CMT_BAUDCODE_460K8   0x00
#define CMT_BAUDCODE_921K6_ALT   0x0A
#define CMT_BAUDCODE_921K6   0x80
#define CMT_ERROR_NOBUSCOMM   0x01
#define CMT_ERROR_BUSNOTREADY   0x02
#define CMT_ERROR_PERIODINVALID   0x03
#define CMT_ERROR_MESSAGEINVALID   0x04
#define CMT_ERROR_INITOFBUSFAILED1   0x10
#define CMT_ERROR_INITOFBUSFAILED2   0x11
#define CMT_ERROR_INITOFBUSFAILED3   0x12
#define CMT_ERROR_SETBIDPROCFAILED1   0x14
#define CMT_ERROR_SETBIDPROCFAILED2   0x15
#define CMT_ERROR_MEASUREMENTFAILED1   0x18
#define CMT_ERROR_MEASUREMENTFAILED2   0x19
#define CMT_ERROR_MEASUREMENTFAILED3   0x1A
#define CMT_ERROR_MEASUREMENTFAILED4   0x1B
#define CMT_ERROR_MEASUREMENTFAILED5   0x1C
#define CMT_ERROR_MEASUREMENTFAILED6   0x1D
#define CMT_ERROR_TIMEROVERFLOW   0x1E
#define CMT_ERROR_BAUDRATEINVALID   0x20
#define CMT_ERROR_PARAMETERINVALID   0x21
#define CMT_ERROR_MEASUREMENTFAILED7   0x23
#define CMT_ERRORMODE_IGNORE   0x0000
#define CMT_ERRORMODE_INCSAMPLECNT   0x0001
#define CMT_ERRORMODE_INCSAMPLECNT_SENDERROR   0x0002
#define CMT_ERRORMODE_SENDERROR_GOTOCONFIG   0x0003
#define CMT_CONF_MASTERDID   0
#define CMT_CONF_PERIOD   4
#define CMT_CONF_OUTPUTSKIPFACTOR   6
#define CMT_CONF_SYNCIN_MODE   8
#define CMT_CONF_SYNCIN_SKIPFACTOR   10
#define CMT_CONF_SYNCIN_OFFSET   12
#define CMT_CONF_DATE   16
#define CMT_CONF_TIME   24
#define CMT_CONF_NUMDEVICES   96
#define CMT_CONF_DID   98
#define CMT_CONF_DATALENGTH   102
#define CMT_CONF_OUTPUTMODE   104
#define CMT_CONF_OUTPUTSETTINGS   106
#define CMT_CONF_BLOCKLEN   20
#define CMT_CONF_MASTERDIDLEN   4
#define CMT_CONF_PERIODLEN   2
#define CMT_CONF_OUTPUTSKIPFACTORLEN   2
#define CMT_CONF_SYNCIN_MODELEN   2
#define CMT_CONF_SYNCIN_SKIPFACTORLEN   2
#define CMT_CONF_SYNCIN_OFFSETLEN   4
#define CMT_CONF_DATELEN   8
#define CMT_CONF_TIMELEN   8
#define CMT_CONF_RESERVED_CLIENTLEN   32
#define CMT_CONF_RESERVED_HOSTLEN   32
#define CMT_CONF_NUMDEVICESLEN   2
#define CMT_CONF_DIDLEN   4
#define CMT_CONF_DATALENGTHLEN   2
#define CMT_CONF_OUTPUTMODELEN   2
#define CMT_CONF_OUTPUTSETTINGSLEN   4
#define CMT_SYNC_CLOCKFREQMHZ   29.4912
#define CMT_SYNC_CLOCK_NS_TO_TICKS   (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)
#define CMT_SYNC_CLOCK_TICKS_TO_NS   (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)
#define CMT_PARAM_SYNCIN_MODE   0x00
#define CMT_PARAM_SYNCIN_SKIPFACTOR   0x01
#define CMT_PARAM_SYNCIN_OFFSET   0x02
#define CMT_SYNCIN_DISABLED   0x0000
#define CMT_SYNCIN_EDGE_RISING   0x0001
#define CMT_SYNCIN_EDGE_FALLING   0x0002
#define CMT_SYNCIN_EDGE_BOTH   0x0003
#define CMT_SYNCIN_EDGE_MASK   0x0003
#define CMT_SYNCIN_TYPE_DOSAMPLING   0x0000
#define CMT_SYNCIN_TYPE_SENDLASTDATA   0x0004
#define CMT_SYNCIN_TYPE_CLOCK   0x0010
#define CMT_SYNCIN_TYPE_MASK   0x001C
#define CMT_PARAM_SYNCOUT_MODE   0x00
#define CMT_PARAM_SYNCOUT_SKIPFACTOR   0x01
#define CMT_PARAM_SYNCOUT_OFFSET   0x02
#define CMT_PARAM_SYNCOUT_PULSEWIDTH   0x03
#define CMT_SYNCOUT_DISABLED   0x0000
#define CMT_SYNCOUT_TYPE_TOGGLE   0x0001
#define CMT_SYNCOUT_TYPE_PULSE   0x0002
#define CMT_SYNCOUT_POL_NEG   0x0000
#define CMT_SYNCOUT_POL_POS   0x0010
#define CMT_SYNCOUT_TYPE_MASK   0x000F
#define CMT_SYNCOUT_POL_MASK   0x0010
#define CMT_OUTPUTMODE_MT9   0x8000
#define CMT_OUTPUTMODE_XM   0x0000
#define CMT_OUTPUTMODE_RAW   0x4000
#define CMT_OUTPUTMODE_GPSPVT_PRESSURE   0x1000
#define CMT_OUTPUTMODE_TEMP   0x0001
#define CMT_OUTPUTMODE_CALIB   0x0002
#define CMT_OUTPUTMODE_ORIENT   0x0004
#define CMT_OUTPUTMODE_AUXILIARY   0x0008
#define CMT_OUTPUTMODE_POSITION   0x0010
#define CMT_OUTPUTMODE_VELOCITY   0x0020
#define CMT_OUTPUTMODE_STATUS   0x0800
#define CMT_OUTPUTSETTINGS_XM   0x00000001
#define CMT_OUTPUTSETTINGS_TIMESTAMP_NONE   0x00000000
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT   0x00000001
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLEUTC   0x00000002
#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION   0x00000000
#define CMT_OUTPUTSETTINGS_ORIENTMODE_EULER   0x00000004
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX   0x00000008
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG   0x00000000
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC   0x00000060
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR   0x00000040
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG   0x00000020
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR   0x00000050
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG   0x00000010
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG   0x00000030
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG_MASK   0x00000070
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT   0x00000000
#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220   0x00000100
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632   0x00000200
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1   0x00000800
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2   0x00000400
#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84   0x00000000
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MS_XYZ   0x00000000
#define CMT_OUTPUTSETTINGS_TIMESTAMP_MASK   0x00000003
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MASK   0x0000000C
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK   0x00000010
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK   0x00000020
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK   0x00000040
#define CMT_OUTPUTSETTINGS_CALIBMODE_MASK   0x00000070
#define CMT_OUTPUTSETTINGS_DATAFORMAT_MASK   0x00000300
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK   0x00000400
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK   0x00000800
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK   0x00000C00
#define CMT_OUTPUTSETTINGS_POSITIONMODE_MASK   0x0001C000
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK   0x00060000
#define CMT_OUTPUTSETTINGS_COORDINATES_NED   0x80000000
#define CMT_EXTOUTPUTMODE_DISABLED   0x0000
#define CMT_EXTOUTPUTMODE_EULER   0x0001
#define CMT_INITTRACKMODE_DISABLED   0x0000
#define CMT_INITTRACKMODE_ENABLED   0x0001
#define CMT_PARAM_FILTER_GAIN   0x00
#define CMT_PARAM_FILTER_RHO   0x01
#define CMT_DONOTSTORE   0x00
#define CMT_STORE   0x01
#define CMT_AMDSETTING_DISABLED   0x0000
#define CMT_AMDSETTING_ENABLED   0x0001
#define CMT_PROCESSINGFLAGS_IGBU_ENABLED   0x0001
#define CMT_PROCESSINGFLAGS_FIXED_GRAVITY   0x0002
#define CMT_SENDRAWSTRING_INIT   0
#define CMT_SENDRAWSTRING_DEFAULT   1
#define CMT_SENDRAWSTRING_SEND   2
#define CMT_TO_DEFAULT   500
#define CMT_TO_INIT   250
#define CMT_TO_RETRY   50
#define CMT_PERIOD_10HZ   11520
#define CMT_PERIOD_12HZ   9600
#define CMT_PERIOD_15HZ   7680
#define CMT_PERIOD_16HZ   7200
#define CMT_PERIOD_18HZ   6400
#define CMT_PERIOD_20HZ   5760
#define CMT_PERIOD_24HZ   4800
#define CMT_PERIOD_25HZ   4608
#define CMT_PERIOD_30HZ   3840
#define CMT_PERIOD_32HZ   3600
#define CMT_PERIOD_36HZ   3200
#define CMT_PERIOD_40HZ   2880
#define CMT_PERIOD_45HZ   2560
#define CMT_PERIOD_48HZ   2400
#define CMT_PERIOD_50HZ   2304
#define CMT_PERIOD_60HZ   1920
#define CMT_PERIOD_64HZ   1800
#define CMT_PERIOD_72HZ   1600
#define CMT_PERIOD_75HZ   1536
#define CMT_PERIOD_80HZ   1440
#define CMT_PERIOD_90HZ   1280
#define CMT_PERIOD_96HZ   1200
#define CMT_PERIOD_100HZ   1152
#define CMT_PERIOD_120HZ   960
#define CMT_PERIOD_128HZ   900
#define CMT_PERIOD_144HZ   800
#define CMT_PERIOD_150HZ   768
#define CMT_PERIOD_160HZ   720
#define CMT_PERIOD_180HZ   640
#define CMT_PERIOD_192HZ   600
#define CMT_PERIOD_200HZ   576
#define CMT_PERIOD_225HZ   512
#define CMT_PERIOD_240HZ   480
#define CMT_PERIOD_256HZ   450
#define CMT_PERIOD_288HZ   400
#define CMT_PERIOD_300HZ   384
#define CMT_PERIOD_320HZ   360
#define CMT_PERIOD_360HZ   320
#define CMT_PERIOD_384HZ   300
#define CMT_PERIOD_400HZ   288
#define CMT_PERIOD_450HZ   256
#define CMT_PERIOD_480HZ   240
#define CMT_PERIOD_512HZ   225
#define CMT_BAUD_RATE_4800   B4800
#define CMT_BAUD_RATE_9600   B9600
#define CMT_BAUD_RATE_19K2   B19200
#define CMT_BAUD_RATE_38K4   B38400
#define CMT_BAUD_RATE_57K6   B57600
#define CMT_BAUD_RATE_115K2   B115200
#define CMT_BAUD_RATE_230K4   B230400
#define CMT_BAUD_RATE_460K8   B460800
#define CMT_BAUD_RATE_921K6   B921600
#define CMT_DEFAULT_OUTPUT_MODE   CMT_OUTPUTMODE_ORIENT
#define CMT_DEFAULT_OUTPUT_SETTINGS
#define CMT_GOTO_CONFIG_TRIES   3
#define CMT_MAX_DEVICES_PER_PORT   11
#define CMT_DEFAULT_SAMPLE_FREQUENCY   100
#define CMT_DEFAULT_PERIOD   1152
#define CMT_DEFAULT_SKIP   0
#define CMT_DEFAULT_FILTER_GAIN   1.0f
#define CMT_DEFAULT_FILTER_WEIGHTING   1.0f
#define CMT_SYNCOUT_DEFAULT_PULSE_WIDTH   1000000
#define CMT_MAX_PORTS_PER_THREAD   20
#define CMT_MAX_FILES_PER_THREAD   20
#define CMT_MAX_DEVICES   (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)
#define CMT_MAX_PACKETS_PER_BUNDLE   CMT_MAX_PORTS_PER_THREAD
#define CMT_BUNDLE_QUEUE_SIZE   256
#define CMT_MAX_ITEMS_IN_PACKET   10
#define CMT_DEFAULT_READ_BUFFER_SIZE   (CMT_MAXDATALEN*8)
 The default size of the serial read buffer in bytes.
#define CMT_DEFAULT_WRITE_BUFFER_SIZE   CMT_MAXDATALEN
 The default size of the serial write buffer in bytes.
#define CMT_DEFAULT_BAUD_RATE   CMT_BAUD_RATE_115K2
 The default baud rate of the Cmt1s serial communication.
#define CMT2_DATA_QUEUE_SIZE   60
 The size of the L2 data-message fifo-queue.
#define CMT3_CONFIG_TIMEOUT   100
 The timeout value for "goto config"-message acknowledgement.
#define CMT1_DEFAULT_TIMEOUT   10
 The default timeout value for blocking CMT1s operations in ms.
#define CMT2_DEFAULT_TIMEOUT   50
 Timeout in ms for level 2.
#define CMT3_DEFAULT_TIMEOUT_MEAS   16
 The default timeout value for L3 data reading.
#define CMT3_DEFAULT_TIMEOUT_CONF   3000
 The default timeout value for L3 configuration settings.
#define CMT4_DEFAULT_TIMEOUT_MEAS   1
 The default timeout value for L4 data reading at L2 and 3.
#define CMT4_DEFAULT_TIMEOUT_CONF   CMT3_DEFAULT_TIMEOUT_CONF
 The default timeout value for L4 configuration settings.
#define CMT4_MEASUREMENT_REQ_TIMEOUT   100
 The timeout to use for requests during measurement mode.
#define CMT4_DEFAULT_TIMEOUT_DATA   3000
 The standard timeout to use for data receipt in measurement mode.
#define CMT4_CONFIGWAIT_TIMEOUT   50
 The timeout used for reading a wakeup message in config mode.
#define CMT_MAX_FILENAME_LENGTH   512
#define CMT_DID_BROADCAST   0x80000000
#define CMT_DID_MASTER   0
#define CMT_MAX_SCENARIOS_IN_MT   5
#define CMT_MAX_SCENARIOS   254
#define CmtCallbackSelector   CmtCallbackType
#define CmtRawGpsData   CmtGpsPvtData
 obsolete, use CmtGpsPvtData instead
#define CMT_MAX_SVINFO   16
#define CMT_AUTO_SAVE_FRAMES   5000
#define CMT_FILE_LAST_FRAME   0xFFFFFFFF
#define CMT_BID_BROADCAST   (const uint8_t)0x00
#define CMT_BID_INVALID   (const uint8_t)0xFE
#define CMT_MID_REQEMTS   (const uint8_t)0x90
#define CMT_MID_EMTSDATA   (const uint8_t)0x91
#define CMT_EMTS_SIZE   1320
#define CMT_STATUSFLAG_SELFTEST   0x01
#define CMT_STATUSFLAG_XKFVALID   0x02
#define CMT_STATUSFLAG_GPSVALID   0x04
#define CMT_STATUSFLAG_NOROTATION_MASK   0x18
#define CMT_STATUSFLAG_NOROTATION   0x18
#define CMT_STATUSFLAG_NOROTATION_ABORTED   0x10
#define CMT_STATUSFLAG_NOROTATION_SAMPLES_REJECTED   0x08
#define CMT_MAX_VPORTNAME_LEN   32

Typedefs

typedef uint32_t CmtDeviceId
 The type of a Device Id.
typedef uint32_t CmtOutputMode
 An output mode bit-field.
typedef uint64_t CmtOutputSettings
 An output settings bit-field.
typedef uint16_t CmtMtTimeStamp
 An MT timestamp (sample count).
typedef void(__cdecl * CmtCallbackFunction )(int32_t instance, int32_t callbackType, void *param, void *userParam)
typedef uint64_t CmtTimeStamp

Enumerations

enum  CmtControlLine {
  CMT_CONTROL_DCD = 0x0001, CMT_CONTROL_RD = 0x0002, CMT_CONTROL_TD = 0x0004, CMT_CONTROL_DTR = 0x0008,
  CMT_CONTROL_GND = 0x0010, CMT_CONTROL_DSR = 0x0020, CMT_CONTROL_RTS = 0x0040, CMT_CONTROL_CTS = 0x0080,
  CMT_CONTROL_RI = 0x0100
}
enum  CmtResetMethod {
  CMT_RESETORIENTATION_STORE = 0, CMT_RESETORIENTATION_HEADING, CMT_RESETORIENTATION_GLOBAL, CMT_RESETORIENTATION_OBJECT,
  CMT_RESETORIENTATION_ALIGN
}
enum  CmtXmSyncMode {
  CMT_XM_SYNC_OFF = 0x00, CMT_XM_SYNC_PWM = 0x01, CMT_XM_SYNC_MASTER = 0x10, CMT_XM_SYNC_SLAVE = 0x20,
  CMT_XM_SYNC_TOGGLE = 0x30
}
enum  CmtCallbackType {
  CMT_CALLBACK_LIST_TERMINATOR = -1, CMT_CALLBACK_ONMEASUREMENTPREPARE, CMT_CALLBACK_ONMEASUREMENTSTART, CMT_CALLBACK_ONMEASUREMENTSTOP,
  CMT_CALLBACK_ONPOSTPROCESS, CMT_CALLBACK_ONBYTESRECEIVED, CMT_CALLBACK_ONMESSAGERECEIVED, CMT_CALLBACK_ONMESSAGESENT,
  CMT_CALLBACK_ONMISSINGSAMPLES, CMT_CALLBACK_ONWAKEUPRECEIVED, CMT_CALLBACK_ONINSTANCE, CMT_CALLBACK_COUNT
}
enum  CmtQueueMode { CMT_QM_FIFO = 0, CMT_QM_LAST = 1, CMT_QM_RAW = 2 }

Detailed Description

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

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

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

Copyright Notice

Copyright (C) Xsens Technologies B.V., 2006. All rights reserved.

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

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

Changelog

2006-05-01, v0.0.1
  • Job Mulder: Created Cmtdef.h
2006-07-21, v0.1.0
  • Job Mulder: Updated file for release 0.1.0

Definition in file cmtdef.h.

Define Documentation

#define CMT1_DEFAULT_TIMEOUT   10

The default timeout value for blocking CMT1s operations in ms.

Definition at line 851 of file cmtdef.h.

Referenced by xsens::Cmt1s::Cmt1s().

#define CMT2_DATA_QUEUE_SIZE   60

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

Definition at line 846 of file cmtdef.h.

#define CMT2_DEFAULT_TIMEOUT   50

Timeout in ms for level 2.

Definition at line 853 of file cmtdef.h.

Referenced by xsens::Cmt2s::Cmt2s().

#define CMT3_CONFIG_TIMEOUT   100

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

Definition at line 849 of file cmtdef.h.

Referenced by xsens::Cmt3::gotoConfig().

#define CMT3_DEFAULT_TIMEOUT_CONF   3000

The default timeout value for L3 configuration settings.

Definition at line 857 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT3_DEFAULT_TIMEOUT_MEAS   16

The default timeout value for L3 data reading.

Definition at line 855 of file cmtdef.h.

Referenced by xsens::Cmt3::Cmt3().

#define CMT4_CONFIGWAIT_TIMEOUT   50

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

Definition at line 867 of file cmtdef.h.

#define CMT4_DEFAULT_TIMEOUT_CONF   CMT3_DEFAULT_TIMEOUT_CONF

The default timeout value for L4 configuration settings.

Definition at line 861 of file cmtdef.h.

#define CMT4_DEFAULT_TIMEOUT_DATA   3000

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

Definition at line 865 of file cmtdef.h.

#define CMT4_DEFAULT_TIMEOUT_MEAS   1

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

Definition at line 859 of file cmtdef.h.

#define CMT4_MEASUREMENT_REQ_TIMEOUT   100

The timeout to use for requests during measurement mode.

Definition at line 863 of file cmtdef.h.

#define CMT_DEFAULT_BAUD_RATE   CMT_BAUD_RATE_115K2

The default baud rate of the Cmt1s serial communication.

Definition at line 844 of file cmtdef.h.

Referenced by xsens::Cmt2s::Cmt2s().

#define CMT_DEFAULT_OUTPUT_SETTINGS
Value:
(CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION |\
                                                                                 CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT)

Definition at line 814 of file cmtdef.h.

#define CMT_DEFAULT_READ_BUFFER_SIZE   (CMT_MAXDATALEN*8)

The default size of the serial read buffer in bytes.

Definition at line 840 of file cmtdef.h.

#define CMT_DEFAULT_WRITE_BUFFER_SIZE   CMT_MAXDATALEN

The default size of the serial write buffer in bytes.

Definition at line 842 of file cmtdef.h.

#define CmtRawGpsData   CmtGpsPvtData

obsolete, use CmtGpsPvtData instead

Definition at line 1200 of file cmtdef.h.

Typedef Documentation

typedef uint32_t CmtDeviceId

The type of a Device Id.

Definition at line 899 of file cmtdef.h.

typedef uint16_t CmtMtTimeStamp

An MT timestamp (sample count).

Definition at line 974 of file cmtdef.h.

typedef uint32_t CmtOutputMode

An output mode bit-field.

Definition at line 956 of file cmtdef.h.

typedef uint64_t CmtOutputSettings

An output settings bit-field.

Definition at line 958 of file cmtdef.h.

Enumeration Type Documentation

enum CmtCallbackType
Enumerator:
CMT_CALLBACK_LIST_TERMINATOR 

Not a callback function. Used to define the end of a CallbackSelector list.

CMT_CALLBACK_ONMEASUREMENTPREPARE 

Called right before sending a GotoMeasurement message.

CMT_CALLBACK_ONMEASUREMENTSTART 

Called right after successfully switching to Measurement mode.

CMT_CALLBACK_ONMEASUREMENTSTOP 

Called right before switching from Measurement mode to Config mode.

CMT_CALLBACK_ONPOSTPROCESS 

Called when a full data bundle is available and has been processed by the CMT. The first void* parameter supplied to this function can be handed as the bundle parameter in cmtData... functions to manipulate the newly received bundle.

CMT_CALLBACK_ONBYTESRECEIVED 

Called when bytes have been read from a port.

CMT_CALLBACK_ONMESSAGERECEIVED 

Called when a full message has been received from a port.

CMT_CALLBACK_ONMESSAGESENT 

Called when a full message has been sent by a port.

CMT_CALLBACK_ONMISSINGSAMPLES 

Called when interpolation mode != 0 and missing samples are detected.

CMT_CALLBACK_ONWAKEUPRECEIVED 

Called when receiving a wakeup message in config mode. Advise to refresh that port cache as soon as possible.

CMT_CALLBACK_ONINSTANCE 

Called when a new CMT instance was created or an existing one is about to be destroyed. Also called once for all existing CMT instances when a plugin becomes enabled. If param is non-null, the instance is created, otherwise it is about to be destroyed. The return value of this callback is ignored.

CMT_CALLBACK_COUNT 

Not a callback function. Used internally for list management.

Definition at line 1117 of file cmtdef.h.

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