xsens Namespace Reference

The namespace of all Xsens software since 2006. More...

Classes

class  Cmt1s
 The low-level serial communication class. More...
class  Cmt1f
 The low-level file communication class. More...
class  Cmt2s
 Mid-level serial communication class. More...
class  Cmt2f
 The mid-level file communication class. More...
class  Cmt3
 High-level communication class. More...
union  Itypes
struct  MessageHeader
 A message header. More...
class  Message
 Class for storing a single message. More...
class  Packet
 A structure containing MT data + timestamp and formatting information. More...
class  FifoQueue
 A FIFO queue with limited length (cyclic). More...
class  FifoQueueBasic
 A FIFO queue with limited length (cyclic). More...
class  JanitorClassFunc
 Class function calling janitor class. More...
class  List
 Dynamic list class. More...

Typedefs

typedef uint64_t TimeStamp
 A real-time timestamp (ms).

Functions

int _wcsnicmp (const wchar_t *s1, const wchar_t *s2, int count)
int32_t findValidMessage (const uint8_t *buffer, const uint16_t bufferLength)
 Find a valid message in the given buffer. If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned.
uint8_t computeChecksum (const uint8_t *buffer, uint32_t length)
 Compute the checksum of the given byte string.
bool cmtScanPort (CmtPortInfo &portInfo, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1)
 Scan a single COM port for connected Xsens devices.
bool cmtScanForIMU (CmtPortInfo &port, uint32_t baudrate, uint32_t singleScanTimeout, uint32_t scanTries)
bool cmtScanPorts (List< CmtPortInfo > &ports, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1)
 Scan COM ports for connected Xsens devices.
uint32_t getTimeOfDay (tm *date_=NULL, time_t *secs_=NULL)
 A platform-independent clock.
void msleep (uint32_t ms)
 A platform-independent sleep routine.
TimeStamp timeStampNow (void)

Variables

bool abortScan = false
 Set to true from another thread to abort any scan currently in progress.

Detailed Description

The namespace of all Xsens software since 2006.


Typedef Documentation

typedef uint64_t xsens::TimeStamp

A real-time timestamp (ms).

Definition at line 18 of file xsens_time.h.


Function Documentation

bool xsens::cmtScanPort ( CmtPortInfo portInfo,
uint32_t  baudrate = 0,
uint32_t  singleScanTimeout = 1000,
uint32_t  scanTries = 1 
)

Scan a single COM port for connected Xsens devices.

The cmtScanPort function will scan a single port for connected Xsens devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baud rate is tried. Any detected devices are returned in the portInfo parameter.

bool xsens::cmtScanPorts ( List< CmtPortInfo > &  ports,
uint32_t  baudrate = 0,
uint32_t  singleScanTimeout = 1000,
uint32_t  scanTries = 1 
)

Scan COM ports for connected Xsens devices.

The cmtScanPorts function will scan registered Xsens USB converters and serial COM ports for connected Xsens devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baudrate is tried. Any detected devices are returned in the ports list, which is sorted by port nr.

uint8_t xsens::computeChecksum ( const uint8_t *  buffer,
uint32_t  length 
)

Compute the checksum of the given byte string.

Referenced by xsens::Message::calcChecksum().

int32_t xsens::findValidMessage ( const uint8_t *  buffer,
const uint16_t  bufferLength 
)

Find a valid message in the given buffer. If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned.

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

uint32_t xsens::getTimeOfDay ( tm *  date_ = NULL,
time_t *  secs_ = NULL 
)

A platform-independent clock.

The function returns the time of day in ms since midnight. If the date parameter is non-NULL, corresponding the date is placed in the variable it points to.

Referenced by xsens::Cmt1s::waitForData(), xsens::Cmt3::waitForDataMessage(), and xsens::Cmt2s::waitForMessage().

void xsens::msleep ( uint32_t  ms  ) 

A platform-independent sleep routine.

Time is measured in ms. The function will not return until the specified number of ms have passed.

Referenced by xsens::Cmt3::gotoConfig(), and xsens::Cmt3::setBaudrate().


Variable Documentation

bool xsens::abortScan = false

Set to true from another thread to abort any scan currently in progress.

Definition at line 49 of file cmtscan.cpp.

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