XsensMTiModule.h

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/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2006 Radu Bogdan Rusu (rusu@cs.tum.edu)
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 Desc: Driver for XSens MTx/MTi IMU. CMTComm class borrowed from XSens under GPL.
 Author: Radu Bogdan Rusu
 Date: 1 Aug 2006
 */
// MTComm.h: interface for the CMTComm class.
//
// Version 1.2.0
// Public release
//
// v1.2.0
// 27-02-2006 - Renamed Xbus class to Motion Tracker C++ Communication class, short MTComm
//            - Defines XBRV_* accordingly renamed to MTRV_*
//            - Fixed device length not correct for bid 0 when using Xbus Master and setDeviceMode function
//
// v1.1.7
// 15-02-2006 - Added fixed point signed 12.20 dataformat support
//              Added selective calibrated data output per sensor type support
//              Added outputmode temperature support
//              Fixed warning C4244: '=' : conversion from '' to '', possible loss of data
// v1.1.6
// 25-01-2006 - Added escape function for CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK
//
// v1.1.5
// 14-11-2005 - Made swapEndian a static member function, Job Mulder
//
// v1.1.4
// 08-11-2005 - Changed practically all uses of m_timeOut into uses of the new m_clkEnd
//            - Changed COM timeout in win32 to return immediately if data is available,
//              but wait 1ms otherwise
//
// v1.1.3
// 18-10-2005 - Added MID_REQPRODUCTCODE, MID_REQ/SETTRANSMITDELAY
//            - Added XBRV_TIMEOUTNODATA indicating timeout occurred due to no data read
//
// v1.1.2
// 16-09-2005 - Added eMTS version 0.1->1.0 changes (EMTS_FACTORYMODE)
//            - Added factory output mode defines
//
// v1.1.1
// 01-09-2005 - Added defines for Extended output mode
//            - Added reqSetting (byte array in + out & no param variant)
//
// v1.1
// 08-08-2005 - Added file read and write support
//            - Added functions for data retrieval (getValue etc)
//                for easy data retrieval of acc, gyr, mag etc
//            - ReadMessageRaw:
//              - added a temporary buffer for unprocessed bytes
//              - check for invalid length messages
//            - Changed BID_MT into 1 and added BID_MASTER (=0xFF)
//            - Changed various ....SerialPort functions to .....Port
//            - Changed mtSendMessage functions to mtWriteMessage
//            - Added numerous defines
//            - Deleted obsolete functions
//            - Changed function getLastErrorCode into getLastDeviceError
//            - Changed OpenPort function for compatiblity with Bluetooth ports
//            - Added workaround for lockup of USB driver (close function)
//            - Added workaround for clock() problem with read function of USB driver
//
// v1.0.2
// 29-06-2005 - Inserted initSerialPort with devicename input
//            - Changed return value defines names from X_ to XBRV_
//            - Removed unneeded includes for linux
//
// v1.0.1
// 22-06-2005 - Fixed ReqSetting functions (byte array & param variant)
//              mtSendRawString had wrong length input
//
// v1.0.0
// 20-06-2005 - Initial release
//
// ----------------------------------------------------------------------------
//  This file is an Xsens Code Example.
//
//  Copyright (C) Xsens Technologies B.V., 2005.
//
//  This source code is intended only as a example of the implementation
//  of the Xsens MT Communication protocol.
//  It was written for cross platform capabilities.
//
//  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.
//////////////////////////////////////////////////////////////////////
#if !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_)
#define AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_
 
#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
 
#include <string.h>
#include <stdio.h>
#ifdef WIN32
#include <windows.h>
#include <conio.h>
#include <time.h>
#else
#include <fcntl.h>      /* POSIX Standard: 6.5 File Control Operations     */
#include <termios.h>    /* terminal i/o system, talks to /dev/tty* ports  */
#include <unistd.h>     /* Read function */
#include <sys/time.h>   /* gettimeofday function */
#include <sys/stat.h>   /* stat calls and structures*/
#endif
 
#include "../Includes.h"
 
#ifdef _IMU_USE_XSENS_DEVICE_
 
namespace IMU::Xsens
{
 
#ifndef INVALID_SET_FILE_POINTER
#define INVALID_SET_FILE_POINTER    ((DWORD)(-1))
#endif
 
    // Field message indexes
#define IND_PREAMBLE                0
#define IND_BID                     1
#define IND_MID                     2
#define IND_LEN                     3
#define IND_DATA0                   4
#define IND_LENEXTH                 4
#define IND_LENEXTL                 5
#define IND_DATAEXT0                6
 
    // Maximum number of sensors supported
#define MAXDEVICES                  20
 
#define PREAMBLE                    (unsigned char)0xFA
#define BID_MASTER                  (unsigned char)0xFF
#define BID_MT                      (unsigned char)0x01
#define EXTLENCODE                  0xFF
 
#define LEN_MSGHEADER               (unsigned short)4
#define LEN_MSGEXTHEADER            (unsigned short)6
#define LEN_MSGHEADERCS             (unsigned short)5
#define LEN_MSGEXTHEADERCS          (unsigned short)7
#define LEN_CHECKSUM                (unsigned short)1
#define LEN_UNSIGSHORT              (unsigned short)2
#define LEN_UNSIGINT                (unsigned short)4
#define LEN_FLOAT                   (unsigned short)4
 
    // Maximum message/data length
#define MAXDATALEN                  (unsigned short)2048
#define MAXSHORTDATALEN             (unsigned short)254
#define MAXMSGLEN                   (unsigned short)(MAXDATALEN+7)
#define MAXSHORTMSGLEN              (unsigned short)(MAXSHORTDATALEN+5)
 
    // DID Type (high nibble)
#define DID_TYPEH_MASK              (unsigned long)0x00F00000
#define DID_TYPEH_MT                (unsigned long)0x00000000
#define DID_TYPEH_XM                (unsigned long)0x00100000
#define DID_TYPEH_MTI_MTX           (unsigned long)0x00300000
 
    // All Message identifiers
    // WakeUp state messages
#define MID_WAKEUP                  (unsigned char)0x3E
#define MID_WAKEUPACK               (unsigned char)0x3F
 
    // Config state messages
#define MID_REQDID                  (unsigned char)0x00
#define MID_DEVICEID                (unsigned char)0x01
#define LEN_DEVICEID                (unsigned short)4
#define MID_INITBUS                 (unsigned char)0x02
#define MID_INITBUSRESULTS          (unsigned char)0x03
#define LEN_INITBUSRESULTS          (unsigned short)4
#define MID_REQPERIOD               (unsigned char)0x04
#define MID_REQPERIODACK            (unsigned char)0x05
#define LEN_PERIOD                  (unsigned short)2
#define MID_SETPERIOD               (unsigned char)0x04
#define MID_SETPERIODACK            (unsigned char)0x05
    // XbusMaster
#define MID_SETBID                  (unsigned char)0x06
#define MID_SETBIDACK               (unsigned char)0x07
#define MID_AUTOSTART               (unsigned char)0x06
#define MID_AUTOSTARTACK            (unsigned char)0x07
#define MID_BUSPWROFF               (unsigned char)0x08
#define MID_BUSPWROFFACK            (unsigned char)0x09
    // End XbusMaster
#define MID_REQDATALENGTH           (unsigned char)0x0A
#define MID_DATALENGTH              (unsigned char)0x0B
#define LEN_DATALENGTH              (unsigned short)2
#define MID_REQCONFIGURATION        (unsigned char)0x0C
#define MID_CONFIGURATION           (unsigned char)0x0D
#define LEN_CONFIGURATION           (unsigned short)118
#define MID_RESTOREFACTORYDEF       (unsigned char)0x0E
#define MID_RESTOREFACTORYDEFACK    (unsigned char)0x0F
 
#define MID_GOTOMEASUREMENT         (unsigned char)0x10
#define MID_GOTOMEASUREMENTACK      (unsigned char)0x11
#define MID_REQFWREV                (unsigned char)0x12
#define MID_FIRMWAREREV             (unsigned char)0x13
#define LEN_FIRMWAREREV             (unsigned short)3
    // XbusMaster
#define MID_REQBTDISABLE            (unsigned char)0x14
#define MID_REQBTDISABLEACK         (unsigned char)0x15
#define MID_DISABLEBT               (unsigned char)0x14
#define MID_DISABLEBTACK            (unsigned char)0x15
#define MID_REQOPMODE               (unsigned char)0x16
#define MID_REQOPMODEACK            (unsigned char)0x17
#define MID_SETOPMODE               (unsigned char)0x16
#define MID_SETOPMODEACK            (unsigned char)0x17
    // End XbusMaster
#define MID_REQBAUDRATE             (unsigned char)0x18
#define MID_REQBAUDRATEACK          (unsigned char)0x19
#define LEN_BAUDRATE                (unsigned short)1
#define MID_SETBAUDRATE             (unsigned char)0x18
#define MID_SETBAUDRATEACK          (unsigned char)0x19
    // XbusMaster
#define MID_REQSYNCMODE             (unsigned char)0x1A
#define MID_REQSYNCMODEACK          (unsigned char)0x1B
#define MID_SETSYNCMODE             (unsigned char)0x1A
#define MID_SETSYNCMODEACK          (unsigned char)0x1B
    // End XbusMaster
#define MID_REQPRODUCTCODE          (unsigned char)0x1C
#define MID_PRODUCTCODE             (unsigned char)0x1D
 
#define MID_REQOUTPUTMODE           (unsigned char)0xD0
#define MID_REQOUTPUTMODEACK        (unsigned char)0xD1
#define LEN_OUTPUTMODE              (unsigned short)2
#define MID_SETOUTPUTMODE           (unsigned char)0xD0
#define MID_SETOUTPUTMODEACK        (unsigned char)0xD1
 
#define MID_REQOUTPUTSETTINGS       (unsigned char)0xD2
#define MID_REQOUTPUTSETTINGSACK    (unsigned char)0xD3
#define LEN_OUTPUTSETTINGS          (unsigned short)4
#define MID_SETOUTPUTSETTINGS       (unsigned char)0xD2
#define MID_SETOUTPUTSETTINGSACK    (unsigned char)0xD3
 
#define MID_REQOUTPUTSKIPFACTOR     (unsigned char)0xD4
#define MID_REQOUTPUTSKIPFACTORACK  (unsigned char)0xD5
#define LEN_OUTPUTSKIPFACTOR        (unsigned short)2
#define MID_SETOUTPUTSKIPFACTOR     (unsigned char)0xD4
#define MID_SETOUTPUTSKIPFACTORACK  (unsigned char)0xD5
 
#define MID_REQSYNCINSETTINGS       (unsigned char)0xD6
#define MID_REQSYNCINSETTINGSACK    (unsigned char)0xD7
#define LEN_SYNCINMODE              (unsigned short)2
#define LEN_SYNCINSKIPFACTOR        (unsigned short)2
#define LEN_SYNCINOFFSET            (unsigned short)4
#define MID_SETSYNCINSETTINGS       (unsigned char)0xD6
#define MID_SETSYNCINSETTINGSACK    (unsigned char)0xD7
 
#define MID_REQSYNCOUTSETTINGS      (unsigned char)0xD8
#define MID_REQSYNCOUTSETTINGSACK   (unsigned char)0xD9
#define LEN_SYNCOUTMODE             (unsigned short)2
#define LEN_SYNCOUTSKIPFACTOR       (unsigned short)2
#define LEN_SYNCOUTOFFSET           (unsigned short)4
#define LEN_SYNCOUTPULSEWIDTH       (unsigned short)4
#define MID_SETSYNCOUTSETTINGS      (unsigned char)0xD8
#define MID_SETSYNCOUTSETTINGSACK   (unsigned char)0xD9
 
#define MID_REQERRORMODE            (unsigned char)0xDA
#define MID_REQERRORMODEACK         (unsigned char)0xDB
#define LEN_ERRORMODE               (unsigned short)2
#define MID_SETERRORMODE            (unsigned char)0xDA
#define MID_SETERRORMODEACK         (unsigned char)0xDB
 
#define MID_REQTRANSMITDELAY        (unsigned char)0xDC
#define MID_REQTRANSMITDELAYACK     (unsigned char)0xDD
#define LEN_TRANSMITDELAY           (unsigned short)2
#define MID_SETTRANSMITDELAY        (unsigned char)0xDC
#define MID_SETTRANSMITDELAYACK     (unsigned char)0xDD
 
    // Xbus Master
#define MID_REQXMERRORMODE          (unsigned char)0x82
#define MID_REQXMERRORMODEACK       (unsigned char)0x83
#define LEN_XMERRORMODE             (unsigned short)2
#define MID_SETXMERRORMODE          (unsigned char)0x82
#define MID_SETXMERRORMODEACK       (unsigned char)0x83
 
#define MID_REQBUFFERSIZE           (unsigned char)0x84
#define MID_REQBUFFERSIZEACK        (unsigned char)0x85
#define LEN_BUFFERSIZE              (unsigned short)2
#define MID_SETBUFFERSIZE           (unsigned char)0x84
#define MID_SETBUFFERSIZEACK        (unsigned char)0x85
    // End Xbus Master
 
#define MID_REQHEADING              (unsigned char)0x82
#define MID_REQHEADINGACK           (unsigned char)0x83
#define LEN_HEADING                 (unsigned short)4
#define MID_SETHEADING              (unsigned char)0x82
#define MID_SETHEADINGACK           (unsigned char)0x83
 
#define MID_REQLOCATIONID           (unsigned char)0x84
#define MID_REQLOCATIONIDACK        (unsigned char)0x85
#define LEN_LOCATIONID              (unsigned short)2
#define MID_SETLOCATIONID           (unsigned char)0x84
#define MID_SETLOCATIONIDACK        (unsigned char)0x85
 
#define MID_REQEXTOUTPUTMODE        (unsigned char)0x86
#define MID_REQEXTOUTPUTMODEACK     (unsigned char)0x87
#define LEN_EXTOUTPUTMODE           (unsigned short)2
#define MID_SETEXTOUTPUTMODE        (unsigned char)0x86
#define MID_SETEXTOUTPUTMODEACK     (unsigned char)0x87
 
    // XbusMaster
#define MID_REQBATLEVEL             (unsigned char)0x88
#define MID_BATLEVEL                (unsigned char)0x89
    // End XbusMaster
 
#define MID_REQINITTRACKMODE        (unsigned char)0x88
#define MID_REQINITTRACKMODEACK     (unsigned char)0x89
#define LEN_INITTRACKMODE           (unsigned short)2
#define MID_SETINITTRACKMODE        (unsigned char)0x88
#define MID_SETINITTRACKMODEACK     (unsigned char)0x89
 
#define MID_STOREFILTERSTATE        (unsigned char)0x8A
#define MID_STOREFILTERSTATEACK     (unsigned char)0x8B
 
    // Measurement state
#define MID_GOTOCONFIG              (unsigned char)0x30
#define MID_GOTOCONFIGACK           (unsigned char)0x31
#define MID_BUSDATA                 (unsigned char)0x32
#define MID_MTDATA                  (unsigned char)0x32
 
    // Manual
#define MID_PREPAREDATA             (unsigned char)0x32
#define MID_REQDATA                 (unsigned char)0x34
#define MID_REQDATAACK              (unsigned char)0x35
 
    // MTData defines
    // Length of data blocks in bytes
#define LEN_RAWDATA                 (unsigned short)20
#define LEN_CALIBDATA               (unsigned short)36
#define LEN_CALIB_ACCDATA           (unsigned short)12
#define LEN_CALIB_GYRDATA           (unsigned short)12
#define LEN_CALIB_MAGDATA           (unsigned short)12
#define LEN_ORIENT_QUATDATA         (unsigned short)16
#define LEN_ORIENT_EULERDATA        (unsigned short)12
#define LEN_ORIENT_MATRIXDATA       (unsigned short)36
#define LEN_SAMPLECNT               (unsigned short)2
#define LEN_TEMPDATA                (unsigned short)4
 
    // Length of data blocks in floats
#define LEN_CALIBDATA_FLT           (unsigned short)9
#define LEN_ORIENT_QUATDATA_FLT     (unsigned short)4
#define LEN_ORIENT_EULERDATA_FLT    (unsigned short)3
#define LEN_ORIENT_MATRIXDATA_FLT   (unsigned short)9
 
    // Indices of fields in DATA field of MTData message in bytes
    // use in combination with LEN_CALIB etc
    // Un-calibrated raw data
#define IND_RAW_ACCX                0
#define IND_RAW_ACCY                2
#define IND_RAW_ACCZ                4
#define IND_RAW_GYRX                6
#define IND_RAW_GYRY                8
#define IND_RAW_GYRZ                10
#define IND_RAW_MAGX                12
#define IND_RAW_MAGY                14
#define IND_RAW_MAGZ                16
#define IND_RAW_TEMP                18
    // Calibrated data
#define IND_CALIB_ACCX              0
#define IND_CALIB_ACCY              4
#define IND_CALIB_ACCZ              8
#define IND_CALIB_GYRX              12
#define IND_CALIB_GYRY              16
#define IND_CALIB_GYRZ              20
#define IND_CALIB_MAGX              24
#define IND_CALIB_MAGY              28
#define IND_CALIB_MAGZ              32
    // Orientation data - quat
#define IND_ORIENT_Q0               0
#define IND_ORIENT_Q1               4
#define IND_ORIENT_Q2               8
#define IND_ORIENT_Q3               12
    // Orientation data - euler
#define IND_ORIENT_ROLL             0
#define IND_ORIENT_PITCH            4
#define IND_ORIENT_YAW              8
    // Orientation data - matrix
#define IND_ORIENT_A                0
#define IND_ORIENT_B                4
#define IND_ORIENT_C                8
#define IND_ORIENT_D                12
#define IND_ORIENT_E                16
#define IND_ORIENT_F                20
#define IND_ORIENT_G                24
#define IND_ORIENT_H                28
#define IND_ORIENT_I                32
    // Orientation data - euler
#define IND_SAMPLECNTH              0
#define IND_SAMPLECNTL              1
 
    // Indices of fields in DATA field of MTData message
    // Un-calibrated raw data
#define FLDNUM_RAW_ACCX             0
#define FLDNUM_RAW_ACCY             1
#define FLDNUM_RAW_ACCZ             2
#define FLDNUM_RAW_GYRX             3
#define FLDNUM_RAW_GYRY             4
#define FLDNUM_RAW_GYRZ             5
#define FLDNUM_RAW_MAGX             6
#define FLDNUM_RAW_MAGY             7
#define FLDNUM_RAW_MAGZ             8
#define FLDNUM_RAW_TEMP             9
    // Calibrated data
#define FLDNUM_CALIB_ACCX           0
#define FLDNUM_CALIB_ACCY           1
#define FLDNUM_CALIB_ACCZ           2
#define FLDNUM_CALIB_GYRX           3
#define FLDNUM_CALIB_GYRY           4
#define FLDNUM_CALIB_GYRZ           5
#define FLDNUM_CALIB_MAGX           6
#define FLDNUM_CALIB_MAGY           7
#define FLDNUM_CALIB_MAGZ           8
    // Orientation data - quat
#define FLDNUM_ORIENT_Q0            0
#define FLDNUM_ORIENT_Q1            1
#define FLDNUM_ORIENT_Q2            2
#define FLDNUM_ORIENT_Q3            3
    // Orientation data - euler
#define FLDNUM_ORIENT_ROLL          0
#define FLDNUM_ORIENT_PITCH         1
#define FLDNUM_ORIENT_YAW           2
    // Orientation data - matrix
#define FLDNUM_ORIENT_A             0
#define FLDNUM_ORIENT_B             1
#define FLDNUM_ORIENT_C             2
#define FLDNUM_ORIENT_D             3
#define FLDNUM_ORIENT_E             4
#define FLDNUM_ORIENT_F             5
#define FLDNUM_ORIENT_G             6
#define FLDNUM_ORIENT_H             7
#define FLDNUM_ORIENT_I             8
    // Length
    // Uncalibrated raw data
#define LEN_RAW_ACCX                2
#define LEN_RAW_ACCY                2
#define LEN_RAW_ACCZ                2
#define LEN_RAW_GYRX                2
#define LEN_RAW_GYRY                2
#define LEN_RAW_GYRZ                2
#define LEN_RAW_MAGX                2
#define LEN_RAW_MAGY                2
#define LEN_RAW_MAGZ                2
#define LEN_RAW_TEMP                2
    // Calibrated data
#define LEN_CALIB_ACCX              4
#define LEN_CALIB_ACCY              4
#define LEN_CALIB_ACCZ              4
#define LEN_CALIB_GYRX              4
#define LEN_CALIB_GYRY              4
#define LEN_CALIB_GYRZ              4
#define LEN_CALIB_MAGX              4
#define LEN_CALIB_MAGY              4
#define LEN_CALIB_MAGZ              4
    // Orientation data - quat
#define LEN_ORIENT_Q0               4
#define LEN_ORIENT_Q1               4
#define LEN_ORIENT_Q2               4
#define LEN_ORIENT_Q3               4
    // Orientation data - euler
#define LEN_ORIENT_ROLL             4
#define LEN_ORIENT_PITCH            4
#define LEN_ORIENT_YAW              4
    // Orientation data - matrix
#define LEN_ORIENT_A                4
#define LEN_ORIENT_B                4
#define LEN_ORIENT_C                4
#define LEN_ORIENT_D                4
#define LEN_ORIENT_E                4
#define LEN_ORIENT_F                4
#define LEN_ORIENT_G                4
#define LEN_ORIENT_H                4
#define LEN_ORIENT_I                4
 
    // Defines for getDataValue
#define VALUE_RAW_ACC               0
#define VALUE_RAW_GYR               1
#define VALUE_RAW_MAG               2
#define VALUE_RAW_TEMP              3
#define VALUE_CALIB_ACC             4
#define VALUE_CALIB_GYR             5
#define VALUE_CALIB_MAG             6
#define VALUE_ORIENT_QUAT           7
#define VALUE_ORIENT_EULER          8
#define VALUE_ORIENT_MATRIX         9
#define VALUE_SAMPLECNT             10
#define VALUE_TEMP                  11
 
#define INVALIDSETTINGVALUE         0xFFFFFFFF
 
    // Valid in all states
#define MID_RESET                   (unsigned char)0x40
#define MID_RESETACK                (unsigned char)0x41
#define MID_ERROR                   (unsigned char)0x42
#define LEN_ERROR                   (unsigned short)1
    // XbusMaster
#define MID_XMPWROFF                (unsigned char)0x44
    // End XbusMaster
 
#define MID_REQFILTERSETTINGS       (unsigned char)0xA0
#define MID_REQFILTERSETTINGSACK    (unsigned char)0xA1
#define LEN_FILTERSETTINGS          (unsigned short)4
#define MID_SETFILTERSETTINGS       (unsigned char)0xA0
#define MID_SETFILTERSETTINGSACK    (unsigned char)0xA1
#define MID_REQAMD                  (unsigned char)0xA2
#define MID_REQAMDACK               (unsigned char)0xA3
#define LEN_AMD                     (unsigned short)2
#define MID_SETAMD                  (unsigned char)0xA2
#define MID_SETAMDACK               (unsigned char)0xA3
#define MID_RESETORIENTATION        (unsigned char)0xA4
#define MID_RESETORIENTATIONACK     (unsigned char)0xA5
#define LEN_RESETORIENTATION        (unsigned short)2
 
    // All Messages
    // WakeUp state messages
#define MSG_WAKEUPLEN               5
#define MSG_WAKEUPACK               (const unsigned char *)"\xFA\xFF\x3F\x00"
#define MSG_WAKEUPACKLEN            4
    // Config state messages
#define MSG_REQDID                  (const unsigned char *)"\xFA\xFF\x00\x00"
#define MSG_REQDIDLEN               4
#define MSG_DEVICEIDLEN             9
#define MSG_INITBUS                 (const unsigned char *)"\xFA\xFF\x02\x00"
#define MSG_INITBUSLEN              4
#define MSG_INITBUSRESMAXLEN        (5 + 4 * MAXSENSORS)
#define MSG_REQPERIOD               (const unsigned char *)"\xFA\xFF\x04\x00"
#define MSG_REQPERIODLEN            4
#define MSG_REQPERIODACKLEN         7
#define MSG_SETPERIOD               (const unsigned char *)"\xFA\xFF\x04\x02"
#define MSG_SETPERIODLEN            6
#define MSG_SETPERIODACKLEN         5
#define MSG_SETBID                  (const unsigned char *)"\xFA\xFF\x06\x05"
#define MSG_SETBIDLEN               9
#define MSG_SETBIDACKLEN            5
#define MSG_AUTOSTART               (const unsigned char *)"\xFA\xFF\x06\x00"
#define MSG_AUTOSTARTLEN            4
#define MSG_AUTOSTARTACKLEN         5
#define MSG_BUSPWROFF               (const unsigned char *)"\xFA\xFF\x08\x00"
#define MSG_BUSPWROFFLEN            4
#define MSG_BUSPWROFFACKLEN         5
#define MSG_RESTOREFACTORYDEF       (const unsigned char *)"\xFA\xFF\x0E\x00"
#define MSG_RESTOREFACTORYDEFLEN    4
#define MSG_RESTOREFACTORYDEFACKLEN 5
#define MSG_REQDATALENGTH           (const unsigned char *)"\xFA\xFF\x0A\x00"
#define MSG_REQDATALENGTHLEN        4
#define MSG_DATALENGTHLEN           7
#define MSG_REQCONFIGURATION        (const unsigned char *)"\xFA\xFF\x0C\x00"
#define MSG_REQCONFIGURATIONLEN     4
#define MSG_GOTOMEASUREMENT         (const unsigned char *)"\xFA\xFF\x10\x00"
#define MSG_GOTOMEASUREMENTLEN      4
#define MSG_GOTOMEASMAN             (const unsigned char *)"\xFA\x01\x10\x00"
#define MSG_GOTOMEASMANLEN          4
#define MSG_GOTOMEASACKLEN          5
#define MSG_REQFWREV                (const unsigned char *)"\xFA\xFF\x12\x00"
#define MSG_REQFWREVLEN             4
#define MSG_FIRMWAREREVLEN          8
#define MSG_REQBTDISABLED           (const unsigned char *)"\xFA\xFF\x14\x00"
#define MSG_REQBTDISABLEDLEN        4
#define MSG_REQBTDISABLEDACKLEN     6
#define MSG_DISABLEBT               (const unsigned char *)"\xFA\xFF\x14\x01"
#define MSG_DISABLEBTLEN            5
#define MSG_DISABLEBTACKLEN         5
#define MSG_REQOPMODE               (const unsigned char *)"\xFA\xFF\x16\x00"
#define MSG_REQOPMODELEN            4
#define MSG_REQOPMODEACKLEN         6
#define MSG_SETOPMODE               (const unsigned char *)"\xFA\xFF\x16\x01"
#define MSG_SETOPMODELEN            5
#define MSG_SETOPMODEACKLEN         5
#define MSG_REQBAUDRATE             (const unsigned char *)"\xFA\xFF\x18\x00"
#define MSG_REQBAUDRATELEN          4
#define MSG_REQBAUDRATEACKLEN       6
#define MSG_SETBAUDRATE             (const unsigned char *)"\xFA\xFF\x18\x01"
#define MSG_SETBAUDRATELEN          5
#define MSG_SETBAUDRATEACKLEN       5
#define MSG_REQSYNCMODE             (const unsigned char *)"\xFA\xFF\x1A\x00"
#define MSG_REQSYNCMODELEN          4
#define MSG_REQSYNCMODEACKLEN       6
#define MSG_SETSYNCMODE             (const unsigned char *)"\xFA\xFF\x1A\x01"
#define MSG_SETSYNCMODELEN          5
#define MSG_SETSYNCMODEACKLEN       6
#define MSG_REQMTS                  (const unsigned char *)"\xFA\xFF\x90\x01"
#define MSG_REQMTSLEN               5
#define MSG_MTSDATA                 61
#define MSG_STORECUSMTS             (const unsigned char *)"\xFA\xFF\x92\x58"
#define MSG_STORECUSMTSLEN          92
#define MSG_STORECUSMTSACKLEN       5
#define MSG_REVTOORGMTS             (const unsigned char *)"\xFA\xFF\x94\x00"
#define MSG_REVTOORGMTSLEN          4
#define MSG_REVTOORGMTSACKLEN       5
#define MSG_STOREMTS                (const unsigned char *)"\xFA\xFF\x96\x41"
#define MSG_STOREMTSLEN             69
#define MSG_STOREMTSACKLEN          5
#define MSG_REQSYNCOUTMODE          (const unsigned char *)"\xFA\xFF\xD8\x01\x00"
#define MSG_REQSYNCOUTMODELEN       5
#define MSG_REQSYNCOUTSKIPFACTOR    (const unsigned char *)"\xFA\xFF\xD8\x01\x01"
#define MSG_REQSYNCOUTSKIPFACTORLEN 5
#define MSG_REQSYNCOUTOFFSET        (const unsigned char *)"\xFA\xFF\xD8\x01\x02"
#define MSG_REQSYNCOUTOFFSETLEN     5
#define MSG_REQSYNCOUTPULSEWIDTH    (const unsigned char *)"\xFA\xFF\xD8\x01\x03"
#define MSG_REQSYNCOUTPULSEWIDTHLEN 5
#define MSG_REQERRORMODE            (const unsigned char *)"\xFA\xFF\xDA\x00"
#define MSG_REQERRORMODELEN         4
#define MSG_REQERRORMODEACKLEN      7
    // Measurement state - auto messages
#define MSG_GOTOCONFIG              (const unsigned char *)"\xFA\xFF\x30\x00"
#define MSG_GOTOCONFIGLEN           4
#define MSG_GOTOCONFIGACKLEN        5
    // Measurement state - manual messages (Use DID = 0x01)
#define MSG_GOTOCONFIGM             (const unsigned char *)"\xFA\x01\x30\x00"
#define MSG_GOTOCONFIGMLEN          4
#define MSG_GOTOCONFIGMACKLEN       5
#define MSG_PREPAREDATA             (const unsigned char *)"\xFA\x01\x32\x00"
#define MSG_PREPAREDATALEN          4
#define MSG_REQDATA                 (const unsigned char *)"\xFA\x01\x34\x00"
#define MSG_REQDATALEN              4
    // Valid in all states
#define MSG_RESET                   (const unsigned char *)"\xFA\xFF\x40\x00"
#define MSG_RESETLEN                4
#define MSG_RESETACKLEN             5
#define MSG_XMPWROFF                (const unsigned char *)"\xFA\xFF\x44\x00"
#define MSG_XMPWROFFLEN             4
#define MSG_XMPWROFFACKLEN          5
 
    // Baudrate defines for SetBaudrate message
#define BAUDRATE_9K6                0x09
#define BAUDRATE_14K4               0x08
#define BAUDRATE_19K2               0x07
#define BAUDRATE_28K8               0x06
#define BAUDRATE_38K4               0x05
#define BAUDRATE_57K6               0x04
#define BAUDRATE_76K8               0x03
#define BAUDRATE_115K2              0x02
#define BAUDRATE_230K4              0x01
#define BAUDRATE_460K8              0x00
#define BAUDRATE_921K6              0x80
 
    // Xbus protocol error codes (Error)
#define ERROR_NOBUSCOMM             0x01
#define ERROR_BUSNOTREADY           0x02
#define ERROR_PERIODINVALID         0x03
#define ERROR_MESSAGEINVALID        0x04
#define ERROR_INITOFBUSFAILED1      0x10
#define ERROR_INITOFBUSFAILED2      0x11
#define ERROR_INITOFBUSFAILED3      0x12
#define ERROR_SETBIDPROCFAILED1     0x14
#define ERROR_SETBIDPROCFAILED2     0x15
#define ERROR_MEASUREMENTFAILED1    0x18
#define ERROR_MEASUREMENTFAILED2    0x19
#define ERROR_MEASUREMENTFAILED3    0x1A
#define ERROR_MEASUREMENTFAILED4    0x1B
#define ERROR_MEASUREMENTFAILED5    0x1C
#define ERROR_MEASUREMENTFAILED6    0x1D
#define ERROR_TIMEROVERFLOW         0x1E
#define ERROR_BAUDRATEINVALID       0x20
#define ERROR_PARAMETERINVALID      0x21
#define ERROR_MEASUREMENTFAILED7    0x23
 
    // Error modes (SetErrorMode)
#define ERRORMODE_IGNORE                    0x0000
#define ERRORMODE_INCSAMPLECNT              0x0001
#define ERRORMODE_INCSAMPLECNT_SENDERROR    0x0002
#define ERRORMODE_SENDERROR_GOTOCONFIG      0x0003
 
    // Configuration message defines
#define CONF_MASTERDID              0
#define CONF_PERIOD                 4
#define CONF_OUTPUTSKIPFACTOR       6
#define CONF_SYNCIN_MODE            8
#define CONF_SYNCIN_SKIPFACTOR      10
#define CONF_SYNCIN_OFFSET          12
#define CONF_DATE                   16
#define CONF_TIME                   24
#define CONF_NUMDEVICES             96
    // Configuration sensor block properties
#define CONF_DID                    98
#define CONF_DATALENGTH             102
#define CONF_OUTPUTMODE             104
#define CONF_OUTPUTSETTINGS         106
#define CONF_BLOCKLEN               20
    // To calculate the offset in data field for output mode of sensor #2 use
    //      CONF_OUTPUTMODE + 1*CONF_BLOCKLEN
#define CONF_MASTERDIDLEN           4
#define CONF_PERIODLEN              2
#define CONF_OUTPUTSKIPFACTORLEN    2
#define CONF_SYNCIN_MODELEN         2
#define CONF_SYNCIN_SKIPFACTORLEN   2
#define CONF_SYNCIN_OFFSETLEN       4
#define CONF_DATELEN                8
#define CONF_TIMELEN                8
#define CONF_RESERVED_CLIENTLEN     32
#define CONF_RESERVED_HOSTLEN       32
#define CONF_NUMDEVICESLEN          2
    // Configuration sensor block properties
#define CONF_DIDLEN                 4
#define CONF_DATALENGTHLEN          2
#define CONF_OUTPUTMODELEN          2
#define CONF_OUTPUTSETTINGSLEN      4
 
    // Clock frequency for offset & pulse width
#define SYNC_CLOCKFREQ              29.4912e6
 
    // SyncIn params
#define PARAM_SYNCIN_MODE           (const unsigned char)0x00
#define PARAM_SYNCIN_SKIPFACTOR     (const unsigned char)0x01
#define PARAM_SYNCIN_OFFSET         (const unsigned char)0x02
 
    // SyncIn mode
#define SYNCIN_DISABLED             0x0000
#define SYNCIN_EDGE_RISING          0x0001
#define SYNCIN_EDGE_FALLING         0x0002
#define SYNCIN_EDGE_BOTH            0x0003
#define SYNCIN_TYPE_SENDLASTDATA    0x0004
#define SYNCIN_TYPE_DOSAMPLING      0x0000
#define SYNCIN_EDGE_MASK            0x0003
#define SYNCIN_TYPE_MASK            0x000C
 
    // SyncOut params
#define PARAM_SYNCOUT_MODE          (const unsigned char)0x00
#define PARAM_SYNCOUT_SKIPFACTOR    (const unsigned char)0x01
#define PARAM_SYNCOUT_OFFSET        (const unsigned char)0x02
#define PARAM_SYNCOUT_PULSEWIDTH    (const unsigned char)0x03
 
    // SyncOut mode
#define SYNCOUT_DISABLED        0x0000
#define SYNCOUT_TYPE_TOGGLE     0x0001
#define SYNCOUT_TYPE_PULSE      0x0002
#define SYNCOUT_POL_NEG         0x0000
#define SYNCOUT_POL_POS         0x0010
#define SYNCOUT_TYPE_MASK       0x000F
#define SYNCOUT_POL_MASK        0x0010
 
    // Sample frequencies (SetPeriod)
#define PERIOD_10HZ             0x2D00
#define PERIOD_12HZ             0x2580
#define PERIOD_15HZ             0x1E00
#define PERIOD_16HZ             0x1C20
#define PERIOD_18HZ             0x1900
#define PERIOD_20HZ             0x1680
#define PERIOD_24HZ             0x12C0
#define PERIOD_25HZ             0x1200
#define PERIOD_30HZ             0x0F00
#define PERIOD_32HZ             0x0E10
#define PERIOD_36HZ             0x0C80
#define PERIOD_40HZ             0x0B40
#define PERIOD_45HZ             0x0A00
#define PERIOD_48HZ             0x0960
#define PERIOD_50HZ             0x0900
#define PERIOD_60HZ             0x0780
#define PERIOD_64HZ             0x0708
#define PERIOD_72HZ             0x0640
#define PERIOD_75HZ             0x0600
#define PERIOD_80HZ             0x05A0
#define PERIOD_90HZ             0x0500
#define PERIOD_96HZ             0x04B0
#define PERIOD_100HZ            0x0480
#define PERIOD_120HZ            0x03C0
#define PERIOD_128HZ            0x0384
#define PERIOD_144HZ            0x0320
#define PERIOD_150HZ            0x0300
#define PERIOD_160HZ            0x02D0
#define PERIOD_180HZ            0x0280
#define PERIOD_192HZ            0x0258
#define PERIOD_200HZ            0x0240
#define PERIOD_225HZ            0x0200
#define PERIOD_240HZ            0x01E0
#define PERIOD_256HZ            0x01C2
#define PERIOD_288HZ            0x0190
#define PERIOD_300HZ            0x0180
#define PERIOD_320HZ            0x0168
#define PERIOD_360HZ            0x0140
#define PERIOD_384HZ            0x012C
#define PERIOD_400HZ            0x0120
#define PERIOD_450HZ            0x0100
#define PERIOD_480HZ            0x00F0
#define PERIOD_512HZ            0x00E1
 
    // OutputModes
#define OUTPUTMODE_MT9              0x8000
#define OUTPUTMODE_XM               0x0000
#define OUTPUTMODE_RAW              0x4000
#define OUTPUTMODE_TEMP             0x0001
#define OUTPUTMODE_CALIB            0x0002
#define OUTPUTMODE_ORIENT           0x0004
 
    // OutputSettings
#define OUTPUTSETTINGS_XM                       0x00000001
#define OUTPUTSETTINGS_TIMESTAMP_NONE           0x00000000
#define OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT      0x00000001
#define OUTPUTSETTINGS_ORIENTMODE_QUATERNION    0x00000000
#define OUTPUTSETTINGS_ORIENTMODE_EULER         0x00000004
#define OUTPUTSETTINGS_ORIENTMODE_MATRIX        0x00000008
#define OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG      0x00000000
#define OUTPUTSETTINGS_CALIBMODE_ACC            0x00000060
#define OUTPUTSETTINGS_CALIBMODE_ACCGYR         0x00000040
#define OUTPUTSETTINGS_CALIBMODE_ACCMAG         0x00000020
#define OUTPUTSETTINGS_CALIBMODE_GYR            0x00000050
#define OUTPUTSETTINGS_CALIBMODE_GYRMAG         0x00000010
#define OUTPUTSETTINGS_CALIBMODE_MAG            0x00000030
#define OUTPUTSETTINGS_DATAFORMAT_FLOAT         0x00000000
#define OUTPUTSETTINGS_DATAFORMAT_F1220         0x00000100
#define OUTPUTSETTINGS_TIMESTAMP_MASK           0x00000003
#define OUTPUTSETTINGS_ORIENTMODE_MASK          0x0000000C
#define OUTPUTSETTINGS_CALIBMODE_ACC_MASK       0x00000010
#define OUTPUTSETTINGS_CALIBMODE_GYR_MASK       0x00000020
#define OUTPUTSETTINGS_CALIBMODE_MAG_MASK       0x00000040
#define OUTPUTSETTINGS_CALIBMODE_MASK           0x00000070
#define OUTPUTSETTINGS_DATAFORMAT_MASK          0x00000300
 
    // Extended Output Modes
#define EXTOUTPUTMODE_DISABLED          0x0000
#define EXTOUTPUTMODE_EULER             0x0001
 
    // Factory Output Mode
#define FACTORYOUTPUTMODE_DISABLE       0x0000
#define FACTORYOUTPUTMODE_DEFAULT       0x0001
#define FACTORYOUTPUTMODE_CUSTOM        0x0002
 
    // Initial tracking mode (SetInitTrackMode)
#define INITTRACKMODE_DISABLED      0x0000
#define INITTRACKMODE_ENABLED       0x0001
 
    // Filter settings params
#define PARAM_FILTER_GAIN           (const unsigned char)0x00
#define PARAM_FILTER_RHO            (const unsigned char)0x01
#define DONOTSTORE                  0x00
#define STORE                       0x01
 
    // AMDSetting (SetAMD)
#define AMDSETTING_DISABLED         0x0000
#define AMDSETTING_ENABLED          0x0001
 
    // Reset orientation message type
#define RESETORIENTATION_STORE      0
#define RESETORIENTATION_HEADING    1
#define RESETORIENTATION_GLOBAL     2
#define RESETORIENTATION_OBJECT     3
#define RESETORIENTATION_ALIGN      4
 
    // Send raw string mode
#define SENDRAWSTRING_INIT          0
#define SENDRAWSTRING_DEFAULT       1
#define SENDRAWSTRING_SEND          2
 
    // Timeouts
#define TO_DEFAULT                  500
#define TO_INIT                     250
#define TO_RETRY                    50
 
    // openPort baudrates
#ifdef WIN32
#define PBR_9600                    CBR_9600
#define PBR_14K4                    CBR_14400
#define PBR_19K2                    CBR_19200
#define PBR_28K8                    28800
#define PBR_38K4                    CBR_38400
#define PBR_57K6                    CBR_57600
#define PBR_76K8                    76800
#define PBR_115K2                   CBR_115200
#define PBR_230K4                   230400
#define PBR_460K8                   460800
#define PBR_921K6                   921600
#else
#define PBR_9600                    B9600
#define PBR_14K4                    B14400
#define PBR_19K2                    B19200
#define PBR_28K8                    B28800
#define PBR_38K4                    B38400
#define PBR_57K6                    B57600
#define PBR_76K8                    B76800
#define PBR_115K2                   B115200
#define PBR_230K4                   B230400
#define PBR_460K8                   B460800
#define PBR_921K6                   B921600
#endif
 
    // setFilePos defines
#ifdef WIN32
#define FILEPOS_BEGIN               FILE_BEGIN
#define FILEPOS_CURRENT             FILE_CURRENT
#define FILEPOS_END                 FILE_END
#else
#define FILEPOS_BEGIN               SEEK_SET
#define FILEPOS_CURRENT             SEEK_CUR
#define FILEPOS_END                 SEEK_END
#endif
 
    // Return values
#define MTRV_OK                     0   // Operation successful
#define MTRV_NOTSUCCESSFUL          1   // General no success return value
#define MTRV_TIMEOUT                2   // Operation aborted because of a timeout
#define MTRV_TIMEOUTNODATA          3   // Operation aborted because of no data read
#define MTRV_CHECKSUMFAULT          4   // Checksum fault occured
#define MTRV_NODATA                 5   // No data is received
#define MTRV_RECVERRORMSG           6   // A error message is received
#define MTRV_OUTOFMEMORY            7   // No internal memory available
#define MTRV_UNKNOWDATA             8   // An invalid message is read
#define MTRV_INVALIDTIMEOUT         9   // An invalid value is used to set the timeout
#define MTRV_UNEXPECTEDMSG          10  // Unexpected message received (e.g. no acknowledge message received)
#define MTRV_INPUTCANNOTBEOPENED    11  // The specified file / serial port can not be opened
#define MTRV_ANINPUTALREADYOPEN     12  // File and serial port can not be opened at same time
#define MTRV_ENDOFFILE              13  // End of file is reached
#define MTRV_NOINPUTINITIALIZED     14  // No file or serial port opened for reading/writing
#define MTRV_NOVALIDMODESPECIFIED   15  // No valid outputmode or outputsettings are specified (use 
    // mtGetDeviceMode or mtSetMode)
#define MTRV_INVALIDVALUESPEC       16  // Value specifier does not match value type or not available in data
#define MTRV_INVALIDFORFILEINPUT    17  // Function is not valid for file based interfaces
 
    class CXsensMTiModule
    {
    public:
        CXsensMTiModule();
        virtual ~CXsensMTiModule();
 
        // Low level general functions
        clock_t clockms();
 
        // Low level COM port / file functions
        short openPort(const int portNumber, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
        short openPort(const char* portName, const unsigned long baudrate = PBR_115K2, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
        short openFile(const char* fileName, bool createAlways = false);
        bool isPortOpen();
        bool isFileOpen();
        int readData(unsigned char* msgBuffer, const int nBytesToRead);
        int writeData(const unsigned char* msgBuffer, const int nBytesToWrite);
        void flush();
        void escape(unsigned long function);
        void setPortQueueSize(const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
        short setFilePos(long relPos, unsigned long moveMethod = FILEPOS_BEGIN);
        short getFileSize(unsigned long& fileSize);
        short close();
 
        // Read & write message functions
        short readMessage(unsigned char& mid, unsigned char data[], short& dataLen, unsigned char* bid = NULL);
        short readDataMessage(unsigned char data[], short& dataLen);
        short readMessageRaw(unsigned char* msgBuffer, short* msgBufferLength);
        short writeMessage(const unsigned char mid, const unsigned long dataValue = 0, const unsigned char dataValueLen = 0, const unsigned char bid = BID_MASTER);
        short writeMessage(const unsigned char mid, const unsigned char data[], const unsigned short& dataLen, const unsigned char bid = BID_MASTER);
        short waitForMessage(const unsigned char mid, unsigned char data[] = NULL, short* dataLen = NULL, unsigned char* bid = NULL);
 
        // Request & set setting functions
        short reqSetting(const unsigned char mid, unsigned long& value, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, const unsigned char param, unsigned long& value, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, float& value, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, const unsigned char param, float& value, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, unsigned char data[], short& dataLen, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, unsigned char dataIn[], short dataInLen, unsigned char dataOut[], short& dataOutLen, const unsigned char bid = BID_MASTER);
        short reqSetting(const unsigned char mid, const unsigned char param, unsigned char data[], short& dataLen, const unsigned char bid = BID_MASTER);
        short setSetting(const unsigned char mid, const unsigned long value, const unsigned short valuelen, const unsigned char bid = BID_MASTER);
        short setSetting(const unsigned char mid, const unsigned char param, const unsigned long value, const unsigned short valuelen, const unsigned char bid = BID_MASTER);
        short setSetting(const unsigned char mid, const float value, const unsigned char bid = BID_MASTER);
        short setSetting(const unsigned char mid, const unsigned char param, const float value, const unsigned char bid = BID_MASTER);
        short setSetting(const unsigned char mid, const unsigned char param, const float value, const bool store, const unsigned char bid = BID_MASTER);
        // Data-related functions
        short getDeviceMode(unsigned short* numDevices = NULL);
        short setDeviceMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER);
        short getMode(unsigned long& OutputMode, unsigned long& OutputSettings, unsigned short& dataLength, const unsigned char bid = BID_MASTER);
        short setMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid = BID_MASTER);
        short getValue(const unsigned long valueSpec, unsigned short& value, const unsigned char data[], const unsigned char bid = BID_MT);
        short getValue(const unsigned long valueSpec, unsigned short value[], const unsigned char data[], const unsigned char bid = BID_MT);
        short getValue(const unsigned long valueSpec, float value[], const unsigned char data[], const unsigned char bid = BID_MT);
 
        // Generic MTComm functions
        short getLastDeviceError();
        short getLastRetVal();
        short setTimeOut(short timeOutMs);
        static void swapEndian(const unsigned char input[], unsigned char output[], const int length);
        void calcChecksum(unsigned char* msgBuffer, const int msgBufferLength);
        bool checkChecksum(const unsigned char* msgBuffer, const int msgBufferLength);
    protected:
        // member variables
#ifdef WIN32
        HANDLE m_handle;
#else
        int m_handle;
#endif
        bool m_portOpen;
        bool m_fileOpen;
        short m_deviceError;
        short m_retVal;
        short m_timeOut;
        clock_t m_clkEnd;
 
        // OutputMode, OutputSettings & DataLength for connected devices + 1 for master
        unsigned long m_storedOutputMode[MAXDEVICES + 1];
        unsigned long m_storedOutputSettings[MAXDEVICES + 1];
        unsigned long m_storedDataLength[MAXDEVICES + 1];
 
        // Temporary buffer for excess bytes read in ReadMessageRaw
        unsigned char m_tempBuffer[MAXMSGLEN ];
        int m_nTempBufferLen;
 
    private:
    };
}
 
#endif
 
#endif // !defined(AFX_XBUS_H__F4580A3F_2CF2_4ED2_A747_B4B015A0328E__INCLUDED_)