cmtdef.h

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/*! \file
        \brief        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.

        \section FileCopyright 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.

        \section FileChangelog        Changelog
        \par 2006-05-01, v0.0.1
        \li Job Mulder:        Created Cmtdef.h
        \par 2006-07-21, v0.1.0
        \li Job Mulder:        Updated file for release 0.1.0
*/

#ifndef _CMTDEF_H_2006_05_01
#define _CMTDEF_H_2006_05_01

#ifndef _CMT_MONOLITHIC
#ifndef _PSTDINT_H_INCLUDED
#        include "pstdint.h"
#endif
#endif
#include <time.h>

#ifdef _WIN32
#else
#        include <termios.h>
#        include <string.h>
#        ifndef        B460800
#                undef        B230400
#                define        B230400        0010003
#                define  B460800 0010004
#                define  B921600 0010007
#        endif
// required for gnu c++ compiler due to difference in attribute declarations
#   define __cdecl __attribute__((cdecl))
#   define __stdcall __attribute__((stdcall))
#endif

#ifndef _XSENS_STD_H_2006_09_11
#        include "xsens_std.h"
#endif
#if !defined(_XSENS_TIME_2006_09_12) && !defined(_CMT_DLL_IMPORT)
#        include "xsens_time.h"
#endif

#ifndef _CMT_FILE_DEF_H_2007_01_24
#        include "cmtf.h"
#endif

//////////////////////////////////////////////////////////////////////////////////////////
// Field message indices
#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

// Maximum message/data length
#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)


// DID Type (high nibble)
#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

// All Message identifiers
// WakeUp state messages
#define CMT_MID_WAKEUP                                        0x3E
#define CMT_MID_WAKEUPACK                                0x3F

// Config state messages
#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
// XbusMaster
#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
// End XbusMaster
#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
// XbusMaster
#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
// End XbusMaster
#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
// XbusMaster
#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
// End XbusMaster
#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

// XbusMaster
#define CMT_MID_XMPWROFF                                0x44
#define CMT_LEN_XMPWROFF                                0
// End XbusMaster

#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

// Xbus Master
#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                        
// End Xbus Master

#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

// XbusMaster
#define CMT_MID_REQBATLEVEL                                0x88
#define CMT_MID_BATLEVEL                                0x89
// End XbusMaster

#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

// obsolete
//#define CMT_MID_STOREFILTERSTATE                0x8A
//#define CMT_LEN_STOREFILTERSTATE                0
//#define CMT_MID_STOREFILTERSTATEACK        0x8B
// new definition
#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

// Measurement state
#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

// Manual
#define CMT_MID_PREPAREDATA                                0x32
#define CMT_MID_REQDATA                                        0x34
#define CMT_MID_REQDATAACK                                0x35

// MTData defines 
// Length of data blocks in bytes
#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

// Length of data blocks in floats
#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

// Indices of fields in DATA field of MTData message in bytes
// use in combination with LEN_CALIB etc
// Un-calibrated raw data
#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
// Calibrated data
#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
// Orientation data - quat
#define CMT_IND_ORIENT_Q0                                0
#define CMT_IND_ORIENT_Q1                                4
#define CMT_IND_ORIENT_Q2                                8
#define CMT_IND_ORIENT_Q3                                12
// Orientation data - euler
#define CMT_IND_ORIENT_ROLL                                0
#define CMT_IND_ORIENT_PITCH                        4
#define CMT_IND_ORIENT_YAW                                8
// Orientation data - matrix
#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
// Orientation data - euler
#define CMT_IND_SAMPLECNTH                                0
#define CMT_IND_SAMPLECNTL                                1

// Indices of fields in DATA field of MTData message
// Un-calibrated raw data
#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
// Calibrated data
#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
// Orientation data - quat
#define CMT_FLDNUM_ORIENT_Q0                        0
#define CMT_FLDNUM_ORIENT_Q1                        1
#define CMT_FLDNUM_ORIENT_Q2                        2
#define CMT_FLDNUM_ORIENT_Q3                        3
// Orientation data - euler
#define CMT_FLDNUM_ORIENT_ROLL                        0
#define CMT_FLDNUM_ORIENT_PITCH                        1
#define CMT_FLDNUM_ORIENT_YAW                        2
// Orientation data - matrix
#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
// Length
// Uncalibrated raw data
#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
// Calibrated data
#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
// Orientation data - quat
#define CMT_LEN_ORIENT_Q0                                4
#define CMT_LEN_ORIENT_Q1                                4
#define CMT_LEN_ORIENT_Q2                                4
#define CMT_LEN_ORIENT_Q3                                4
// Orientation data - euler
#define CMT_LEN_ORIENT_ROLL                                4
#define CMT_LEN_ORIENT_PITCH                        4
#define CMT_LEN_ORIENT_YAW                                4
// Orientation data - matrix
#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

// Defines for getDataValue
#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


// Valid in all states
#define CMT_MID_RESET                                        0x40
#define CMT_MID_RESETACK                                0x41
#define CMT_MID_ERROR                                        0x42
// XbusMaster
#define CMT_MID_XMPWROFF                                0x44
// End XbusMaster

#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)

// Baudrate defines for SetBaudrate message
#define CMT_BAUDCODE_4K8                                0x0B
#define CMT_BAUDCODE_9K6                                0x09
//        #define CMT_BAUDCODE_14K4                                0x08
#define CMT_BAUDCODE_19K2                                0x07
//        #define CMT_BAUDCODE_28K8                                0x06
#define CMT_BAUDCODE_38K4                                0x05
#define CMT_BAUDCODE_57K6                                0x04
//        #define CMT_BAUDCODE_76K8                                0x03
#define CMT_BAUDCODE_115K2                                0x02
#define CMT_BAUDCODE_230K4                                0x01
#define CMT_BAUDCODE_460K8                                0x00
#define CMT_BAUDCODE_921K6_ALT                        0x0A                // only usable from FW 2.4.6
#define CMT_BAUDCODE_921K6                                0x80

// Xbus protocol error codes (Error)
#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

// Error modes (SetErrorMode)
#define CMT_ERRORMODE_IGNORE                                        0x0000
#define CMT_ERRORMODE_INCSAMPLECNT                                0x0001
#define CMT_ERRORMODE_INCSAMPLECNT_SENDERROR        0x0002
#define CMT_ERRORMODE_SENDERROR_GOTOCONFIG                0x0003

// Configuration message defines
#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
// Configuration sensor block properties
#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
// To calculate the offset in data field for output mode of sensor #2 use
//                CONF_OUTPUTMODE + 1*CONF_BLOCKLEN
#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
// Configuration sensor block properties
#define CMT_CONF_DIDLEN                                        4
#define CMT_CONF_DATALENGTHLEN                        2
#define CMT_CONF_OUTPUTMODELEN                        2
#define CMT_CONF_OUTPUTSETTINGSLEN                4

// Clock frequency for offset & pulse width
#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)

// SyncIn params
#define CMT_PARAM_SYNCIN_MODE                        0x00
#define CMT_PARAM_SYNCIN_SKIPFACTOR                0x01
#define CMT_PARAM_SYNCIN_OFFSET                        0x02

// SyncIn mode
#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

// SyncOut params
#define CMT_PARAM_SYNCOUT_MODE                        0x00
#define CMT_PARAM_SYNCOUT_SKIPFACTOR        0x01
#define CMT_PARAM_SYNCOUT_OFFSET                0x02
#define CMT_PARAM_SYNCOUT_PULSEWIDTH        0x03

// SyncOut mode
#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

// OutputModes
#define CMT_OUTPUTMODE_MT9                                0x8000
#define CMT_OUTPUTMODE_XM                                0x0000
#define CMT_OUTPUTMODE_RAW                                0x4000
//#define CMT_OUTPUTMODE_RAWGPSPRINT                0x1000        // Obsolete. Use CMT_OUTPUTMODE_GPSPVT_PRESSURE instead
#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


// CmtOutputSettings
#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

// Extended (analog) Output Modes
#define CMT_EXTOUTPUTMODE_DISABLED                        0x0000
#define CMT_EXTOUTPUTMODE_EULER                                0x0001

// Initial tracking mode (SetInitTrackMode)
#define CMT_INITTRACKMODE_DISABLED                0x0000
#define CMT_INITTRACKMODE_ENABLED                0x0001

// Filter settings params
#define CMT_PARAM_FILTER_GAIN                        0x00
#define CMT_PARAM_FILTER_RHO                        0x01
#define CMT_DONOTSTORE                                        0x00
#define CMT_STORE                                                0x01

// AMDSetting (SetAMD)
#define CMT_AMDSETTING_DISABLED                        0x0000
#define CMT_AMDSETTING_ENABLED                        0x0001

// Processing flags
#define CMT_PROCESSINGFLAGS_IGBU_ENABLED        0x0001
#define CMT_PROCESSINGFLAGS_FIXED_GRAVITY        0x0002

// Send raw string mode
#define CMT_SENDRAWSTRING_INIT                        0
#define CMT_SENDRAWSTRING_DEFAULT                1
#define CMT_SENDRAWSTRING_SEND                        2

// Timeouts        
#define CMT_TO_DEFAULT                                        500
#define CMT_TO_INIT                                                250
#define CMT_TO_RETRY                                        50

#define        CMT_PERIOD_10HZ                                11520                // invalid with gps pulse time correction
#define        CMT_PERIOD_12HZ                                9600
#define        CMT_PERIOD_15HZ                                7680                // invalid with gps pulse time correction
#define        CMT_PERIOD_16HZ                                7200
#define        CMT_PERIOD_18HZ                                6400                // invalid with gps pulse time correction
#define        CMT_PERIOD_20HZ                                5760
#define        CMT_PERIOD_24HZ                                4800
#define        CMT_PERIOD_25HZ                                4608                // invalid with gps pulse time correction
#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                // invalid with gps pulse time correction
#define        CMT_PERIOD_48HZ                                2400
#define        CMT_PERIOD_50HZ                                2304                // invalid with gps pulse time correction
#define        CMT_PERIOD_60HZ                                1920
#define        CMT_PERIOD_64HZ                                1800
#define        CMT_PERIOD_72HZ                                1600
#define        CMT_PERIOD_75HZ                                1536                // invalid with gps pulse time correction
#define        CMT_PERIOD_80HZ                                1440
#define        CMT_PERIOD_90HZ                                1280                // invalid with gps pulse time correction
#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                        // invalid with gps pulse time correction
#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                        // invalid with gps pulse time correction
#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                        // invalid with gps pulse time correction
#define        CMT_PERIOD_480HZ                        240
#define        CMT_PERIOD_512HZ                        225

// openPort baudrates
#ifdef _WIN32
        #define CMT_BAUD_RATE_4800                                        CBR_4800
        #define CMT_BAUD_RATE_9600                                        CBR_9600
//        #define CMT_BAUD_RATE_14K4                                        CBR_14400
        #define CMT_BAUD_RATE_19K2                                        CBR_19200
//        #define CMT_BAUD_RATE_28K8                                        28800
        #define CMT_BAUD_RATE_38K4                                        CBR_38400
        #define CMT_BAUD_RATE_57K6                                        CBR_57600
        #define CMT_BAUD_RATE_115K2                                        CBR_115200
        #define CMT_BAUD_RATE_230K4                                        230400
        #define CMT_BAUD_RATE_460K8                                        460800
        #define CMT_BAUD_RATE_921K6                                        921600
#else
        #define CMT_BAUD_RATE_4800                                        B4800
        #define CMT_BAUD_RATE_9600                                        B9600
//        #define CMT_BAUD_RATE_14K4                                        B14400
        #define CMT_BAUD_RATE_19K2                                        B19200
//        #define CMT_BAUD_RATE_28K8                                        B28800
        #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
#endif

#define CMT_DEFAULT_OUTPUT_MODE                        CMT_OUTPUTMODE_ORIENT
#define CMT_DEFAULT_OUTPUT_SETTINGS                (CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION |\
                                                                                 CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT)

#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                // 1ms = 1M ns


#define CMT_MAX_PORTS_PER_THREAD        20
#define CMT_MAX_FILES_PER_THREAD        20
#if CMT_MAX_PORTS_PER_THREAD >= CMT_MAX_FILES_PER_THREAD
#        define CMT_MAX_DEVICES                        (CMT_MAX_PORTS_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)
#else
#        define CMT_MAX_DEVICES                        (CMT_MAX_FILES_PER_THREAD * CMT_MAX_DEVICES_PER_PORT)
#endif
#define CMT_MAX_PACKETS_PER_BUNDLE        CMT_MAX_PORTS_PER_THREAD
#define CMT_BUNDLE_QUEUE_SIZE                256
#define CMT_MAX_ITEMS_IN_PACKET                10

        //! The default size of the serial read buffer in bytes
#define CMT_DEFAULT_READ_BUFFER_SIZE                (CMT_MAXDATALEN*8)
        //! The default size of the serial write buffer in bytes
#define CMT_DEFAULT_WRITE_BUFFER_SIZE                CMT_MAXDATALEN
        //! The default baud rate of the Cmt1s serial communication
#define CMT_DEFAULT_BAUD_RATE                                CMT_BAUD_RATE_115K2
        //! The size of the L2 data-message fifo-queue
#define CMT2_DATA_QUEUE_SIZE                                60

        //! The timeout value for "goto config"-message acknowledgement
#define CMT3_CONFIG_TIMEOUT                                100
        //! The default timeout value for blocking CMT1s operations in ms
#define CMT1_DEFAULT_TIMEOUT                        10
        //! Timeout in ms for level 2
#define CMT2_DEFAULT_TIMEOUT                        50
        //! The default timeout value for L3 data reading
#define CMT3_DEFAULT_TIMEOUT_MEAS                16
        //! The default timeout value for L3 configuration settings
#define CMT3_DEFAULT_TIMEOUT_CONF                3000
        //! The default timeout value for L4 data reading at L2 and 3
#define CMT4_DEFAULT_TIMEOUT_MEAS                1
        //! The default timeout value for L4 configuration settings
#define CMT4_DEFAULT_TIMEOUT_CONF                CMT3_DEFAULT_TIMEOUT_CONF
        //! The timeout to use for requests during measurement mode
#define CMT4_MEASUREMENT_REQ_TIMEOUT        100
        //! The standard timeout to use for data receipt in measurement mode
#define CMT4_DEFAULT_TIMEOUT_DATA                3000
        //! The timeout used for reading a wakeup message in config mode
#define CMT4_CONFIGWAIT_TIMEOUT                        50

enum CmtControlLine {
        CMT_CONTROL_DCD                = 0x0001,                // pin 1: Carrier Detect
        CMT_CONTROL_RD                = 0x0002,                // pin 2: Received Data
        CMT_CONTROL_TD                = 0x0004,                // pin 3: Transmitted Data
        CMT_CONTROL_DTR                = 0x0008,                // pin 4: Data Terminal Ready
        CMT_CONTROL_GND                = 0x0010,                // pin 5: Common Ground
        CMT_CONTROL_DSR                = 0x0020,                // pin 6: Data Set Ready
        CMT_CONTROL_RTS                = 0x0040,                // pin 7: Request To Send
        CMT_CONTROL_CTS                = 0x0080,                // pin 8: Clear To Send
        CMT_CONTROL_RI                = 0x0100                // pin 9: Ring Indicator
};

// Reset orientation message type
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
};

//! The type of a Device Id
typedef uint32_t        CmtDeviceId;

//! A structure for storing the firmware version
struct CmtVersion {
        uint8_t m_major;
        uint8_t m_minor;
        uint8_t m_revision;
};

/* different alignment commands for gcc / MSVS, the structure needs to be 2-byte aligned
        because the deviceId field is 4 bytes long on offset 98.
*/
#ifdef _MSC_VER
        #pragma pack(push, 2)
#endif
//! Structure containing a full device configuration as returned by the ReqConfig message.
struct CmtDeviceConfiguration {
        uint32_t        m_masterDeviceId;
        uint16_t        m_samplingPeriod;
        uint16_t        m_outputSkipFactor;
        uint16_t        m_syncinMode;
        uint16_t        m_syncinSkipFactor;
        uint32_t        m_syncinOffset;
        uint8_t        m_date[8];
        uint8_t        m_time[8];
        uint8_t        m_reservedForHost[32];
        uint8_t        m_reservedForClient[32];
        uint16_t        m_numberOfDevices;
        struct _devInfo {
                uint32_t        m_deviceId;
                uint16_t        m_dataLength;
                uint16_t        m_outputMode;
                uint32_t        m_outputSettings;
                uint16_t        m_currentScenario;
                uint8_t                m_fwRevMajor;
                uint8_t                m_fwRevMinor;
                uint8_t                m_fwRevRevision;
                uint8_t                m_filterType;
                uint8_t                m_filterMajor;
                uint8_t                m_filterMinor;
        } m_deviceInfo[CMT_MAX_DEVICES_PER_PORT];

#ifndef _CMT_DLL_IMPORT
        void readFromMessage(const void* message);
#endif
}
// different alignment commands for gcc / MSVS
#ifdef _MSC_VER
        ;
        #pragma pack(pop)
#else
        /*! \cond NODOXYGEN */        __attribute__((__packed__))        /*! \endcond */;
#endif

//////////////////////////////////////////////////////////////////////////////////////////

        //! An output mode bit-field
typedef uint32_t CmtOutputMode;
        //! An output settings bit-field
typedef uint64_t CmtOutputSettings;

        //! A structure for storing data formats
struct CmtDataFormat {
        CmtOutputMode                m_outputMode;
        CmtOutputSettings        m_outputSettings;

#ifndef _CMT_DLL_IMPORT
        //! default constructor, initializes to the given (default) MT settings
        CmtDataFormat(        const CmtOutputMode mode = CMT_DEFAULT_OUTPUT_MODE,
                                        const CmtOutputSettings settings = CMT_DEFAULT_OUTPUT_SETTINGS)
                                        : m_outputMode(mode), m_outputSettings(settings) {}
#endif
};

        //! An MT timestamp (sample count)
typedef uint16_t CmtMtTimeStamp;

#define CMT_MAX_FILENAME_LENGTH        512

#define CMT_DID_BROADCAST                                0x80000000
#define CMT_DID_MASTER                                        0


//! A structure for storing sync in settings
struct CmtSyncInSettings {
        uint16_t        m_mode;
        uint16_t        m_skipFactor;
        uint32_t        m_offset;                //!< Offset in ns

#ifndef _CMT_DLL_IMPORT
        //! default constructor, initializes to the given (default) MT settings
        CmtSyncInSettings(        const uint16_t mode = 0,
                                                const uint16_t skip = 0,
                                                const uint32_t offset = 0)
                                                : m_mode(mode), m_skipFactor(skip), m_offset(offset) {}
#endif
};

//! A structure for storing sync out settings
struct CmtSyncOutSettings {
        uint16_t        m_mode;
        uint16_t        m_skipFactor;
        uint32_t        m_offset;                //!< Offset in ns
        uint32_t        m_pulseWidth;        //!< Pulse width in ns

#ifndef _CMT_DLL_IMPORT
        //! default constructor, initializes to the given (default) MT settings
        CmtSyncOutSettings( const uint16_t mode = 0,
                                                const uint16_t skip = 0,
                                                const uint32_t offset = 0,
                                                const uint32_t width = CMT_SYNCOUT_DEFAULT_PULSE_WIDTH) :
                                                m_mode(mode), m_skipFactor(skip), m_offset(offset),
                                                m_pulseWidth(width) {}
#endif
};

//! A structure for storing UTC Time values
struct CmtUtcTime
{
        uint32_t        m_nano;
        uint16_t        m_year;
        uint8_t        m_month;
        uint8_t        m_day;
        uint8_t        m_hour;
        uint8_t        m_minute;
        uint8_t        m_second;
        uint8_t        m_valid;        //!< When set to 1, the time is valid, when set to 2, the time part is valid, but the date may not be valid. when set to 0, the time is invalid and should be ignored.
};

//! A structure for storing device modes
struct CmtDeviceMode {
        CmtOutputMode                m_outputMode;
        CmtOutputSettings        m_outputSettings;
        uint16_t                m_sampleFrequency;

#ifndef _CMT_DLL_IMPORT
        //! default constructor, initializes to the given (default) MT settings
        CmtDeviceMode(        const CmtOutputMode mode = CMT_DEFAULT_OUTPUT_MODE,
                                        const CmtOutputSettings settings = CMT_DEFAULT_OUTPUT_SETTINGS,
                                        const uint16_t frequency = CMT_DEFAULT_SAMPLE_FREQUENCY) :
                                                m_outputMode(mode), m_outputSettings(settings),
                                                m_sampleFrequency(frequency) {}
        
        /*! \brief Compute the period and skip factor.
        
                This function computes the period and skipFactor fields from the stored 
                m_sampleFrequency field. The maximum error in the frequency is approximately 
                0.4%, which occurs at 510Hz (= actually 512 Hz). In general, the higher 
                frequencies are harder to set up exactly.
        */
        void getPeriodAndSkipFactor(uint16_t& period, uint16_t& skip) const;
        /*! \brief Return the real sample frequency in Hz. 
        
                This may be up to 2Hz different from the value that is set.
        */
        double getRealSampleFrequency(void) const;
        /*! \brief Compute the sample frequency from a period and skip factor.
        
                This function does the reverse of the getPeriodAndSkipFactor function, storing the
                value in the m_sampleFrequency field.
        */
        void setPeriodAndSkipFactor(uint16_t period, uint16_t skip);

        //! Check if all fields of the two structures are equal
        bool operator == (const CmtDeviceMode& dev) const;
#endif
};

//! A structure for storing device modes using period and skip factor (new default)
struct CmtDeviceMode2 {
        CmtOutputMode                m_outputMode;
        CmtOutputSettings        m_outputSettings;
        uint16_t                m_period;
        uint16_t                m_skip;

#ifndef _CMT_DLL_IMPORT
        //! default constructor, initializes to the given (default) MT settings
        CmtDeviceMode2(        const CmtOutputMode mode = CMT_DEFAULT_OUTPUT_MODE,
                const CmtOutputSettings settings = CMT_DEFAULT_OUTPUT_SETTINGS,
                const uint16_t period = CMT_DEFAULT_PERIOD,
                const uint16_t skip = CMT_DEFAULT_SKIP) :
        m_outputMode(mode), m_outputSettings(settings),
                m_period(period), m_skip(skip) {}

        /*! \brief Return the real sample frequency in Hz. 

        This may be up to 2Hz different from the value that is set.
        */
        double getRealSampleFrequency(void) const;
        /*! \brief Return the sample frequency in Hz. 

        This may be up to 2Hz different from the value that is set.
        */
        uint16_t getSampleFrequency(void) const;
        /*! \brief Compute the period and skip factor from a sample frequency.

        This function does the reverse of the getPeriodAndSkipFactor function, storing the
        value in the m_period and m_skip field.
        */
        void setSampleFrequency(uint16_t freq);

        //! Check if all fields of the two structures are equal
        bool operator == (const CmtDeviceMode2& dev) const;
#endif
};

#define CMT_MAX_SCENARIOS_IN_MT                5
#define CMT_MAX_SCENARIOS                        254

//! A structure for storing scenario information
struct CmtScenario {
        uint8_t m_type;                //!< The type of the scenario. When set to 255 in an operation, the 'current' scenario is used.
        uint8_t m_version;        //!< The version of the scenario.
        char m_label[CMT_LEN_SCENARIOLABEL+1];                //!< The label of the scenario.
        char m_filterType;                                                        //!< The type of the XKF filter this scenario is intended for '3': XKF-3, '6': XKF-6. \note The value is a character, so XKF-3 is '3', which is hex 0x33
        uint8_t m_filterMajor, m_filterMinor;                //!< The version of the XKF filter this scenario is intended for
};

enum CmtCallbackType {
        CMT_CALLBACK_LIST_TERMINATOR        = -1,//!< 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
};

#define CmtCallbackSelector        CmtCallbackType

enum CmtQueueMode {
        CMT_QM_FIFO        = 0,
        CMT_QM_LAST = 1,
        CMT_QM_RAW  = 2
};

struct CmtBinaryData {
        int32_t m_size;
        uint8_t m_data[CMT_MAXMSGLEN];
        uint16_t m_portNr;
};

typedef void (__cdecl * CmtCallbackFunction)(int32_t instance, int32_t callbackType, void* param, void* userParam);

//! \brief Structure for storing information about a serial port
struct CmtPortInfo {
        uint32_t m_baudrate;        //!< The baudrate at which an Xsens device was detected
        uint32_t m_deviceId;        //!< The device Id of the detected Xsens device
        uint16_t m_portNr;                //!< The port number
        char m_portName[256];                //!< The port name
#ifdef __cplusplus
#        ifdef _WIN32
                //! greater than operator, used for sorting the list
        bool operator > (const CmtPortInfo& p) const { return m_portNr > p.m_portNr; }
                //! less than operator, used for sorting the list
        bool operator < (const CmtPortInfo& p) const { return m_portNr < p.m_portNr; }
                //! equality operator, used for finding items in a list
        bool operator == (const CmtPortInfo& p) const { return m_portNr == p.m_portNr; }
                //! equality operator, used for finding items in a list
        bool operator == (const uint16_t port) const { return m_portNr == port; }
#        else        // Linux
                //! greater than operator, used for sorting the list
        bool operator > (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) > 0; }
                //! less than operator, used for sorting the list
        bool operator < (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) < 0; }
                //! equality operator, used for finding items in a list
        bool operator == (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) == 0; }
                //! equality operator, used for finding items in a list
        bool operator == (const uint16_t port) const { (void)port; return false; }
#        endif // ifdef _WIN32/Linux
#endif
};

struct CmtShortVector {
        uint16_t m_data[3];
};
struct CmtRawData {
        CmtShortVector        m_acc,m_gyr,m_mag;
        uint16_t        m_temp;
};
struct CmtGpsPvtData {        uint16_t        m_pressure;
        uint8_t                m_pressureAge;
        uint32_t        m_itow;
        int32_t                m_latitude;
        int32_t                m_longitude;
        int32_t                m_height;
        int32_t                m_veln;
        int32_t                m_vele;
        int32_t                m_veld;
        uint32_t        m_hacc;
        uint32_t        m_vacc;
        uint32_t        m_sacc;
        uint8_t        m_gpsAge;
};
#define CmtRawGpsData        CmtGpsPvtData                //!< obsolete, use CmtGpsPvtData instead
struct CmtRawPressureData {
        uint16_t        m_pressure;
        uint8_t                m_pressureAge;
};
struct CmtAnalogInData
{
        uint16_t m_data;
};
struct CmtVector {
        double m_data[3];
};
struct CmtCalData {
        CmtVector        m_acc,m_gyr,m_mag;
};
struct CmtQuat {
        double m_data[4];
};
struct CmtEuler {
        double m_roll;                //!< The roll (rotation around x-axis / back-front-line)
        double m_pitch;                //!< The pitch (rotation around y-axis / right-left-line)
        double m_yaw;                //!< The yaw (rotation around z-axis / down-up-line)
};
struct CmtMatrix {
        double m_data[3][3];
};

#define CMT_MAX_SVINFO                16
struct CmtGpsSatelliteInfo {
        uint8_t m_id;
        uint8_t m_navigationStatus;
        uint8_t m_signalQuality;
        uint8_t m_signalStrength;
};
struct CmtGpsStatus {
        CmtGpsSatelliteInfo m_svInfo[CMT_MAX_SVINFO];
};

typedef uint64_t CmtTimeStamp;

#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

#endif