cmtdef.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef _CMTDEF_H_2006_05_01
#define _CMTDEF_H_2006_05_01

#include <cstdint>
#include <mrpt/utils/mrpt_macros.h>
#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))   // JLBC @ MRPT: GCC warns about
// ignored attribute
#define __stdcall  // __attribute__((stdcall)) // JLBC @ MRPT: GCC warns about
// ignored attribute
#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

#ifdef _CMT_STATIC_LIB
// namespace xsens {
#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_TYPEH_MT 0x00000000
#define CMT_DID_TYPEH_XM 0x00100000
#define CMT_DID_TYPEH_MTI_MTX 0x00300000
#define CMT_DID_TYPEH_MTIG 0x00500000

// 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

// 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

// 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

// Measurement state
#define CMT_MID_GOTOCONFIG 0x30
#define CMT_MID_GOTOCONFIGACK 0x31
#define CMT_MID_BUSDATA 0x32
#define CMT_MID_MTDATA 0x32

// 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_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
//#define CMT_LEN_ERROR                                 1
// 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_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 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
#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_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_DATAFORMAT_FLOAT 0x00000000
#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220 0x00000100
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632 0x00000200
#define CMT_OUTPUTSETTINGS_DATAFORMAT_DOUBLE 0x00000300
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1 0x00000800
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2 0x00000400
#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84 0x00000000
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_NED 0x00000000
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_ORIENT 0x00100000
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_POS 0x00200000
#define CMT_OUTPUTSETTINGS_UNCERTAINTY_VEL 0x00400000
#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_UNCERTAINTY_MASK 0x00F00000
#define CMT_OUTPUTSETTINGS_COORDINATES_NED 0x80000000

//#define CMT_OUTPUTMODE_XKF3_ACCG                                      0x100000000

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

// Factory Output Mode
#define CMT_FACTORYOUTPUTMODE_DISABLE 0x0000
#define CMT_FACTORYOUTPUTMODE_DEFAULT 0x0001
#define CMT_FACTORYOUTPUTMODE_CUSTOM 0x0002

// 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

// 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_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_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  // 50

#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

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 = 0x40
};

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

/* 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;
                uint8_t m_reserved[8];
        } 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

#ifdef _CMT_ADD_PRIVATE
#include "cmtprivate.h"
#endif

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

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

#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;
        /** Offset in ns */
        uint32_t m_offset;
        /** Pulse width in ns */
        uint32_t m_pulseWidth;

#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;
        /** 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. */
        uint8_t m_valid;
};

//! 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
{
        /** The type of the scenario. When set to 255 in an operation, the 'current'
         * scenario is used. */
        uint8_t m_type;
        /** The version of the scenario. */
        uint8_t m_version;
        /** The label of the scenario. */
        char m_label[CMT_LEN_SCENARIOLABEL + 1];
        // bool m_inSensor;                                                     //!< When set to true, the
        // scenario
        // is
        // available
        // in the sensor
        /** The type of 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 */
        char m_filterType;
};

#define CMT_MAX_OBJECTS 20

enum CmtCallbackSelector
{
        /** Callback function, called right before sending a GotoMeasurement message
           */
        CMT_CALLBACK_ONMEASUREMENTPREPARE = 0,
        /** Callback function, called right after successfully switching to
           Measurement mode */
        CMT_CALLBACK_ONMEASUREMENTSTART = 1,
        /** Callback function, called right before switching from Measurement mode
           to Config mode */
        CMT_CALLBACK_ONMEASUREMENTSTOP = 2,
        /** Callback function, 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_ONPOSTPROCESS = 3,
        /** Callback function, called when bytes have been read from a port */
        CMT_CALLBACK_ONBYTESRECEIVED = 4,
        /** Callback function, called when a full message has been received from a
           port */
        CMT_CALLBACK_ONMESSAGERECEIVED = 5,
        /** Callback function, called when a full message has been sent by a port */
        CMT_CALLBACK_ONMESSAGESENT = 6
};

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];
        uint8_t m_portNr;
};

//#ifdef _WIN32
typedef XsensResultValue(__cdecl* CmtCallbackFunction)(
        int32_t, CmtCallbackSelector, void*, void*);
//#else
//    typedef __attribute__((cdecl)) XsensResultValue (*
//    CmtCallbackFunction)(int32_t, CmtCallbackSelector, void*, void*);
//#endif

//! \brief Structure for storing information about a serial port
struct CmtPortInfo
{
        /** The baudrate at which an Xsens device was detected */
        uint32_t m_baudrate;
        /** The device Id of the detected Xsens device */
        uint32_t m_deviceId;
        /** The port number */
        uint8_t m_portNr;
        /** The port name */
        char m_portName[270];

        CmtPortInfo() : m_baudrate(0), m_deviceId(0), m_portNr(0) {}
#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 uint8_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 uint8_t port) const
        {
                MRPT_UNUSED_PARAM(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 CmtRawGpsData
{
        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;
};
struct CmtAnalogInData
{
        CmtAnalogInData() : m_data(0) {}
        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
{
        /** The roll (rotation around x-axis / back-front-line) */
        double m_roll;
        /** The pitch (rotation around y-axis / right-left-line) */
        double m_pitch;
        /** The yaw (rotation around z-axis / down-up-line) */
        double m_yaw;
};
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 1056

#endif