xsstatusflag.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 XSSTATUSFLAG_H
#define XSSTATUSFLAG_H

/*!     \addtogroup enums Global enumerations
        @{
*/
/*! \brief Status flags
        \details These flags define the function of specific bits in the status
   returned by
        XsDataPacket::status()
        \sa XsDataPacket::status()
*/

enum XsStatusFlag
{
        /** Is set when the self test result was ok */
        XSF_SelfTestOk = 0x01
        /** Is set when the computed orientation is valid. The orientation may be
           invalid during startup or when the sensor data is clipping during violent
           (for the device) motion */
        ,
        XSF_OrientationValid = 0x02
        /** Is set when the device has a GPS receiver and the receiver says that
           there is a GPS position fix. */
        ,
        XSF_GpsValid = 0x04

        /** If all of these flags are set, the No Rotation algorithm is running */
        ,
        XSF_NoRotationMask = 0x18
        /** If only this flag is set (out of the XSF_NoRotationMask) then the No
           Rotation algorithm was aborted */
        ,
        XSF_NoRotationAborted = 0x10
        /** If only this flag is set (out of the XSF_NoRotationMask) then the No
           Rotation algorithm is running but has rejected samples */
        ,
        XSF_NoRotationSamplesRejected = 0x08
        /** If all these flags are set (out of the XSF_NoRotationMask) then the No
           Rotation algorithm is running normally */
        ,
        XSF_NoRotationRunningNormally = 0x18

        ,
        XSF_ClipAccX = 0x00000100,
        XSF_ClipAccY = 0x00000200,
        XSF_ClipAccZ = 0x00000400,
        XSF_ClipGyrX = 0x00000800,
        XSF_ClipGyrY = 0x00001000,
        XSF_ClipGyrZ = 0x00002000,
        XSF_ClipMagX = 0x00004000,
        XSF_ClipMagY = 0x00008000,
        XSF_ClipMagZ = 0x00010000

        /** When set indicates a sync-in event has been triggered */
        ,
        XSF_SyncIn = 0x00200000
        /** When set Indicates a sync-out event has been generated */
        ,
        XSF_SyncOut = 0x00400000

        /** Mask for the 3 bit filter mode field */
        ,
        XSF_FilterMode = 0x03800000
};

/*! \brief Status flag bit offsets
        \details Sometimes (rarely) it is necessary to know the bit offset instead
   of the bit mask (ie when
        shifting to only keep a subset of flags) for the status flags. This
   enumeration provides these
        offsets.
        \sa XsStatusFlag
*/
enum XsStatusFlagOffset
{
        XSFO_OffsetSelfTestOk = 0,
        XSFO_OffsetOrientationValid = 1,
        XSFO_OffsetGpsValid = 2,
        XSFO_OffsetNoRotation = 3

        ,
        XSFO_OffsetClipAccX = 8,
        XSFO_OffsetClipAccY = 9,
        XSFO_OffsetClipAccZ = 10,
        XSFO_OffsetClipGyrX = 11,
        XSFO_OffsetClipGyrY = 12,
        XSFO_OffsetClipGyrZ = 13,
        XSFO_OffsetClipMagX = 14,
        XSFO_OffsetClipMagY = 15,
        XSFO_OffsetClipMagZ = 16

        ,
        XSFO_SyncIn = 21,
        XSFO_SyncOut = 22

        ,
        XSFO_FilterMode = 23  // bits 23 -> 23 + XSFO_FilterModeNrOfBits - 1
        ,
        XSFO_FilterModeNrOfBits = 3  // note: bit 26 is reserved for future use
};

/*! @} */
typedef enum XsStatusFlag XsStatusFlag;
typedef enum XsStatusFlagOffset XsStatusFlagOffset;

#endif  // file guard

//
//#define XS_STATUSFLAG_SELFTEST_OK                                     0x01
//#define XSF_OrientationValid                                          0x02
//#define XS_STATUSFLAG_GPSVALID                                                0x04
//#define XSF_NoRotationMask                            0x18
//#define XSF_NoRotationRunningNormally                                         0x18
//#define XSF_NoRotationAborted                         0x10
//#define XSF_NoRotationSamplesRejected         0x08

//#define XS_STATUSFLAG_CLIP_ACC_X              0x000100
//#define XS_STATUSFLAG_CLIP_ACC_Y              0x000200
//#define XS_STATUSFLAG_CLIP_ACC_Z              0x000400
//#define XS_STATUSFLAG_CLIP_GYR_X              0x000800
//#define XS_STATUSFLAG_CLIP_GYR_Y              0x001000
//#define XS_STATUSFLAG_CLIP_GYR_Z              0x002000
//#define XS_STATUSFLAG_CLIP_MAG_X              0x004000
//#define XS_STATUSFLAG_CLIP_MAG_Y              0x008000
//#define XS_STATUSFLAG_CLIP_MAG_Z              0x010000
//#define XS_STATUSFLAG_CLIP_ACC_OFFSET 8