xsstatusflag.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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