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 <mrpt/utils/mrpt_stdint.h>
#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;
        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.
        //bool m_inSensor;                                                      //!< When set to true, the scenario is available in the sensor
        char m_filterType;                                                      //!< 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
};

#define CMT_MAX_OBJECTS         20

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

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 {
        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
        uint8_t m_portNr;               //!< The port number
        char m_portName[32];            //!< The port name

        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 {
        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                   1056

#endif