cmtdef.h

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#ifndef CMTDEF_H
#define CMTDEF_H

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

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

#ifndef XSENS_STD_H
#       include "xsens_std.h"
#endif
#if !defined(XSENS_TIME_H) &&!defined(CMT_DLL_IMPORT)
#       include "xsens_time.h"
#endif

#ifndef XSENS_FILE_H
#       include "xsens_file.h"
#endif

#ifdef __cplusplus
#include <string.h>
#endif

// Field message indices
#define CMT_IND_PREAMBLE                                0
#define CMT_IND_BID                                             1
#define CMT_IND_MID                                             2
#define CMT_IND_LEN                                             3
#define CMT_IND_DATA0                                   4
#define CMT_IND_LENEXTH                                 4
#define CMT_IND_LENEXTL                                 5
#define CMT_IND_DATAEXT0                                6

#define CMT_PREAMBLE                                    0xFA
#define CMT_BID_MASTER                                  0xFF
#define CMT_BID_MT                                              0x01
#define CMT_EXTLENCODE                                  0xFF

#define CMT_LEN_MSGHEADER                               4
#define CMT_LEN_MSGEXTHEADER                    6
#define CMT_LEN_MSGHEADERCS                             5
#define CMT_LEN_MSGEXTHEADERCS                  7
#define CMT_LEN_CHECKSUM                                1
#define CMT_LEN_UNSIGSHORT                              2
#define CMT_LEN_UNSIGINT                                4
#define CMT_LEN_FLOAT                                   4

// Maximum message/data length
#define CMT_MAXDATALEN                                  8192
#define CMT_MAXSHORTDATALEN                             254
#define CMT_MAXMSGLEN                                   (CMT_MAXDATALEN+7)
#define CMT_MAXSHORTMSGLEN                              (CMT_MAXSHORTDATALEN+5)
#define CMT_MAXGARBAGE                                  (CMT_MAXMSGLEN+1)


// DID Type (high nibble)
#define CMT_DID_TYPEH_MASK                              0x00F00000
#define CMT_DID_TYPEL_MASK                              0x000F0000
#define CMT_DID_TYPEH_MT                                0x00000000
#define CMT_DID_TYPEH_XM                                0x00100000
#define CMT_DID_TYPEH_MTI_MTX                   0x00300000
#define CMT_DID_TYPEH_MTIG                              0x00500000
#define CMT_DID_TYPE_MASK                               0x00FF0000
#define CMT_DID_TYPE_MASK_MT_232                0x00300000
#define CMT_DID_TYPE_MASK_MT_422                0x00310000
#define CMT_DID_TYPE_MASK_MT_XM                 0x00020000
#define CMT_DID_TYPE_MASK_MT_485                0x00330000

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

// Config state messages
#define CMT_MID_REQDID                                  0x00
#define CMT_MID_DEVICEID                                0x01
#define CMT_LEN_DEVICEID                                4
#define CMT_MID_INITBUS                                 0x02
#define CMT_MID_INITBUSRESULTS                  0x03
#define CMT_LEN_INITBUSRESULTS                  4
#define CMT_MID_REQPERIOD                               0x04
#define CMT_MID_REQPERIODACK                    0x05
#define CMT_LEN_PERIOD                                  2
#define CMT_MID_SETPERIOD                               0x04
#define CMT_MID_SETPERIODACK                    0x05
// XbusMaster
#define CMT_MID_SETBID                                  0x06
#define CMT_MID_SETBIDACK                               0x07
#define CMT_MID_AUTOSTART                               0x06
#define CMT_MID_AUTOSTARTACK                    0x07
#define CMT_MID_BUSPWR                                  0x08
#define CMT_LEN_BUSPWR                                  2
#define CMT_MID_BUSPWRACK                               0x09
// End XbusMaster
#define CMT_MID_REQDATALENGTH                   0x0A
#define CMT_MID_DATALENGTH                              0x0B
#define CMT_LEN_DATALENGTH                              2
#define CMT_MID_REQCONFIGURATION                0x0C
#define CMT_MID_CONFIGURATION                   0x0D
#define CMT_LEN_CONFIGURATION                   118
#define CMT_MID_RESTOREFACTORYDEF               0x0E
#define CMT_MID_RESTOREFACTORYDEFACK    0x0F

#define CMT_MID_GOTOMEASUREMENT                 0x10
#define CMT_MID_GOTOMEASUREMENTACK              0x11
#define CMT_MID_REQFWREV                                0x12
#define CMT_MID_FIRMWAREREV                             0x13
#define CMT_LEN_FIRMWAREREV                             3
// XbusMaster
#define CMT_MID_REQBTDISABLE                    0x14
#define CMT_MID_REQBTDISABLEACK                 0x15
#define CMT_LEN_BTDISABLE                               1
#define CMT_MID_DISABLEBT                               0x14
#define CMT_MID_DISABLEBTACK                    0x15
#define CMT_MID_REQOPMODE                               0x16
#define CMT_MID_REQOPMODEACK                    0x17
#define CMT_LEN_OPMODE                                  1
#define CMT_MID_SETOPMODE                               0x16
#define CMT_MID_SETOPMODEACK                    0x17
// End XbusMaster
#define CMT_MID_REQBAUDRATE                             0x18
#define CMT_MID_REQBAUDRATEACK                  0x19
#define CMT_LEN_BAUDRATE                                1
#define CMT_MID_SETBAUDRATE                             0x18
#define CMT_MID_SETBAUDRATEACK                  0x19
// XbusMaster
#define CMT_MID_REQSYNCMODE                             0x1A
#define CMT_MID_REQSYNCMODEACK                  0x1B
#define CMT_LEN_SYNCMODE                                1
#define CMT_MID_SETSYNCMODE                             0x1A
#define CMT_MID_SETSYNCMODEACK                  0x1B
// End XbusMaster
#define CMT_MID_REQPRODUCTCODE                  0x1C
#define CMT_MID_PRODUCTCODE                             0x1D
#define CMT_LEN_PRODUCTCODE                             20

#define CMT_MID_REQPROCESSINGFLAGS              0x20
#define CMT_MID_REQPROCESSINGFLAGSACK   0x21
#define CMT_LEN_PROCESSINGFLAGS                 2
#define CMT_MID_SETPROCESSINGFLAGS              0x20
#define CMT_MID_SETPROCESSINGFLAGSACK   0x21

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

#define CMT_MID_REQOUTPUTMODE                   0xD0
#define CMT_MID_REQOUTPUTMODEACK                0xD1
#define CMT_LEN_OUTPUTMODE                              2
#define CMT_MID_SETOUTPUTMODE                   0xD0
#define CMT_MID_SETOUTPUTMODEACK                0xD1

#define CMT_MID_REQOUTPUTSETTINGS               0xD2
#define CMT_MID_REQOUTPUTSETTINGSACK    0xD3
#define CMT_LEN_OUTPUTSETTINGS                  4
#define CMT_MID_SETOUTPUTSETTINGS               0xD2
#define CMT_MID_SETOUTPUTSETTINGSACK    0xD3

#define CMT_MID_REQOUTPUTSKIPFACTOR             0xD4
#define CMT_MID_REQOUTPUTSKIPFACTORACK  0xD5
#define CMT_LEN_OUTPUTSKIPFACTOR                2
#define CMT_MID_SETOUTPUTSKIPFACTOR             0xD4
#define CMT_MID_SETOUTPUTSKIPFACTORACK  0xD5

#define CMT_MID_REQSYNCINSETTINGS               0xD6
#define CMT_MID_REQSYNCINSETTINGSACK    0xD7
#define CMT_LEN_SYNCINMODE                              2
#define CMT_LEN_SYNCINSKIPFACTOR                2
#define CMT_LEN_SYNCINOFFSET                    4
#define CMT_MID_SETSYNCINSETTINGS               0xD6
#define CMT_MID_SETSYNCINSETTINGSACK    0xD7

#define CMT_MID_REQSYNCOUTSETTINGS              0xD8
#define CMT_MID_REQSYNCOUTSETTINGSACK   0xD9
#define CMT_LEN_SYNCOUTMODE                             2
#define CMT_LEN_SYNCOUTSKIPFACTOR               2
#define CMT_LEN_SYNCOUTOFFSET                   4
#define CMT_LEN_SYNCOUTPULSEWIDTH               4
#define CMT_MID_SETSYNCOUTSETTINGS              0xD8
#define CMT_MID_SETSYNCOUTSETTINGSACK   0xD9

#define CMT_MID_REQERRORMODE                    0xDA
#define CMT_MID_REQERRORMODEACK                 0xDB
#define CMT_LEN_ERRORMODE                               2
#define CMT_MID_SETERRORMODE                    0xDA
#define CMT_MID_SETERRORMODEACK                 0xDB

#define CMT_MID_REQTRANSMITDELAY                0xDC
#define CMT_MID_REQTRANSMITDELAYACK             0xDD
#define CMT_LEN_TRANSMITDELAY                   2
#define CMT_MID_SETTRANSMITDELAY                0xDC
#define CMT_MID_SETTRANSMITDELAYACK             0xDD    

#define CMT_MID_REQOBJECTALIGNMENT              0xE0    
#define CMT_MID_REQOBJECTALIGNMENTACK   0xE1
#define CMT_LEN_OBJECTALIGNMENT                 36
#define CMT_MID_SETOBJECTALIGNMENT              0xE0    
#define CMT_MID_SETOBJECTALIGNMENTACK   0xE1

// Xbus Master
#define CMT_MID_REQXMERRORMODE                  0x82
#define CMT_MID_REQXMERRORMODEACK               0x83
#define CMT_LEN_XMERRORMODE                             2
#define CMT_MID_SETXMERRORMODE                  0x82
#define CMT_MID_SETXMERRORMODEACK               0x83

#define CMT_MID_REQBUFFERSIZE                   0x84
#define CMT_MID_REQBUFFERSIZEACK                0x85
#define CMT_LEN_BUFFERSIZE                              2
#define CMT_MID_SETBUFFERSIZE                   0x84
#define CMT_MID_SETBUFFERSIZEACK                0x85                    
// End Xbus Master

#define CMT_MID_REQHEADING                              0x82
#define CMT_MID_REQHEADINGACK                   0x83
#define CMT_LEN_HEADING                                 4
#define CMT_MID_SETHEADING                              0x82
#define CMT_MID_SETHEADINGACK                   0x83

#define CMT_MID_REQMAGNETICDECLINATION          0x6A
#define CMT_MID_REQMAGNETICDECLINATIONACK       0x6B
#define CMT_LEN_MAGNETICDECLINATION                     4
#define CMT_MID_SETMAGNETICDECLINATION          0x6A
#define CMT_MID_SETMAGNETICDECLINATIONACK       0x6B

#define CMT_MID_REQLOCATIONID                   0x84
#define CMT_MID_REQLOCATIONIDACK                0x85
#define CMT_LEN_LOCATIONID                              2
#define CMT_MID_SETLOCATIONID                   0x84
#define CMT_MID_SETLOCATIONIDACK                0x85

#define CMT_MID_REQEXTOUTPUTMODE                0x86
#define CMT_MID_REQEXTOUTPUTMODEACK             0x87
#define CMT_LEN_EXTOUTPUTMODE                   2
#define CMT_MID_SETEXTOUTPUTMODE                0x86
#define CMT_MID_SETEXTOUTPUTMODEACK             0x87

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

#define CMT_MID_REQINITTRACKMODE                0x88
#define CMT_MID_REQINITTRACKMODEACK             0x89
#define CMT_LEN_INITTRACKMODE                   2
#define CMT_MID_SETINITTRACKMODE                0x88
#define CMT_MID_SETINITTRACKMODEACK             0x89

#define CMT_MID_STOREXKFSTATE                   0x8A
#define CMT_LEN_STOREXKFSTATE                   0
#define CMT_MID_STOREXKFSTATEACK                0x8B

#define CMT_MID_REQUTCTIME                              0x60
#define CMT_MID_UTCTIME                                 0x61
#define CMT_LEN_UTCTIME                                 12

#define CMT_LEN_SCENARIOLABEL                   20
#define CMT_LEN_SCENARIOFULL                    (1+1+CMT_LEN_SCENARIOLABEL)
#define CMT_MID_REQAVAILABLESCENARIOS   0x62
#define CMT_MID_AVAILABLESCENARIOS              0x63
#define CMT_LEN_AVAILABLESCENARIOS              (CMT_MAX_SCENARIOS_IN_MT*CMT_LEN_SCENARIOFULL)

#define CMT_MID_REQSCENARIO                             0x64
#define CMT_MID_REQSCENARIOACK                  0x65
#define CMT_LEN_REQSCENARIOACK                  2
#define CMT_MID_SETSCENARIO                             0x64
#define CMT_MID_SETSCENARIOACK                  0x65
#define CMT_LEN_SETSCENARIO                             1

#define CMT_MID_REQGRAVITYMAGNITUDE             0x66
#define CMT_MID_REQGRAVITYMAGNITUDEACK  0x67
#define CMT_MID_SETGRAVITYMAGNITUDE             0x66
#define CMT_MID_SETGRAVITYMAGNITUDEACK  0x67
#define CMT_LEN_GRAVITYMAGNITUDE                4

#define CMT_MID_REQGPSLEVERARM                  0x68
#define CMT_MID_REQGPSLEVERARMACK               0x69
#define CMT_MID_SETGPSLEVERARM                  0x68
#define CMT_MID_SETGPSLEVERARMACK               0x69
#define CMT_LEN_GPSLEVERARM                             12

#define CMT_MID_REQLATLONALT                    0x6E
#define CMT_MID_REQLATLONALTACK                 0x6F
#define CMT_LEN_LATLONALT                               18
#define CMT_MID_SETLATLONALT                    0x6E
#define CMT_MID_SETLATLONALTACK                 0x6F

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

#define CMT_MID_SETNOROTATION                   0x22
#define CMT_MID_SETNOROTATIONACK                0x23
#define CMT_LEN_SETNOROTATION                   2

#define CMT_MID_RUNSELFTEST                             0x24
#define CMT_MID_SELFTESTRESULTS                 0x25
#define CMT_SELFTEST_OK                                 0x1FF

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

// MTData defines 
// Length of data blocks in bytes
#define CMT_LEN_RAWDATA                                 20
#define CMT_LEN_CALIBDATA                               36
#define CMT_LEN_CALIB_ACCDATA                   12
#define CMT_LEN_CALIB_GYRDATA                   12
#define CMT_LEN_CALIB_MAGDATA                   12
#define CMT_LEN_ORIENT_QUATDATA                 16
#define CMT_LEN_ORIENT_EULERDATA                12
#define CMT_LEN_ORIENT_MATRIXDATA               36
#define CMT_LEN_SAMPLECNT                               2
#define CMT_LEN_TEMPDATA                                4

// Length of data blocks in floats
#define CMT_LEN_CALIBDATA_FLT                   9
#define CMT_LEN_TEMPDATA_FLT                    1
#define CMT_LEN_ORIENT_QUATDATA_FLT             4
#define CMT_LEN_ORIENT_EULERDATA_FLT    3
#define CMT_LEN_ORIENT_MATRIXDATA_FLT   9

// Indices of fields in DATA field of MTData message in bytes
// use in combination with LEN_CALIB etc
// Un-calibrated raw data
#define CMT_IND_RAW_ACCX                                0
#define CMT_IND_RAW_ACCY                                2
#define CMT_IND_RAW_ACCZ                                4
#define CMT_IND_RAW_GYRX                                6
#define CMT_IND_RAW_GYRY                                8
#define CMT_IND_RAW_GYRZ                                10
#define CMT_IND_RAW_MAGX                                12
#define CMT_IND_RAW_MAGY                                14
#define CMT_IND_RAW_MAGZ                                16
#define CMT_IND_RAW_TEMP                                18
// Calibrated data
#define CMT_IND_CALIB_ACCX                              0
#define CMT_IND_CALIB_ACCY                              4
#define CMT_IND_CALIB_ACCZ                              8
#define CMT_IND_CALIB_GYRX                              12
#define CMT_IND_CALIB_GYRY                              16
#define CMT_IND_CALIB_GYRZ                              20
#define CMT_IND_CALIB_MAGX                              24
#define CMT_IND_CALIB_MAGY                              28
#define CMT_IND_CALIB_MAGZ                              32
// Orientation data - quat
#define CMT_IND_ORIENT_Q0                               0
#define CMT_IND_ORIENT_Q1                               4
#define CMT_IND_ORIENT_Q2                               8
#define CMT_IND_ORIENT_Q3                               12
// Orientation data - euler
#define CMT_IND_ORIENT_ROLL                             0
#define CMT_IND_ORIENT_PITCH                    4
#define CMT_IND_ORIENT_YAW                              8
// Orientation data - matrix
#define CMT_IND_ORIENT_A                                0
#define CMT_IND_ORIENT_B                                4
#define CMT_IND_ORIENT_C                                8
#define CMT_IND_ORIENT_D                                12
#define CMT_IND_ORIENT_E                                16
#define CMT_IND_ORIENT_F                                20
#define CMT_IND_ORIENT_G                                24
#define CMT_IND_ORIENT_H                                28
#define CMT_IND_ORIENT_I                                32
// Orientation data - euler
#define CMT_IND_SAMPLECNTH                              0
#define CMT_IND_SAMPLECNTL                              1

// Indices of fields in DATA field of MTData message
// Un-calibrated raw data
#define CMT_FLDNUM_RAW_ACCX                             0
#define CMT_FLDNUM_RAW_ACCY                             1
#define CMT_FLDNUM_RAW_ACCZ                             2
#define CMT_FLDNUM_RAW_GYRX                             3
#define CMT_FLDNUM_RAW_GYRY                             4
#define CMT_FLDNUM_RAW_GYRZ                             5
#define CMT_FLDNUM_RAW_MAGX                             6
#define CMT_FLDNUM_RAW_MAGY                             7
#define CMT_FLDNUM_RAW_MAGZ                             8
#define CMT_FLDNUM_RAW_TEMP                             9
// Calibrated data
#define CMT_FLDNUM_CALIB_ACCX                   0
#define CMT_FLDNUM_CALIB_ACCY                   1
#define CMT_FLDNUM_CALIB_ACCZ                   2
#define CMT_FLDNUM_CALIB_GYRX                   3
#define CMT_FLDNUM_CALIB_GYRY                   4
#define CMT_FLDNUM_CALIB_GYRZ                   5
#define CMT_FLDNUM_CALIB_MAGX                   6
#define CMT_FLDNUM_CALIB_MAGY                   7
#define CMT_FLDNUM_CALIB_MAGZ                   8
// Orientation data - quat
#define CMT_FLDNUM_ORIENT_Q0                    0
#define CMT_FLDNUM_ORIENT_Q1                    1
#define CMT_FLDNUM_ORIENT_Q2                    2
#define CMT_FLDNUM_ORIENT_Q3                    3
// Orientation data - euler
#define CMT_FLDNUM_ORIENT_ROLL                  0
#define CMT_FLDNUM_ORIENT_PITCH                 1
#define CMT_FLDNUM_ORIENT_YAW                   2
// Orientation data - matrix
#define CMT_FLDNUM_ORIENT_A                             0
#define CMT_FLDNUM_ORIENT_B                             1
#define CMT_FLDNUM_ORIENT_C                             2
#define CMT_FLDNUM_ORIENT_D                             3
#define CMT_FLDNUM_ORIENT_E                             4
#define CMT_FLDNUM_ORIENT_F                             5
#define CMT_FLDNUM_ORIENT_G                             6
#define CMT_FLDNUM_ORIENT_H                             7
#define CMT_FLDNUM_ORIENT_I                             8
// Length
// Uncalibrated raw data
#define CMT_LEN_RAW_ACCX                                2
#define CMT_LEN_RAW_ACCY                                2
#define CMT_LEN_RAW_ACCZ                                2
#define CMT_LEN_RAW_GYRX                                2
#define CMT_LEN_RAW_GYRY                                2
#define CMT_LEN_RAW_GYRZ                                2
#define CMT_LEN_RAW_MAGX                                2
#define CMT_LEN_RAW_MAGY                                2
#define CMT_LEN_RAW_MAGZ                                2
#define CMT_LEN_RAW_TEMP                                2
// Calibrated data
#define CMT_LEN_CALIB_ACCX                              4
#define CMT_LEN_CALIB_ACCY                              4
#define CMT_LEN_CALIB_ACCZ                              4
#define CMT_LEN_CALIB_GYRX                              4
#define CMT_LEN_CALIB_GYRY                              4
#define CMT_LEN_CALIB_GYRZ                              4
#define CMT_LEN_CALIB_MAGX                              4
#define CMT_LEN_CALIB_MAGY                              4
#define CMT_LEN_CALIB_MAGZ                              4
// Orientation data - quat
#define CMT_LEN_ORIENT_Q0                               4
#define CMT_LEN_ORIENT_Q1                               4
#define CMT_LEN_ORIENT_Q2                               4
#define CMT_LEN_ORIENT_Q3                               4
// Orientation data - euler
#define CMT_LEN_ORIENT_ROLL                             4
#define CMT_LEN_ORIENT_PITCH                    4
#define CMT_LEN_ORIENT_YAW                              4
// Orientation data - matrix
#define CMT_LEN_ORIENT_A                                4
#define CMT_LEN_ORIENT_B                                4
#define CMT_LEN_ORIENT_C                                4
#define CMT_LEN_ORIENT_D                                4
#define CMT_LEN_ORIENT_E                                4
#define CMT_LEN_ORIENT_F                                4
#define CMT_LEN_ORIENT_G                                4
#define CMT_LEN_ORIENT_H                                4
#define CMT_LEN_ORIENT_I                                4

// Defines for getDataValue
#define CMT_VALUE_RAW_ACC                               0
#define CMT_VALUE_RAW_GYR                               1
#define CMT_VALUE_RAW_MAG                               2
#define CMT_VALUE_RAW_TEMP                              3
#define CMT_VALUE_CALIB_ACC                             4
#define CMT_VALUE_CALIB_GYR                             5
#define CMT_VALUE_CALIB_MAG                             6
#define CMT_VALUE_ORIENT_QUAT                   7
#define CMT_VALUE_ORIENT_EULER                  8
#define CMT_VALUE_ORIENT_MATRIX                 9
#define CMT_VALUE_SAMPLECNT                             10
#define CMT_VALUE_TEMP                                  11

#define CMT_INVALIDSETTINGVALUE                 0xFFFFFFFF

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

#define CMT_MID_REQFILTERSETTINGS               0xA0
#define CMT_MID_REQFILTERSETTINGSACK    0xA1
#define CMT_LEN_FILTERSETTINGS                  4
#define CMT_MID_SETFILTERSETTINGS               0xA0
#define CMT_MID_SETFILTERSETTINGSACK    0xA1
#define CMT_MID_REQAMD                                  0xA2
#define CMT_MID_REQAMDACK                               0xA3
#define CMT_LEN_AMD                                             2
#define CMT_MID_SETAMD                                  0xA2
#define CMT_MID_SETAMDACK                               0xA3
#define CMT_MID_RESETORIENTATION                0xA4
#define CMT_MID_RESETORIENTATIONACK             0xA5
#define CMT_LEN_RESETORIENTATION                2

#define CMT_MID_REQGPSSTATUS                    0xA6
#define CMT_MID_GPSSTATUS                               0xA7
#define CMT_LEN_GPSSTATUS                               (1+5*16)

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

// Xbus protocol error codes (Error)
#define CMT_ERROR_NOBUSCOMM                             0x01
#define CMT_ERROR_BUSNOTREADY                   0x02
#define CMT_ERROR_PERIODINVALID                 0x03
#define CMT_ERROR_MESSAGEINVALID                0x04
#define CMT_ERROR_INITOFBUSFAILED1              0x10
#define CMT_ERROR_INITOFBUSFAILED2              0x11
#define CMT_ERROR_INITOFBUSFAILED3              0x12
#define CMT_ERROR_SETBIDPROCFAILED1             0x14
#define CMT_ERROR_SETBIDPROCFAILED2             0x15
#define CMT_ERROR_MEASUREMENTFAILED1    0x18
#define CMT_ERROR_MEASUREMENTFAILED2    0x19
#define CMT_ERROR_MEASUREMENTFAILED3    0x1A
#define CMT_ERROR_MEASUREMENTFAILED4    0x1B
#define CMT_ERROR_MEASUREMENTFAILED5    0x1C
#define CMT_ERROR_MEASUREMENTFAILED6    0x1D
#define CMT_ERROR_TIMEROVERFLOW                 0x1E
#define CMT_ERROR_BAUDRATEINVALID               0x20
#define CMT_ERROR_PARAMETERINVALID              0x21
#define CMT_ERROR_MEASUREMENTFAILED7    0x23

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

// Configuration message defines
#define CMT_CONF_MASTERDID                              0
#define CMT_CONF_PERIOD                                 4
#define CMT_CONF_OUTPUTSKIPFACTOR               6
#define CMT_CONF_SYNCIN_MODE                    8
#define CMT_CONF_SYNCIN_SKIPFACTOR              10
#define CMT_CONF_SYNCIN_OFFSET                  12
#define CMT_CONF_DATE                                   16
#define CMT_CONF_TIME                                   24
#define CMT_CONF_NUMDEVICES                             96
// Configuration sensor block properties
#define CMT_CONF_DID                                    98
#define CMT_CONF_DATALENGTH                             102
#define CMT_CONF_OUTPUTMODE                             104
#define CMT_CONF_OUTPUTSETTINGS                 106
#define CMT_CONF_BLOCKLEN                               20
// To calculate the offset in data field for output mode of sensor #2 use
//              CONF_OUTPUTMODE + 1*CONF_BLOCKLEN
#define CMT_CONF_MASTERDIDLEN                   4
#define CMT_CONF_PERIODLEN                              2
#define CMT_CONF_OUTPUTSKIPFACTORLEN    2
#define CMT_CONF_SYNCIN_MODELEN                 2
#define CMT_CONF_SYNCIN_SKIPFACTORLEN   2
#define CMT_CONF_SYNCIN_OFFSETLEN               4
#define CMT_CONF_DATELEN                                8
#define CMT_CONF_TIMELEN                                8
#define CMT_CONF_RESERVED_CLIENTLEN             32
#define CMT_CONF_RESERVED_HOSTLEN               32
#define CMT_CONF_NUMDEVICESLEN                  2
// Configuration sensor block properties
#define CMT_CONF_DIDLEN                                 4
#define CMT_CONF_DATALENGTHLEN                  2
#define CMT_CONF_OUTPUTMODELEN                  2
#define CMT_CONF_OUTPUTSETTINGSLEN              4

// Clock frequency for offset & pulse width
#define CMT_SYNC_CLOCKFREQMHZ                   29.4912
#define CMT_SYNC_CLOCK_NS_TO_TICKS              (CMT_SYNC_CLOCKFREQMHZ * 1.0e-3)
#define CMT_SYNC_CLOCK_TICKS_TO_NS              (1.0e3 / CMT_SYNC_CLOCKFREQMHZ)

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

// SyncIn mode
#define CMT_SYNCIN_DISABLED                             0x0000
#define CMT_SYNCIN_EDGE_RISING                  0x0001
#define CMT_SYNCIN_EDGE_FALLING                 0x0002
#define CMT_SYNCIN_EDGE_BOTH                    0x0003
#define CMT_SYNCIN_EDGE_MASK                    0x0003
#define CMT_SYNCIN_TYPE_DOSAMPLING              0x0000
#define CMT_SYNCIN_TYPE_SENDLASTDATA    0x0004
#define CMT_SYNCIN_TYPE_CLOCK                   0x0010
#define CMT_SYNCIN_TYPE_MASK                    0x001C

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

// SyncOut mode
#define CMT_SYNCOUT_DISABLED            0x0000
#define CMT_SYNCOUT_TYPE_TOGGLE         0x0001
#define CMT_SYNCOUT_TYPE_PULSE          0x0002
#define CMT_SYNCOUT_POL_NEG                     0x0000
#define CMT_SYNCOUT_POL_POS                     0x0010
#define CMT_SYNCOUT_TYPE_MASK           0x000F
#define CMT_SYNCOUT_POL_MASK            0x0010

// OutputModes
#define CMT_OUTPUTMODE_MT9                              0x8000
#define CMT_OUTPUTMODE_XM                               0x0000
#define CMT_OUTPUTMODE_RAW                              0x4000
//#define CMT_OUTPUTMODE_RAWGPSPRINT            0x1000  // Obsolete. Use CMT_OUTPUTMODE_GPSPVT_PRESSURE instead
#define CMT_OUTPUTMODE_GPSPVT_PRESSURE  0x1000
#define CMT_OUTPUTMODE_TEMP                             0x0001
#define CMT_OUTPUTMODE_CALIB                    0x0002
#define CMT_OUTPUTMODE_ORIENT                   0x0004
#define CMT_OUTPUTMODE_AUXILIARY                0x0008
#define CMT_OUTPUTMODE_POSITION                 0x0010
#define CMT_OUTPUTMODE_VELOCITY                 0x0020
#define CMT_OUTPUTMODE_STATUS                   0x0800

// CmtOutputSettings
#define CMT_OUTPUTSETTINGS_XM                                           0x00000001
#define CMT_OUTPUTSETTINGS_TIMESTAMP_NONE                       0x00000000
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT          0x00000001
#define CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLEUTC          0x00000002
#define CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION        0x00000000
#define CMT_OUTPUTSETTINGS_ORIENTMODE_EULER                     0x00000004
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX            0x00000008
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG          0x00000000
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC                        0x00000060
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR                     0x00000040
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCMAG                     0x00000020
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR                        0x00000050
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYRMAG                     0x00000010
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG                        0x00000030
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG_MASK     0x00000070
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT                     0x00000000
#define CMT_OUTPUTSETTINGS_DATAFORMAT_F1220                     0x00000100
#define CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632            0x00000200
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1           0x00000800                      
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2           0x00000400
#define CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84       0x00000000
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MS_XYZ          0x00000000
#define CMT_OUTPUTSETTINGS_TIMESTAMP_MASK                       0x00000003
#define CMT_OUTPUTSETTINGS_ORIENTMODE_MASK                      0x0000000C
#define CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK           0x00000010
#define CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK           0x00000020
#define CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK           0x00000040
#define CMT_OUTPUTSETTINGS_CALIBMODE_MASK                       0x00000070
#define CMT_OUTPUTSETTINGS_DATAFORMAT_MASK                      0x00000300
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK      0x00000400
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK      0x00000800
#define CMT_OUTPUTSETTINGS_AUXILIARYMODE_MASK           0x00000C00
#define CMT_OUTPUTSETTINGS_POSITIONMODE_MASK            0x0001C000
#define CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK            0x00060000
#define CMT_OUTPUTSETTINGS_COORDINATES_NED                      0x80000000

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

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

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

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

#define CMT_PERIOD_10HZ                         11520           // invalid with gps pulse time correction
#define CMT_PERIOD_12HZ                         9600
#define CMT_PERIOD_15HZ                         7680            // invalid with gps pulse time correction
#define CMT_PERIOD_16HZ                         7200
#define CMT_PERIOD_18HZ                         6400            // invalid with gps pulse time correction
#define CMT_PERIOD_20HZ                         5760
#define CMT_PERIOD_24HZ                         4800
#define CMT_PERIOD_25HZ                         4608            // invalid with gps pulse time correction
#define CMT_PERIOD_30HZ                         3840
#define CMT_PERIOD_32HZ                         3600
#define CMT_PERIOD_36HZ                         3200
#define CMT_PERIOD_40HZ                         2880
#define CMT_PERIOD_45HZ                         2560            // invalid with gps pulse time correction
#define CMT_PERIOD_48HZ                         2400
#define CMT_PERIOD_50HZ                         2304            // invalid with gps pulse time correction
#define CMT_PERIOD_60HZ                         1920
#define CMT_PERIOD_64HZ                         1800
#define CMT_PERIOD_72HZ                         1600
#define CMT_PERIOD_75HZ                         1536            // invalid with gps pulse time correction
#define CMT_PERIOD_80HZ                         1440
#define CMT_PERIOD_90HZ                         1280            // invalid with gps pulse time correction
#define CMT_PERIOD_96HZ                         1200

#define CMT_PERIOD_100HZ                        1152
#define CMT_PERIOD_120HZ                        960
#define CMT_PERIOD_128HZ                        900
#define CMT_PERIOD_144HZ                        800
#define CMT_PERIOD_150HZ                        768                     // invalid with gps pulse time correction
#define CMT_PERIOD_160HZ                        720
#define CMT_PERIOD_180HZ                        640
#define CMT_PERIOD_192HZ                        600
#define CMT_PERIOD_200HZ                        576
#define CMT_PERIOD_225HZ                        512                     // invalid with gps pulse time correction
#define CMT_PERIOD_240HZ                        480
#define CMT_PERIOD_256HZ                        450
#define CMT_PERIOD_288HZ                        400
#define CMT_PERIOD_300HZ                        384
#define CMT_PERIOD_320HZ                        360
#define CMT_PERIOD_360HZ                        320
#define CMT_PERIOD_384HZ                        300
#define CMT_PERIOD_400HZ                        288
#define CMT_PERIOD_450HZ                        256                     // invalid with gps pulse time correction
#define CMT_PERIOD_480HZ                        240
#define CMT_PERIOD_512HZ                        225

// openPort baudrates
#ifdef _WIN32
        #define CMT_BAUD_RATE_4800                                      CBR_4800
        #define CMT_BAUD_RATE_9600                                      CBR_9600
//      #define CMT_BAUD_RATE_14K4                                      CBR_14400
        #define CMT_BAUD_RATE_19K2                                      CBR_19200
//      #define CMT_BAUD_RATE_28K8                                      28800
        #define CMT_BAUD_RATE_38K4                                      CBR_38400
        #define CMT_BAUD_RATE_57K6                                      CBR_57600
        #define CMT_BAUD_RATE_115K2                                     CBR_115200
        #define CMT_BAUD_RATE_230K4                                     230400
        #define CMT_BAUD_RATE_460K8                                     460800
        #define CMT_BAUD_RATE_921K6                                     921600
#else
        #define CMT_BAUD_RATE_4800                                      B4800
        #define CMT_BAUD_RATE_9600                                      B9600
//      #define CMT_BAUD_RATE_14K4                                      B14400
        #define CMT_BAUD_RATE_19K2                                      B19200
//      #define CMT_BAUD_RATE_28K8                                      B28800
        #define CMT_BAUD_RATE_38K4                                      B38400
        #define CMT_BAUD_RATE_57K6                                      B57600
        #define CMT_BAUD_RATE_115K2                                     B115200
        #define CMT_BAUD_RATE_230K4                                     B230400
        #define CMT_BAUD_RATE_460K8                                     B460800
        #define CMT_BAUD_RATE_921K6                                     B921600
#endif

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

#define CMT_GOTO_CONFIG_TRIES                   3

#define CMT_MAX_DEVICES_PER_PORT                11
#define CMT_DEFAULT_SAMPLE_FREQUENCY    100
#define CMT_DEFAULT_PERIOD                              1152
#define CMT_DEFAULT_SKIP                                0
#define CMT_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

#define CMT_DEFAULT_READ_BUFFER_SIZE            (CMT_MAXDATALEN*8)
#define CMT_DEFAULT_WRITE_BUFFER_SIZE           CMT_MAXDATALEN
#define CMT_DEFAULT_BAUD_RATE                           CMT_BAUD_RATE_115K2
#define CMT2_DATA_QUEUE_SIZE                            60

#define CMT3_CONFIG_TIMEOUT                             100
#define CMT1_DEFAULT_TIMEOUT                    10
#define CMT2_DEFAULT_TIMEOUT                    50
#define CMT3_DEFAULT_TIMEOUT_MEAS               16
#define CMT3_DEFAULT_TIMEOUT_CONF               3000
#define CMT4_DEFAULT_TIMEOUT_MEAS               1
#define CMT4_DEFAULT_TIMEOUT_CONF               CMT3_DEFAULT_TIMEOUT_CONF
#define CMT4_MEASUREMENT_REQ_TIMEOUT    200
#define CMT4_DEFAULT_TIMEOUT_DATA               3000
#define CMT4_CONFIGWAIT_TIMEOUT                 50

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

// Reset orientation message type
enum CmtResetMethod {
        CMT_RESETORIENTATION_STORE = 0,
        CMT_RESETORIENTATION_HEADING,
        CMT_RESETORIENTATION_GLOBAL,
        CMT_RESETORIENTATION_OBJECT,
        CMT_RESETORIENTATION_ALIGN
};

enum CmtXmSyncMode {
        CMT_XM_SYNC_OFF                         = 0x00,
        CMT_XM_SYNC_PWM                         = 0x01,
        CMT_XM_SYNC_MASTER                      = 0x10,
        CMT_XM_SYNC_SLAVE                       = 0x20,
        CMT_XM_SYNC_TOGGLE                      = 0x30
};

typedef uint32_t        CmtDeviceId;

struct CmtVersion {
        uint8_t m_major;
        uint8_t m_minor;
        uint8_t m_revision;
};

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

#if !defined(CMT_DLL_IMPORT)
        void readFromMessage(const void* message);
#endif
}
// different alignment commands for gcc / MSVS
#ifdef _MSC_VER
        ;
        #pragma pack(pop)
#else
        __attribute__((__packed__))     ;
#endif


typedef uint32_t CmtOutputMode;
typedef uint64_t CmtOutputSettings;

struct CmtDataFormat {
        CmtOutputMode           m_outputMode;
        CmtOutputSettings       m_outputSettings;

#if !defined(CMT_DLL_IMPORT)
        CmtDataFormat(  const CmtOutputMode mode = CMT_DEFAULT_OUTPUT_MODE,
                                        const CmtOutputSettings settings = CMT_DEFAULT_OUTPUT_SETTINGS)
                                        : m_outputMode(mode), m_outputSettings(settings) {}
#endif
};

typedef uint16_t CmtMtTimeStamp;

#define CMT_MAX_FILENAME_LENGTH 512

#define CMT_DID_BROADCAST                               0x80000000
#define CMT_DID_MASTER                                  0


struct CmtSyncInSettings {
        uint16_t        m_mode;
        uint16_t        m_skipFactor;
        uint32_t        m_offset;               

#if !defined(CMT_DLL_IMPORT)
        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
};

struct CmtSyncOutSettings {
        uint16_t        m_mode;
        uint16_t        m_skipFactor;
        uint32_t        m_offset;               
        uint32_t        m_pulseWidth;   

#if !defined(CMT_DLL_IMPORT)
        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
};

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;        
};

struct CmtDeviceMode {
        CmtOutputMode           m_outputMode;
        CmtOutputSettings       m_outputSettings;
        uint16_t                m_sampleFrequency;

#if !defined(CMT_DLL_IMPORT)
        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) {}
        
        void getPeriodAndSkipFactor(uint16_t& period, uint16_t& skip) const;
        double getRealSampleFrequency(void) const;
        void setPeriodAndSkipFactor(uint16_t period, uint16_t skip);

        bool operator == (const CmtDeviceMode& dev) const;
#endif
};

struct CmtDeviceMode2 {
        CmtOutputMode           m_outputMode;
        CmtOutputSettings       m_outputSettings;
        uint16_t                m_period;
        uint16_t                m_skip;

#if !defined(CMT_DLL_IMPORT)
        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) {}

        double getRealSampleFrequency(void) const;
        uint16_t getSampleFrequency(void) const;
        void setSampleFrequency(uint16_t freq);

        bool operator == (const CmtDeviceMode2& dev) const;
#endif
};

#define CMT_MAX_SCENARIOS_IN_MT         5
#define CMT_MAX_SCENARIOS                       254

struct CmtScenario {
        uint8_t m_type;         
        uint8_t m_version;      
        char m_label[CMT_LEN_SCENARIOLABEL+1];          
        char m_filterType;                                                      
        uint8_t m_filterMajor, m_filterMinor;           
};

enum CmtCallbackType {
        CMT_CALLBACK_LIST_TERMINATOR    = -1,

        CMT_CALLBACK_ONMEASUREMENTPREPARE,      
        CMT_CALLBACK_ONMEASUREMENTSTART,        
        CMT_CALLBACK_ONMEASUREMENTSTOP,         
        CMT_CALLBACK_ONPOSTPROCESS,                     
        CMT_CALLBACK_ONBYTESRECEIVED,           
        CMT_CALLBACK_ONMESSAGERECEIVED,         
        CMT_CALLBACK_ONMESSAGESENT,                     
        CMT_CALLBACK_ONMISSINGSAMPLES,          
        CMT_CALLBACK_ONWAKEUPRECEIVED,          
        CMT_CALLBACK_ONINSTANCE,                        
        CMT_CALLBACK_ONPLAYBACK,                                

        CMT_CALLBACK_COUNT                                      
};

#define CmtCallbackSelector     CmtCallbackType

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

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

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

struct CmtPortInfo {
        uint32_t m_baudrate;    
        uint32_t m_deviceId;    
        uint16_t m_portNr;              
        char m_portName[256];           
#ifdef __cplusplus
#       ifdef _WIN32
        bool operator > (const CmtPortInfo& p) const { return m_portNr > p.m_portNr; }
        bool operator < (const CmtPortInfo& p) const { return m_portNr < p.m_portNr; }
        bool operator == (const CmtPortInfo& p) const { return m_portNr == p.m_portNr; }
        bool operator == (const uint16_t port) const { return m_portNr == port; }
        bool operator == (const char *port) const { return strcmp(m_portName, port) == 0; }
#       else    // Linux
        bool operator > (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) > 0; }
        bool operator < (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) < 0; }
        bool operator == (const CmtPortInfo& p) const { return strcmp(m_portName, p.m_portName) == 0; }
        bool operator == (const uint16_t port) const { (void)port; return false; }
        bool operator == (const char *port) const { return strcmp(m_portName, port) == 0; }
#       endif // ifdef _WIN32/Linux
#endif
};

struct CmtShortVector {
        uint16_t m_data[3];
};
struct CmtRawData {
        CmtShortVector  m_acc,m_gyr,m_mag;
        uint16_t        m_temp;
};
struct CmtGpsPvtData {  uint16_t        m_pressure;
        uint8_t         m_pressureAge;
        uint32_t        m_itow;
        int32_t         m_latitude;
        int32_t         m_longitude;
        int32_t         m_height;
        int32_t         m_veln;
        int32_t         m_vele;
        int32_t         m_veld;
        uint32_t        m_hacc;
        uint32_t        m_vacc;
        uint32_t        m_sacc;
        uint8_t m_gpsAge;
};
#define CmtRawGpsData   CmtGpsPvtData           
struct CmtRawPressureData {
        uint16_t        m_pressure;
        uint8_t         m_pressureAge;
};
struct CmtAnalogInData
{
        uint16_t m_data;
};
struct CmtVector {
        double m_data[3];
};
struct CmtCalData {
        CmtVector       m_acc,m_gyr,m_mag;
};
struct CmtQuat {
        double m_data[4];
};
struct CmtEuler {
        double m_roll;          
        double m_pitch;         
        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 int64_t CmtTimeStamp;

#define CMT_AUTO_SAVE_FRAMES    5000
#define CMT_FILE_LAST_FRAME             0xFFFFFFFF

#define CMT_BID_BROADCAST               (const uint8_t)0x00
#define CMT_BID_INVALID                 (const uint8_t)0xFE
#define CMT_MID_REQEMTS                 (const uint8_t)0x90
#define CMT_MID_EMTSDATA                (const uint8_t)0x91
#define CMT_EMTS_SIZE                   1320

#define CMT_STATUSFLAG_SELFTEST_OK                                      0x01
#define CMT_STATUSFLAG_XKFVALID                                         0x02
#define CMT_STATUSFLAG_GPSVALID                                         0x04
#define CMT_STATUSFLAG_NOROTATION_MASK                          0x18
#define CMT_STATUSFLAG_NOROTATION                                       0x18
#define CMT_STATUSFLAG_NOROTATION_ABORTED                       0x10
#define CMT_STATUSFLAG_NOROTATION_SAMPLES_REJECTED      0x08

#define CMT_MAX_VPORTNAME_LEN   32

#endif