xsstatusflag.h

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

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

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

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

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

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

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

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

        ,XSFO_OffsetClipAccX                    = 8
        ,XSFO_OffsetClipAccY                    = 9
        ,XSFO_OffsetClipAccZ                    = 10
        ,XSFO_OffsetClipGyrX                    = 11
        ,XSFO_OffsetClipGyrY                    = 12
        ,XSFO_OffsetClipGyrZ                    = 13
        ,XSFO_OffsetClipMagX                    = 14
        ,XSFO_OffsetClipMagY                    = 15
        ,XSFO_OffsetClipMagZ                    = 16
        
        ,XSFO_SyncIn                                    = 21
        ,XSFO_SyncOut                                   = 22

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

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

#endif // file guard

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

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