ATC3DG.h

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//*****************************************************************************//
//*****************************************************************************//
//
//  Author: crobertson
//
//  Revision for ATC3DG 36.0.19.7
//        
//
//  Date: 02/01/2012
//
//  COPYRIGHT:    COPYRIGHT ASCENSION TECHNOLOGY CORPORATION - 2012
//
//*****************************************************************************//
//*****************************************************************************//
//
//  DESCRIPTION:   ATC3DG3.h 
//
//  Header file containing function prototypes for the BIRD system API
//  Also contains definitions of constants and structures required.
//
//*****************************************************************************//
//*****************************************************************************//

#ifndef ATC3DG_H
#define ATC3DG_H

#ifdef LINUX
  #define ATC3DG_API
#else
#ifdef MAC
  #define ATC3DG_API
#else
#ifdef DEF_FILE
  #define ATC3DG_API
#else
#ifdef ATC3DG_EXPORTS
  #define ATC3DG_API extern "C" __declspec(dllexport)
#else
  #define ATC3DG_API extern "C" __declspec(dllimport)
#endif
#endif
#endif
#endif
 
/*****************************************************************************
              ENUMERATED CONSTANTS
 *****************************************************************************/

//*****************************************************************************
//  
//  ERROR MESSAGE format is as follows:
//  ===================================
//
//  All commands return a 32-bit integer with the following bit definitions:
//
//   3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0
//   1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
//  +-+-+-+-+-+-+---------+---------+-------------------------------+
//  |E|W|X|R|B|M| Reserved| Address |             Code              |
//  +-+-+-+-+-+-+---------+---------+-------------------------------+
//
//  where
//
//    E - indicates an ERROR
//      (Operation either cannot or will not proceed as intended
//        e.g. EEPROM error of some kind. Requires hardware reset
//        of system and/or replacement of hardware)
//    W - indicates a WARNING
//      (Operation may proceed but remedial action needs to be taken
//        e.g. Sensor has been removed. Fix by replacing Sensor)
//      X - indicates Transmitter related message
//      R - indicates Sensor related message
//      (If neither X nor R is set then the message is a SYSTEM message)
//    B - indicates message originated in the BIRD hardware
//    M - indicates there are more messages pending (no longer used)
//
//    Address gives the index number of the device generating the message
//      (Driver and system messages always have address 0)
//
//      Code - is the status code as enumerated in BIRD_ERROR_CODES 
//
//*****************************************************************************
enum BIRD_ERROR_CODES
{
                      //  ERROR CODE DISPOSITION
                      //    |   (Some error codes have been retired.
                      //    |      The column below describes which codes 
                      //    |      have been retired and why. O = Obolete,
                      //    V      I = handled internally)
  BIRD_ERROR_SUCCESS=0,         //00 < > No error 
  BIRD_ERROR_PCB_HARDWARE_FAILURE,    //01 < > indeterminate failure on PCB
  BIRD_ERROR_TRANSMITTER_EEPROM_FAILURE,  //02 <I> transmitter bad eeprom
  BIRD_ERROR_SENSOR_SATURATION_START,   //03 <I> sensor has gone into saturation
  BIRD_ERROR_ATTACHED_DEVICE_FAILURE,   //04 <O> either a sensor or transmitter reports bad
  BIRD_ERROR_CONFIGURATION_DATA_FAILURE,  //05 <O> device EEPROM detected but corrupt
  BIRD_ERROR_ILLEGAL_COMMAND_PARAMETER, //06 < > illegal PARAMETER_TYPE passed to driver
  BIRD_ERROR_PARAMETER_OUT_OF_RANGE,    //07 < > PARAMETER_TYPE legal, but PARAMETER out of range
  BIRD_ERROR_NO_RESPONSE,         //08 <O> no response at all from target card firmware
  BIRD_ERROR_COMMAND_TIME_OUT,      //09 < > time out before response from target board
  BIRD_ERROR_INCORRECT_PARAMETER_SIZE,  //10 < > size of parameter passed is incorrect
  BIRD_ERROR_INVALID_VENDOR_ID,     //11 <O> driver started with invalid PCI vendor ID
  BIRD_ERROR_OPENING_DRIVER,        //12 < > couldn't start driver
  BIRD_ERROR_INCORRECT_DRIVER_VERSION,  //13 < > wrong driver version found
  BIRD_ERROR_NO_DEVICES_FOUND,      //14 < > no BIRDs were found anywhere
  BIRD_ERROR_ACCESSING_PCI_CONFIG,    //15 < > couldn't access BIRDs config space
  BIRD_ERROR_INVALID_DEVICE_ID,     //16 < > device ID out of range
  BIRD_ERROR_FAILED_LOCKING_DEVICE,   //17 < > couldn't lock driver
  BIRD_ERROR_BOARD_MISSING_ITEMS,     //18 < > config space items missing
  BIRD_ERROR_NOTHING_ATTACHED,      //19 <O> card found but no sensors or transmitters attached
  BIRD_ERROR_SYSTEM_PROBLEM,        //20 <O> non specific system problem
  BIRD_ERROR_INVALID_SERIAL_NUMBER,   //21 <O> serial number does not exist in system
  BIRD_ERROR_DUPLICATE_SERIAL_NUMBER,   //22 <O> 2 identical serial numbers passed in set command
  BIRD_ERROR_FORMAT_NOT_SELECTED,     //23 <O> data format not selected yet
  BIRD_ERROR_COMMAND_NOT_IMPLEMENTED,   //24 < > valid command, not implemented yet
  BIRD_ERROR_INCORRECT_BOARD_DEFAULT,   //25 < > incorrect response to reading parameter
  BIRD_ERROR_INCORRECT_RESPONSE,      //26 <O> response received, but data,values in error
  BIRD_ERROR_NO_TRANSMITTER_RUNNING,    //27 < > there is no transmitter running
  BIRD_ERROR_INCORRECT_RECORD_SIZE,   //28 < > data record size does not match data format size
  BIRD_ERROR_TRANSMITTER_OVERCURRENT,   //29 <I> transmitter over-current detected
  BIRD_ERROR_TRANSMITTER_OPEN_CIRCUIT,  //30 <I> transmitter open circuit or removed
  BIRD_ERROR_SENSOR_EEPROM_FAILURE,   //31 <I> sensor bad eeprom
  BIRD_ERROR_SENSOR_DISCONNECTED,     //32 <I> previously good sensor has been removed
  BIRD_ERROR_SENSOR_REATTACHED,     //33 <I> previously good sensor has been reattached
  BIRD_ERROR_NEW_SENSOR_ATTACHED,     //34 <O> new sensor attached
  BIRD_ERROR_UNDOCUMENTED,        //35 <I> undocumented error code received from bird
  BIRD_ERROR_TRANSMITTER_REATTACHED,    //36 <I> previously good transmitter has been reattached
  BIRD_ERROR_WATCHDOG,          //37 < > watchdog timeout
  BIRD_ERROR_CPU_TIMEOUT_START,     //38 <I> CPU ran out of time executing algorithm (start)
  BIRD_ERROR_PCB_RAM_FAILURE,       //39 <I> BIRD on-board RAM failure
  BIRD_ERROR_INTERFACE,         //40 <I> BIRD PCI interface error
  BIRD_ERROR_PCB_EPROM_FAILURE,     //41 <I> BIRD on-board EPROM failure
  BIRD_ERROR_SYSTEM_STACK_OVERFLOW,   //42 <I> BIRD program stack overrun
  BIRD_ERROR_QUEUE_OVERRUN,       //43 <I> BIRD error message queue overrun
  BIRD_ERROR_PCB_EEPROM_FAILURE,      //44 <I> PCB bad EEPROM
  BIRD_ERROR_SENSOR_SATURATION_END,   //45 <I> Sensor has gone out of saturation
  BIRD_ERROR_NEW_TRANSMITTER_ATTACHED,  //46 <O> new transmitter attached
  BIRD_ERROR_SYSTEM_UNINITIALIZED,    //47 < > InitializeBIRDSystem not called yet
  BIRD_ERROR_12V_SUPPLY_FAILURE,      //48 <I > 12V Power supply not within specification
  BIRD_ERROR_CPU_TIMEOUT_END,       //49 <I> CPU ran out of time executing algorithm (end)
  BIRD_ERROR_INCORRECT_PLD,       //50 < > PCB PLD not compatible with this API DLL
  BIRD_ERROR_NO_TRANSMITTER_ATTACHED,   //51 < > No transmitter attached to this ID
  BIRD_ERROR_NO_SENSOR_ATTACHED,      //52 < > No sensor attached to this ID

  // new error codes added 2/27/03 
  // (Version 1,31,5,01)  multi-sensor, synchronized
  BIRD_ERROR_SENSOR_BAD,          //53 < > Non-specific hardware problem
  BIRD_ERROR_SENSOR_SATURATED,      //54 < > Sensor saturated error
  BIRD_ERROR_CPU_TIMEOUT,         //55 < > CPU unable to complete algorithm on current cycle
  BIRD_ERROR_UNABLE_TO_CREATE_FILE,   //56 < > Could not create and open file for saving setup
  BIRD_ERROR_UNABLE_TO_OPEN_FILE,     //57 < > Could not open file for restoring setup
  BIRD_ERROR_MISSING_CONFIGURATION_ITEM,  //58 < > Mandatory item missing from configuration file
  BIRD_ERROR_MISMATCHED_DATA,       //59 < > Data item in file does not match system value
  BIRD_ERROR_CONFIG_INTERNAL,       //60 < > Internal error in config file handler
  BIRD_ERROR_UNRECOGNIZED_MODEL_STRING, //61 < > Board does not have a valid model string
  BIRD_ERROR_INCORRECT_SENSOR,      //62 < > Invalid sensor type attached to this board
  BIRD_ERROR_INCORRECT_TRANSMITTER,   //63 < > Invalid transmitter type attached to this board

  // new error code added 1/18/05
  // (Version 1.31.5.22) 
  //    multi-sensor, 
  //    synchronized-fluxgate, 
  //    integrating micro-sensor,
  //    flat panel transmitter
  BIRD_ERROR_ALGORITHM_INITIALIZATION,  //64 < > Flat panel algorithm initialization failed

  // new error code for multi-sync
  BIRD_ERROR_LOST_CONNECTION,       //65 < > USB connection has been lost
  BIRD_ERROR_INVALID_CONFIGURATION,   //66 < > Invalid configuration

  // VPD error code
  BIRD_ERROR_TRANSMITTER_RUNNING,     //67 < > TX running while reading/writing VPD

  BIRD_ERROR_MAXIMUM_VALUE = 0x7F     //       ## value = number of error codes ##
};

// error message defines
#define ERROR_FLAG          0x80000000
#define WARNING_FLAG        0x40000000

#define XMTR_ERROR_SOURCE     0x20000000
#define RCVR_ERROR_SOURCE     0x10000000
#define BIRD_ERROR_SOURCE     0x08000000

#define DIAG_ERROR_SOURCE     0x04000000

// SYSTEM error = none of the above

// NOTE: The MULTIPLE_ERRORS flag is no longer generated
// It has been left in for backwards compatibility
#define MULTIPLE_ERRORS       0x04000000

// DEVICE STATUS ERROR BIT DEFINITIONS
#define VALID_STATUS        0x00000000
#define GLOBAL_ERROR        0x00000001
#define NOT_ATTACHED        0x00000002
#define SATURATED         0x00000004
#define BAD_EEPROM          0x00000008
#define HARDWARE          0x00000010
#define NON_EXISTENT        0x00000020
#define UNINITIALIZED       0x00000040
#define NO_TRANSMITTER_RUNNING    0x00000080
#define BAD_12V           0x00000100
#define CPU_TIMEOUT         0x00000200
#define INVALID_DEVICE        0x00000400
#define NO_TRANSMITTER_ATTACHED   0x00000800
#define OUT_OF_MOTIONBOX      0x00001000
#define ALGORITHM_INITIALIZING    0x00002000

#define TRUE  1
#define FALSE 0

enum MESSAGE_TYPE
{ 
  SIMPLE_MESSAGE,             // short string describing error code
  VERBOSE_MESSAGE,              // long string describing error code
};

enum TRANSMITTER_PARAMETER_TYPE
{
  SERIAL_NUMBER_TX,   // attached transmitter's serial number
  REFERENCE_FRAME,    // structure of type DOUBLE_ANGLES_RECORD
  XYZ_REFERENCE_FRAME,  // boolean value to select/deselect mode
  VITAL_PRODUCT_DATA_TX,  // single byte parameter to be read/write from VPD section of xmtr EEPROM
  MODEL_STRING_TX,    // 11 byte null terminated character string
  PART_NUMBER_TX,     // 16 byte null terminated character string
  END_OF_TX_LIST
};

enum SENSOR_PARAMETER_TYPE
{             
  DATA_FORMAT,      // enumerated constant of type DATA_FORMAT_TYPE
  ANGLE_ALIGN,      // structure of type DOUBLE_ANGLES_RECORD
  HEMISPHERE,       // enumerated constant of type HEMISPHERE_TYPE
  FILTER_AC_WIDE_NOTCH, // boolean value to select/deselect filter
  FILTER_AC_NARROW_NOTCH, // boolean value to select/deselect filter
  FILTER_DC_ADAPTIVE,   // double value in range 0.0 (no filtering) to 1.0 (max)
  FILTER_ALPHA_PARAMETERS,// structure of type ADAPTIVE_PARAMETERS
  FILTER_LARGE_CHANGE,  // boolean value to select/deselect filter
  QUALITY,        // structure of type QUALITY_PARAMETERS
  SERIAL_NUMBER_RX,   // attached sensor's serial number
  SENSOR_OFFSET,      // structure of type DOUBLE_POSITION_RECORD
  VITAL_PRODUCT_DATA_RX,  // single byte parameter to be read/write from VPD section of sensor EEPROM
  VITAL_PRODUCT_DATA_PREAMP,  // single byte parameter to be read/write from VPD section of preamp EEPROM
  MODEL_STRING_RX,    // 11 byte null terminated character string
  PART_NUMBER_RX,     // 16 byte null terminated character string
  MODEL_STRING_PREAMP,  // 11 byte null terminated character string
  PART_NUMBER_PREAMP,   // 16 byte null terminated character string
  PORT_CONFIGURATION,   // enumerated constant of type PORT_CONFIGURATION_TYPE
  END_OF_RX_LIST
};

enum BOARD_PARAMETER_TYPE
{
  SERIAL_NUMBER_PCB,    // installed board's serial number
  BOARD_SOFTWARE_REVISIONS, // BOARD_REVISIONS structure
  POST_ERROR_PCB,     // board POST_ERROR_PARAMETER
  DIAGNOSTIC_TEST_PCB,  // board DIAGNOSTIC_TEST_PARAMETER
  VITAL_PRODUCT_DATA_PCB, // single byte parameter to be read/write from VPD section of board EEPROM
  MODEL_STRING_PCB,   // 11 byte null terminated character string
  PART_NUMBER_PCB,    // 16 byte null terminated character string
  END_OF_PCB_LIST_BRD
};

enum SYSTEM_PARAMETER_TYPE
{
  SELECT_TRANSMITTER,   // short int equal to transmitterID of selected transmitter
  POWER_LINE_FREQUENCY, // double value (range is hardware dependent)
  AGC_MODE,       // enumerated constant of type AGC_MODE_TYPE
  MEASUREMENT_RATE,   // double value (range is hardware dependent)
  MAXIMUM_RANGE,      // double value (range is hardware dependent)
  METRIC,         // boolean value to select metric units for position
  VITAL_PRODUCT_DATA,   // single byte parameter to be read/write from VPD section of board EEPROM
  POST_ERROR,       // system (board 0) POST_ERROR_PARAMETER
  DIAGNOSTIC_TEST,    // system (board 0) DIAGNOSTIC_TEST_PARAMETER
  REPORT_RATE,      // single byte 1-127      
  COMMUNICATIONS_MEDIA, // Media structure
  LOGGING,        // Boolean
  RESET,          // Boolean
  AUTOCONFIG,       // BYTE 1-127
  AUXILIARY_PORT,     // structure of type AUXILIARY_PORT_PARAMETERS
  COMMUTATION_MODE,   // boolean value to select commutation of sensor data for interconnect pickup rejection
  END_OF_LIST       // end of list place holder
};

enum COMMUNICATIONS_MEDIA_TYPE
{
  USB,          // Auto select USB driver
  RS232,          // Force to RS232
  TCPIP         // Force to TCP/IP
};

enum FILTER_OPTION
{
  NO_FILTER,
  DEFAULT_FLOCK_FILTER
};

enum HEMISPHERE_TYPE
{
  FRONT,
  BACK,
  TOP,
  BOTTOM,
  LEFT,
  RIGHT
};

enum AGC_MODE_TYPE
{
  TRANSMITTER_AND_SENSOR_AGC,   // Old style normal addressing mode
  SENSOR_AGC_ONLY         // Old style extended addressing mode
};

enum PORT_CONFIGURATION_TYPE
{
  DOF_NOT_ACTIVE,         // No sensor associated with this ID, e.g. ID 5 on a 6DOF port
  DOF_6_XYZ_AER,          // 6 degrees of freedom
  DOF_5_XYZ_AE,         // 5 degrees of freedom, no roll
};

enum AUXILIARY_PORT_TYPE
{
  AUX_PORT_NOT_SUPPORTED,     // There is no auxiliary port associated with this sensor port
  AUX_PORT_NOT_SELECTED,      // The auxiliary port is not selected.
  AUX_PORT_SELECTED,        // The auxiliary port is selected.
};

enum DATA_FORMAT_TYPE
{
  NO_FORMAT_SELECTED=0,

  // SHORT (integer) formats
  SHORT_POSITION,
  SHORT_ANGLES,
  SHORT_MATRIX,
  SHORT_QUATERNIONS,
  SHORT_POSITION_ANGLES,
  SHORT_POSITION_MATRIX,
  SHORT_POSITION_QUATERNION,

  // DOUBLE (floating point) formats
  DOUBLE_POSITION,
  DOUBLE_ANGLES,
  DOUBLE_MATRIX,
  DOUBLE_QUATERNIONS,
  DOUBLE_POSITION_ANGLES,   // system default
  DOUBLE_POSITION_MATRIX,
  DOUBLE_POSITION_QUATERNION,

  // DOUBLE (floating point) formats with time stamp appended
  DOUBLE_POSITION_TIME_STAMP,
  DOUBLE_ANGLES_TIME_STAMP,
  DOUBLE_MATRIX_TIME_STAMP,
  DOUBLE_QUATERNIONS_TIME_STAMP,
  DOUBLE_POSITION_ANGLES_TIME_STAMP,
  DOUBLE_POSITION_MATRIX_TIME_STAMP,
  DOUBLE_POSITION_QUATERNION_TIME_STAMP,

  // DOUBLE (floating point) formats with time stamp appended and quality #
  DOUBLE_POSITION_TIME_Q,
  DOUBLE_ANGLES_TIME_Q,
  DOUBLE_MATRIX_TIME_Q,
  DOUBLE_QUATERNIONS_TIME_Q,
  DOUBLE_POSITION_ANGLES_TIME_Q,
  DOUBLE_POSITION_MATRIX_TIME_Q,
  DOUBLE_POSITION_QUATERNION_TIME_Q,

  // These DATA_FORMAT_TYPE codes contain every format in a single structure
  SHORT_ALL,
  DOUBLE_ALL,
  DOUBLE_ALL_TIME_STAMP,
  DOUBLE_ALL_TIME_STAMP_Q,
  DOUBLE_ALL_TIME_STAMP_Q_RAW,  // this format contains a raw data matrix and
                  // is for factory use only...

  // DOUBLE (floating point) formats with time stamp appended, quality # and button
  DOUBLE_POSITION_ANGLES_TIME_Q_BUTTON,
  DOUBLE_POSITION_MATRIX_TIME_Q_BUTTON,
  DOUBLE_POSITION_QUATERNION_TIME_Q_BUTTON,

  // New types for button and wrapper
  DOUBLE_POSITION_ANGLES_MATRIX_QUATERNION_TIME_Q_BUTTON,

  MAXIMUM_FORMAT_CODE
};

enum BOARD_TYPES
{ 
  ATC3DG_MEDSAFE,         // Standalone, DSP, 4 sensor
  PCIBIRD_STD1,         // single standard sensor
  PCIBIRD_STD2,         // dual standard sensor
  PCIBIRD_8mm1,         // single 8mm sensor
  PCIBIRD_8mm2,         // dual 8mm sensor
  PCIBIRD_2mm1,         // single 2mm sensor (microsensor)
  PCIBIRD_2mm2,         // dual 2mm sensor (microsensor)
  PCIBIRD_FLAT,         // flat transmitter, 8mm
  PCIBIRD_FLAT_MICRO1,      // flat transmitter, single TEM sensor (all types)
  PCIBIRD_FLAT_MICRO2,      // flat transmitter, dual TEM sensor (all types)
  PCIBIRD_DSP4,         // Standalone, DSP, 4 sensor
  PCIBIRD_UNKNOWN,        // default
  ATC3DG_BB           // BayBird
};

enum DEVICE_TYPES
{
  STANDARD_SENSOR,        // 25mm standard sensor
  TYPE_800_SENSOR,        // 8mm sensor
  STANDARD_TRANSMITTER,     // TX for 25mm sensor
  MINIBIRD_TRANSMITTER,     // TX for 8mm sensor
  SMALL_TRANSMITTER,        // "compact" transmitter
  TYPE_500_SENSOR,        // 5mm sensor
  TYPE_180_SENSOR,        // 1.8mm microsensor
  TYPE_130_SENSOR,        // 1.3mm microsensor
  TYPE_TEM_SENSOR,        // 1.8mm, 1.3mm, 0.Xmm microsensors
  UNKNOWN_SENSOR,         // default
  UNKNOWN_TRANSMITTER,      // default
  TYPE_800_BB_SENSOR,       // BayBird sensor
  TYPE_800_BB_STD_TRANSMITTER,  // BayBird standard TX
  TYPE_800_BB_SMALL_TRANSMITTER,  // BayBird small TX
  TYPE_090_BB_SENSOR        // Baybird 0.9 mm sensor
};

// Async and Sync sensor id parameter
#define ALL_SENSORS 0xffff

/*****************************************************************************
              TYPEDEF DEFINITIONS
 *****************************************************************************/

#ifndef BASETYPES
#define BASETYPES
typedef unsigned long ULONG;
typedef ULONG     *PULONG;
typedef unsigned short  USHORT;
typedef USHORT      *PUSHORT;
typedef short     SHORT;
typedef SHORT     *PSHORT;
typedef unsigned char UCHAR;
typedef UCHAR     *PUCHAR;
typedef char      *PSZ;
#endif  /* !BASETYPES */

typedef char      CHAR;
typedef const CHAR    *LPCSTR, *PCSTR;
typedef int       BOOL;
typedef ULONG     DEVICE_STATUS;

typedef unsigned char BYTE;
typedef unsigned short  WORD;
typedef unsigned long   DWORD;

/*****************************************************************************
              STRUCTURE DEFINITIONS
 *****************************************************************************/

typedef struct tagTRANSMITTER_CONFIGURATION
{
  ULONG       serialNumber;
  USHORT        boardNumber;
  USHORT        channelNumber;
  enum DEVICE_TYPES type;
  BOOL        attached;
} TRANSMITTER_CONFIGURATION;

typedef struct tagSENSOR_CONFIGURATION
{
  ULONG       serialNumber;
  USHORT        boardNumber;
  USHORT        channelNumber;
  enum DEVICE_TYPES type;
  BOOL        attached;
} SENSOR_CONFIGURATION;

typedef struct tagBOARD_CONFIGURATION
{
  ULONG       serialNumber;
  enum BOARD_TYPES  type;
  USHORT        revision;
  USHORT        numberTransmitters;
  USHORT        numberSensors;
  USHORT        firmwareNumber;
  USHORT        firmwareRevision;
  char        modelString[10];

} BOARD_CONFIGURATION;

typedef struct tagSYSTEM_CONFIGURATION
{
  double        measurementRate;
  double        powerLineFrequency;
  double        maximumRange;
  enum AGC_MODE_TYPE  agcMode;
  int         numberBoards;
  int         numberSensors;
  int         numberTransmitters;
  int         transmitterIDRunning;
  BOOL        metric;
} SYSTEM_CONFIGURATION;

typedef struct tagCOMMUNICATIONS_MEDIA_PARAMETERS
{
  COMMUNICATIONS_MEDIA_TYPE mediaType;
  union
  {
    struct
    {
      CHAR  comport[64];
    } rs232;
    struct
    {
      USHORT  port;
      CHAR  ipaddr[64];
    } tcpip;
  };
} COMMUNICATIONS_MEDIA_PARAMETERS;

typedef struct tagADAPTIVE_PARAMETERS
{
  USHORT        alphaMin[7];
  USHORT        alphaMax[7];
  USHORT        vm[7];
  BOOL        alphaOn;
} ADAPTIVE_PARAMETERS;

typedef struct tagQUALITY_PARAMETERS
{
  SHORT       error_slope;
  SHORT       error_offset;
  USHORT        error_sensitivity;
  USHORT        filter_alpha;
} QUALITY_PARAMETERS;

// New Drivebay system parameter structure(s)
typedef struct tagVPD_COMMAND_PARAMETER
{
  USHORT        address;
  UCHAR       value;
} VPD_COMMAND_PARAMETER;

typedef struct tagPOST_ERROR_PARAMETER
{
  USHORT        error;
  UCHAR       channel;
  UCHAR       fatal;
  UCHAR       moreErrors;
} POST_ERROR_PARAMETER;

typedef struct tagDIAGNOSTIC_TEST_PARAMETER
{
  UCHAR       suite;    // User sets this, 0 - All Suites
  UCHAR       test;   // User sets this, 0 - All Tests

  UCHAR       suites;   // set, returns suites run
                  // get, returns num of suites, not used for # test query
  UCHAR       tests;    // set, returns tests run in the given suite
                  // get, returns num of tests for given suite, not used for suite query
  PUCHAR        pTestName;  // User supplied ptr to 64 bytes, we fill it in
  USHORT        testNameLen;

  USHORT        diagError;  // set only, result of diagnostic execution
} DIAGNOSTIC_TEST_PARAMETER;

typedef struct tagBOARD_REVISIONS
{
  USHORT  boot_loader_sw_number;    // example 3.1 -> revision is 3, number is 1
  USHORT  boot_loader_sw_revision;
  USHORT  mdsp_sw_number;
  USHORT  mdsp_sw_revision;
  USHORT  nondipole_sw_number;
  USHORT  nondipole_sw_revision;
  USHORT  fivedof_sw_number;
  USHORT  fivedof_sw_revision;
  USHORT  sixdof_sw_number;
  USHORT  sixdof_sw_revision;
  USHORT  dipole_sw_number;
  USHORT  dipole_sw_revision;
} BOARD_REVISIONS;

typedef struct tagAUXILIARY_PORT_PARAMETERS
{
  AUXILIARY_PORT_TYPE auxstate[4];  // one state for each sensor port
} AUXILIARY_PORT_PARAMETERS;

//
// Data formatting structures
//
typedef struct tagSHORT_POSITION
{
  short x;
  short y;
  short z;
} SHORT_POSITION_RECORD;

typedef struct tagSHORT_ANGLES
{
  short a;      // azimuth
  short e;      // elevation
  short r;      // roll
} SHORT_ANGLES_RECORD;

typedef struct tagSHORT_MATRIX
{
  short s[3][3];
} SHORT_MATRIX_RECORD;

typedef struct tagSHORT_QUATERNIONS
{
  short q[4];
} SHORT_QUATERNIONS_RECORD;

typedef struct tagSHORT_POSITION_ANGLES
{
  short x;
  short y;
  short z;
  short a;
  short e;
  short r;
} SHORT_POSITION_ANGLES_RECORD;

typedef struct tagSHORT_POSITION_MATRIX
{
  short x;
  short y;
  short z;
  short s[3][3];
} SHORT_POSITION_MATRIX_RECORD;

typedef struct tagSHORT_POSITION_QUATERNION
{
  short x;
  short y;
  short z;
  short q[4];
} SHORT_POSITION_QUATERNION_RECORD;








typedef struct tagDOUBLE_POSITION
{
  double  x;
  double  y;
  double  z;
} DOUBLE_POSITION_RECORD;

typedef struct tagDOUBLE_ANGLES
{
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
} DOUBLE_ANGLES_RECORD;

typedef struct tagDOUBLE_MATRIX
{
  double  s[3][3];
} DOUBLE_MATRIX_RECORD;

typedef struct tagDOUBLE_QUATERNIONS
{
  double  q[4];
} DOUBLE_QUATERNIONS_RECORD;

typedef struct tagDOUBLE_POSITION_ANGLES
{
  double  x;
  double  y;
  double  z;
  double  a;
  double  e;
  double  r;
} DOUBLE_POSITION_ANGLES_RECORD;

typedef struct tagDOUBLE_POSITION_MATRIX
{
  double  x;
  double  y;
  double  z;
  double  s[3][3];
} DOUBLE_POSITION_MATRIX_RECORD;

typedef struct tagDOUBLE_POSITION_QUATERNION
{
  double  x;
  double  y;
  double  z;
  double  q[4];
} DOUBLE_POSITION_QUATERNION_RECORD;








typedef struct tagDOUBLE_POSITION_TIME_STAMP
{
  double  x;
  double  y;
  double  z;
  double  time;
} DOUBLE_POSITION_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_ANGLES_TIME_STAMP
{
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  time;
} DOUBLE_ANGLES_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_MATRIX_TIME_STAMP
{
  double  s[3][3];
  double  time;
} DOUBLE_MATRIX_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_QUATERNIONS_TIME_STAMP
{
  double  q[4];
  double  time;
} DOUBLE_QUATERNIONS_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_POSITION_ANGLES_TIME_STAMP
{
  double  x;
  double  y;
  double  z;
  double  a;
  double  e;
  double  r;
  double  time;
} DOUBLE_POSITION_ANGLES_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_POSITION_MATRIX_STAMP_RECORD
{
  double  x;
  double  y;
  double  z;
  double  s[3][3];
  double  time;
} DOUBLE_POSITION_MATRIX_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_POSITION_QUATERNION_STAMP_RECORD
{
  double  x;
  double  y;
  double  z;
  double  q[4];
  double  time;
} DOUBLE_POSITION_QUATERNION_TIME_STAMP_RECORD;










typedef struct tagDOUBLE_POSITION_TIME_Q
{
  double  x;
  double  y;
  double  z;
  double  time;
  USHORT  quality;    
} DOUBLE_POSITION_TIME_Q_RECORD;

typedef struct tagDOUBLE_ANGLES_TIME_Q
{
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  time;
  USHORT  quality;    
} DOUBLE_ANGLES_TIME_Q_RECORD;

typedef struct tagDOUBLE_MATRIX_TIME_Q
{
  double  s[3][3];
  double  time;
  USHORT  quality;    
} DOUBLE_MATRIX_TIME_Q_RECORD;

typedef struct tagDOUBLE_QUATERNIONS_TIME_Q
{
  double  q[4];
  double  time;
  USHORT  quality;    
} DOUBLE_QUATERNIONS_TIME_Q_RECORD;

typedef struct tagDOUBLE_POSITION_ANGLES_TIME_Q_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;
  double  e;
  double  r;
  double  time;
  USHORT  quality;    
} DOUBLE_POSITION_ANGLES_TIME_Q_RECORD;

typedef struct tagDOUBLE_POSITION_MATRIX_TIME_Q_RECORD
{
  double  x;
  double  y;
  double  z;
  double  s[3][3];
  double  time;
  USHORT  quality;    
} DOUBLE_POSITION_MATRIX_TIME_Q_RECORD;

typedef struct tagDOUBLE_POSITION_QUATERNION_TIME_Q_RECORD
{
  double  x;
  double  y;
  double  z;
  double  q[4];
  double  time;
  USHORT  quality;    
} DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD;

typedef struct tagDOUBLE_POSITION_ANGLES_TIME_Q_BUTTON_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;
  double  e;
  double  r;
  double  time;
  USHORT  quality;
  USHORT  button;
} DOUBLE_POSITION_ANGLES_TIME_Q_BUTTON_RECORD;

typedef struct tagDOUBLE_POSITION_MATRIX_TIME_Q_BUTTON_RECORD
{
  double  x;
  double  y;
  double  z;
  double  s[3][3];
  double  time;
  USHORT  quality;    
  USHORT  button;
} DOUBLE_POSITION_MATRIX_TIME_Q_BUTTON_RECORD;

typedef struct tagDOUBLE_POSITION_QUATERNION_TIME_Q_BUTTON_RECORD
{
  double  x;
  double  y;
  double  z;
  double  q[4];
  double  time;
  USHORT  quality;    
  USHORT  button;
} DOUBLE_POSITION_QUATERNION_TIME_Q_BUTTON_RECORD;

typedef struct tagDOUBLE_POSITION_ANGLES_MATRIX_QUATERNION_TIME_Q_BUTTON_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;
  double  e;
  double  r;
  double  s[3][3];
  double  q[4];
  double  time;
  USHORT  quality;
  USHORT  button;
} DOUBLE_POSITION_ANGLES_MATRIX_QUATERNION_TIME_Q_BUTTON_RECORD;

typedef struct tagSHORT_ALL_RECORD
{
  short x;
  short y;
  short z;
  short a;      // azimuth
  short e;      // elevation
  short r;      // roll
  short s[3][3];
  short q[4];
}SHORT_ALL_RECORD;

typedef struct tagDOUBLE_ALL_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  s[3][3];
  double  q[4];
}DOUBLE_ALL_RECORD;

typedef struct tagDOUBLE_ALL_TIME_STAMP_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  s[3][3];
  double  q[4];
  double  time;
}DOUBLE_ALL_TIME_STAMP_RECORD;

typedef struct tagDOUBLE_ALL_TIME_STAMP_Q_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  s[3][3];
  double  q[4];
  double  time;
  USHORT  quality;    
}DOUBLE_ALL_TIME_STAMP_Q_RECORD;

typedef struct tagDOUBLE_ALL_TIME_STAMP_Q_RAW_RECORD
{
  double  x;
  double  y;
  double  z;
  double  a;      // azimuth
  double  e;      // elevation
  double  r;      // roll
  double  s[3][3];
  double  q[4];
  double  time;
  USHORT  quality;    
  double  raw[3][3];
}DOUBLE_ALL_TIME_STAMP_Q_RAW_RECORD;




/*****************************************************************************
              FUNCTION PROTOTYPES
 *****************************************************************************/

/*
  InitializeBIRDSystem  Starts and initializes driver, resets
            hardware and interrogates hardware. Builds
            local database of system resources.

  Parameters Passed:  none

  Return Value:       error status

    Remarks:      Can be used anytime a catastrophic failure
            has occurred and the system needs to be
            restarted.

*/
ATC3DG_API int InitializeBIRDSystem(void);

/*
  GetBIRDSystemConfiguration

  Parameters Passed:  SYSTEM_CONFIGURATION* 

  Return Value:       error status

    Remarks:            Returns SYSTEM_CONFIGURATION structure
            It contains values equal to the number of
            transmitters, sensors and boards detected
            in the system. (The board information is for 
            test/diagnostic purposes, all commands
            reference sensors and transmitters only) Once 
            the number of devices is known, (e.g. n) the 
            range of IDs for those devices becomes 0..(n-1)
*/
ATC3DG_API int GetBIRDSystemConfiguration(
  SYSTEM_CONFIGURATION* systemConfiguration
  );

/*
  GetTransmitterConfiguration

  Parameters Passed:  USHORT transmitterID
            TRANSMITTER_CONFIGURATION *transmitterConfiguration

  Return Value:       error status

    Remarks:      After getting system config the user can then pass 
            the index of a transmitter of interest to this function
            which will then return the config for that transmitter.
            Items of interest are the serial number and status.

*/
ATC3DG_API int GetTransmitterConfiguration(
  USHORT transmitterID,
  TRANSMITTER_CONFIGURATION* transmitterConfiguration
  );

/*
  GetSensorConfiguration

  Parameters Passed:  USHORT sensorID,
            SENSOR_CONFIGURATION* sensorConfiguration

  Return Value:       error status

    Remarks:      Similar to the transmitter function.            

*/

ATC3DG_API int GetSensorConfiguration(
  USHORT sensorID,
  SENSOR_CONFIGURATION* sensorConfiguration
  );

/*
  GetBoardConfiguration

  Parameters Passed:  USHORT boardID,
            BOARD_CONFIGURATION* boardConfiguration

  Return Value:       error status

    Remarks:      Similar to the Sensor and Transmitter
            functions. Also returns information on
            how many sensors and transmitters are
            attached. NOTE: Board information is not
            needed during normal operation this is
            only provided for "accounting" purposes.

*/
ATC3DG_API int GetBoardConfiguration(
  USHORT boardID,
  BOARD_CONFIGURATION* boardConfiguration
  );

/*
  GetAsynchronousRecord

  Parameters Passed:  USHORT sensorID,
            void *pRecord,
            int recordSize

  Return Value:       error status

    Remarks:      Returns data immediately in the currently 
            selected format from the last measurement 
            cycle. Requires user providing a buffer large 
            enough for the result otherwise an error is 
            generated and data lost.
            (Old style BIRD POINT mode)            

*/

ATC3DG_API int GetAsynchronousRecord(
  USHORT sensorID,
  void *pRecord,
  int recordSize
  );

/*
  GetSynchronousRecord

  Parameters Passed:  USHORT sensorID,
            void *pRecord,
            int recordSize

  Return Value:       error status

    Remarks:      Returns a record after next measurement cycle. Puts 
            system into mode where records are generated 1/cycle.
            Will return one and only one record per measurement
            cycle. Will queue the records for each measurement
            cycle if command not issued sufficiently often. If 
            command issued too often will time-out with no data.
            (old style BIRD STREAM mode)            

*/
ATC3DG_API int GetSynchronousRecord(
  USHORT sensorID,
  void *pRecord,
  int recordSize
  );



/*
  GetSystemParameter

  Parameters Passed:  PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      When a properly enumerated parameter type constant
            is used, the command will return the parameter value
            to the buffer provided by the user. An error is
            generated if the buffer is incorrectly sized

*/
ATC3DG_API int GetSystemParameter(
  enum SYSTEM_PARAMETER_TYPE  parameterType,
  void            *pBuffer,
  int             bufferSize
  );


/*
  SetSystemParameter

  Parameters Passed:  PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      Similar to GetSystemParameter but allows user
            to set (write) the parameter.

*/
ATC3DG_API int SetSystemParameter(
  enum SYSTEM_PARAMETER_TYPE  parameterType,
  void            *pBuffer,
  int             bufferSize
  );


/*
  GetSensorParameter

  Parameters Passed:  USHORT      sensorID,
            PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      When a sensor is selected with a valid index (ID) 
            and a properly enumerated parameter type constant
            is used, the command will return the parameter value
            to the buffer provided by the user. An error is
            generated if the buffer is incorrectly sized

*/
ATC3DG_API int GetSensorParameter(
  USHORT            sensorID,
  enum SENSOR_PARAMETER_TYPE  parameterType,
  void            *pBuffer,
  int             bufferSize
  );


/*
  SetSensorParameter

  Parameters Passed:  USHORT      sensorID,
            PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      Similar to GetSensorParameter but allows user
            to set (write) the parameter.

*/
ATC3DG_API int SetSensorParameter(
  USHORT            sensorID,
  enum SENSOR_PARAMETER_TYPE  parameterType,
  void            *pBuffer,
  int             bufferSize
  );


/*
  GetTransmitterParameter

  Parameters Passed:  USHORT      transmitterID,
            PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      Same as Sensor command            

*/
ATC3DG_API int GetTransmitterParameter(
  USHORT              transmitterID,
  enum TRANSMITTER_PARAMETER_TYPE parameterType,
  void              *pBuffer,
  int               bufferSize
  );




/*
  SetTransmitterParameter

  Parameters Passed:  USHORT      transmitterID,
            PARAMETER_TYPE  parameterType,
            void      *pBuffer,
            int       bufferSize

  Return Value:       error status

    Remarks:      Same as sensor command            

*/
ATC3DG_API int SetTransmitterParameter(
  USHORT              transmitterID,
  enum TRANSMITTER_PARAMETER_TYPE parameterType,
  void              *pBuffer,
  int               bufferSize
  );

/*
  GetBIRDError

  Parameters Passed:  none

  Return Value:       error status

    Remarks:      Returns next error in queue 
            if available

*/
ATC3DG_API int GetBIRDError(
  void
  );

#define GetPOSTError  GetBIRDError
#define GetDIAGError  GetBIRDError

/*
  GetErrorText

  Parameters Passed:  int errorCode
            char *pBuffer
            int bufferSize
            int type

  Return Value:       error status as a text string

    Remarks:      ErrorCode contains the error code returned from 
            either a command or in response to GetBIRDError
            and which is to be described by a text string.
            Pass a pointer pBuffer to a buffer to contain
            the result of the command. The size of the
            buffer is contained in bufferSize. The type
            parameter is an enumerated constant of
            the type MESSAGE_TYPE.

*/
ATC3DG_API int GetErrorText(
  int         errorCode,
  char        *pBuffer,
  int         bufferSize,
  enum MESSAGE_TYPE type
  );

/*

*/
ATC3DG_API DEVICE_STATUS GetSensorStatus(
  USHORT sensorID
  );

/*

*/
ATC3DG_API DEVICE_STATUS GetTransmitterStatus(
  USHORT transmitterID
  );

/*

*/
ATC3DG_API DEVICE_STATUS GetBoardStatus(
  USHORT boardID
  );

/*

*/
ATC3DG_API DEVICE_STATUS GetSystemStatus(
  // no id required
  );

/*

*/
ATC3DG_API int SaveSystemConfiguration(
  LPCSTR  lpFileName
  );

/*

*/
ATC3DG_API int RestoreSystemConfiguration(
  LPCSTR  lpFileName
  );

/*

*/
ATC3DG_API int GetBoardParameter(
  USHORT            boardID,
  enum BOARD_PARAMETER_TYPE parameterType,
  void            *pBuffer,
  int             bufferSize
  );

/*

*/
ATC3DG_API int SetBoardParameter(
  USHORT            boardID,
  enum BOARD_PARAMETER_TYPE parameterType,
  void            *pBuffer,
  int             bufferSize
  );

/*

*/
ATC3DG_API int CloseBIRDSystem(void);




#endif // ATC3DG_H