/* VectorNav HSI Calibration Library v1.0.0.2
 *
 * Copyright (c) 2018 VectorNav Technologies, LLC
 *
 * This source code is proprietary to and copyrighted by VectorNav Technologies, LLC and is
 * available solely under license from VectorNav. All rights reserved. If you do not have a
 * license to use this source code from VectorNav, any use hereof is strictly prohibited by
 * U.S. law and other applicable law. This source code is restricted for use solely with the
 * products of VectorNav and as otherwise set forth in any agreement with VectorNav. Any
 * disclosure of this source code to the public or to any third party is also prohibited.
 */
#ifndef VNENUM_H_INCLUDED
#define VNENUM_H_INCLUDED

#include "vnint.h"

/** \brief The different types of UART packets. */
enum PacketType
{
  PACKETTYPE_BINARY,   /**< Binary packet. */
  PACKETTYPE_ASCII,    /**< ASCII packet. */
  PACKETTYPE_UNKNOWN   /**< Unknown packet type. */
};

/** \brief The available binary output groups. */
enum BINARYGROUP
{
  BINARYGROUP_COMMON    = 0x01,   /**< Common group. */
  BINARYGROUP_TIME      = 0x02,   /**< Time group. */
  BINARYGROUP_IMU       = 0x04,   /**< IMU group. */
  BINARYGROUP_GPS       = 0x08,   /**< GPS group. */
  BINARYGROUP_ATTITUDE  = 0x10,   /**< Attitude group. */
  BINARYGROUP_INS       = 0x20    /**< INS group. */
};

/** \brief Async modes for the Binary Output registers. */
enum ASYNCMODE
{
  ASYNCMODE_NONE    = 0,  /**< None. */
  ASYNCMODE_PORT1   = 1,  /**< Serial port 1. */
  ASYNCMODE_PORT2   = 2,  /**< Serial port 2. */
  ASYNCMODE_BOTH    = 3   /**< Both serial ports. */
};

/** \brief Flags for the binary group 1 'Common' in the binary output registers. */
enum COMMONGROUP
{
  COMMONGROUP_NONE          = 0x0000,    /**< None. */
  COMMONGROUP_TIMESTARTUP   = 0x0001,    /**< TimeStartup. */
  COMMONGROUP_TIMEGPS       = 0x0002,    /**< TimeGps. */
  COMMONGROUP_TIMESYNCIN    = 0x0004,    /**< TimeSyncIn. */
  COMMONGROUP_YAWPITCHROLL  = 0x0008,    /**< YawPitchRoll. */
  COMMONGROUP_QUATERNION    = 0x0010,    /**< Quaternion. */
  COMMONGROUP_ANGULARRATE   = 0x0020,    /**< AngularRate. */
  COMMONGROUP_POSITION      = 0x0040,    /**< Position. */
  COMMONGROUP_VELOCITY      = 0x0080,    /**< Velocity. */
  COMMONGROUP_ACCEL         = 0x0100,    /**< Accel. */
  COMMONGROUP_IMU           = 0x0200,    /**< Imu. */
  COMMONGROUP_MAGPRES       = 0x0400,    /**< MagPres. */
  COMMONGROUP_DELTATHETA    = 0x0800,    /**< DeltaTheta. */
  COMMONGROUP_INSSTATUS     = 0x1000,    /**< InsStatus. */
  COMMONGROUP_SYNCINCNT     = 0x2000,    /**< SyncInCnt. */
  COMMONGROUP_TIMEGPSPPS    = 0x4000     /**< TimeGpsPps. */
};

/** \brief Flags for the binary group 2 'Time' in the binary output registers. */
enum TIMEGROUP
{
  TIMEGROUP_NONE        = 0x0000, /**< None. */
  TIMEGROUP_TIMESTARTUP = 0x0001, /**< TimeStartup. */
  TIMEGROUP_TIMEGPS     = 0x0002, /**< TimeGps. */
  TIMEGROUP_GPSTOW      = 0x0004, /**< GpsTow. */
  TIMEGROUP_GPSWEEK     = 0x0008, /**< GpsWeek. */
  TIMEGROUP_TIMESYNCIN  = 0x0010, /**< TimeSyncIn. */
  TIMEGROUP_TIMEGPSPPS  = 0x0020, /**< TimeGpsPps. */
  TIMEGROUP_TIMEUTC     = 0x0040, /**< TimeUTC. */
  TIMEGROUP_SYNCINCNT   = 0x0080  /**< SyncInCnt. */
};

/** \brief Flags for the binary group 3 'IMU' in the binary output registers. */
enum IMUGROUP
{
  IMUGROUP_NONE         = 0x0000, /**< None. */
  IMUGROUP_IMUSTATUS    = 0x0001, /**< ImuStatus. */
  IMUGROUP_UNCOMPMAG    = 0x0002, /**< UncompMag. */
  IMUGROUP_UNCOMPACCEL  = 0x0004, /**< UncompAccel. */
  IMUGROUP_UNCOMPGYRO   = 0x0008, /**< UncompGyro. */
  IMUGROUP_TEMP         = 0x0010, /**< Temp. */
  IMUGROUP_PRES         = 0x0020, /**< Pres. */
  IMUGROUP_DELTATHETA   = 0x0040, /**< DeltaTheta. */
  IMUGROUP_DELTAVEL     = 0x0080, /**< DeltaVel. */
  IMUGROUP_MAG          = 0x0100, /**< Mag. */
  IMUGROUP_ACCEL        = 0x0200, /**< Accel. */
  IMUGROUP_ANGULARRATE  = 0x0400, /**< AngularRate. */
  IMUGROUP_SENSSAT      = 0x0800  /**< SensSat. */
};

/** \brief Flags for the binary group 4 'GPS' in the binary output registers. */
enum GPSGROUP
{
  GPSGROUP_NONE     = 0x0000, /**< None. */
  GPSGROUP_UTC      = 0x0001, /**< UTC. */
  GPSGROUP_TOW      = 0x0002, /**< Tow. */
  GPSGROUP_WEEK     = 0x0004, /**< Week. */
  GPSGROUP_NUMSATS  = 0x0008, /**< NumSats. */
  GPSGROUP_FIX      = 0x0010, /**< Fix. */
  GPSGROUP_POSLLA   = 0x0020, /**< PosLla. */
  GPSGROUP_POSECEF  = 0x0040, /**< PosEcef. */
  GPSGROUP_VELNED   = 0x0080, /**< VelNed. */
  GPSGROUP_VELECEF  = 0x0100, /**< VelEcef. */
  GPSGROUP_POSU     = 0x0200, /**< PosU. */
  GPSGROUP_VELU     = 0x0400, /**< VelU. */
  GPSGROUP_TIMEU    = 0x0800  /**< TimeU. */
};

/** \brief Flags for the binary group 5 'Attitude' in the binary output registers. */
enum ATTITUDEGROUP
{
  ATTITUDEGROUP_NONE            = 0x0000, /**< None. */
  ATTITUDEGROUP_VPESTATUS       = 0x0001, /**< VpeStatus. */
  ATTITUDEGROUP_YAWPITCHROLL    = 0x0002, /**< YawPitchRoll. */
  ATTITUDEGROUP_QUATERNION      = 0x0004, /**< Quaternion. */
  ATTITUDEGROUP_DCM             = 0x0008, /**< DCM. */
  ATTITUDEGROUP_MAGNED          = 0x0010, /**< MagNed. */
  ATTITUDEGROUP_ACCELNED        = 0x0020, /**< AccelNed. */
  ATTITUDEGROUP_LINEARACCELBODY = 0x0040, /**< LinearAccelBody. */
  ATTITUDEGROUP_LINEARACCELNED  = 0x0080, /**< LinearAccelNed. */
  ATTITUDEGROUP_YPRU            = 0x0100  /**< YprU. */
};

/** \brief Flags for the binary group 6 'INS' in the binary output registers. */
enum INSGROUP
{
  INSGROUP_NONE             = 0x0000, /**< None. */
  INSGROUP_INSSTATUS        = 0x0001, /**< InsStatus. */
  INSGROUP_POSLLA           = 0x0002, /**< PosLla. */
  INSGROUP_POSECEF          = 0x0004, /**< PosEcef. */
  INSGROUP_VELBODY          = 0x0008, /**< VelBody. */
  INSGROUP_VELNED           = 0x0010, /**< VelNed. */
  INSGROUP_VELECEF          = 0x0020, /**< VelEcef. */
  INSGROUP_MAGECEF          = 0x0040, /**< MagEcef. */
  INSGROUP_ACCELECEF        = 0x0080, /**< AccelEcef. */
  INSGROUP_LINEARACCELECEF  = 0x0100, /**< LinearAccelEcef. */
  INSGROUP_POSU             = 0x0200, /**< PosU. */
  INSGROUP_VELU             = 0x0400  /**< VelU. */
};

/** \brief Errors that the VectorNav sensor can report. */
enum SENSORERROR
{
  ERR_HARD_FAULT              = 1,  /**< Hard fault. */
  ERR_SERIAL_BUFFER_OVERFLOW  = 2,  /**< Serial buffer overflow. */
  ERR_INVALID_CHECKSUM        = 3,  /**< Invalid checksum. */
  ERR_INVALID_COMMAND         = 4,  /**< Invalid command. */
  ERR_NOT_ENOUGH_PARAMETERS   = 5,  /**< Not enough parameters. */
  ERR_TOO_MANY_PARAMETERS     = 6,  /**< Too many parameters. */
  ERR_INVALID_PARAMETER       = 7,  /**< Invalid parameter. */
  ERR_INVALID_REGISTER        = 8,  /**< Invalid register. */
  ERR_UNAUTHORIZED_ACCESS     = 9,  /**< Unauthorized access. */
  ERR_WATCHDOG_RESET          = 10, /**< Watchdog reset. */
  ERR_OUTPUT_BUFFER_OVERFLOW  = 11, /**< Output buffer overflow. */
  ERR_INSUFFICIENT_BAUD_RATE  = 12, /**< Insufficient baud rate. */
  ERR_ERROR_BUFFER_OVERFLOW   = 255 /**< Error buffer overflow. */
};

/** \brief Enumeration of the various error messages used by the library. */
enum VnError
{
  E_NONE,                                   /**< Indicates there were no errors encountered. */
  E_UNKNOWN,                                /**< Indicates an unknown error occurred. */
  E_BUFFER_TOO_SMALL,                       /**< Indicates a provided buffer was too small to complete the action. */
  E_INVALID_VALUE,                          /**< Indicates a provided value is not valid. */
  E_NOT_IMPLEMENTED,                        /**< Indicates the requested functionality is currently not implemented. */
  E_NOT_SUPPORTED,                          /**< Indicates the requested functionality is not supported. */
  E_NOT_FOUND,                              /**< Indicates the requested item was not found. */
  E_TIMEOUT,                                /**< Indicates the operation timed out. */
  E_PERMISSION_DENIED,                      /**< Indicates insufficient permission to perform the operation. */
  E_INVALID_OPERATION,                      /**< Indicates an invalid operation was attempted. */
  E_SIGNALED,                               /**< Indicates an event was signaled. */
  E_MEMORY_NOT_ALLOCATED,                   /**< Indicates either not enough memory is available or no memory was allocated */
  E_SENSOR_HARD_FAULT             = 1001,   /**< VectorNav sensor hard fault (Code 1). */
  E_SENSOR_SERIAL_BUFFER_OVERFLOW = 1002,   /**< VectorNav sensor serial buffer overflow (Code 2). */
  E_SENSOR_INVALID_CHECKSUM       = 1003,   /**< VectorNav sensor invalid checksum (Code 3). */
  E_SENSOR_INVALID_COMMAND        = 1004,   /**< VectorNav sensor invalid command (Code 4). */
  E_SENSOR_NOT_ENOUGH_PARAMETERS  = 1005,   /**< VectorNav sensor not enough parameters (Code 5). */
  E_SENSOR_TOO_MANY_PARAMETERS    = 1006,   /**< VectorNav sensor too many parameters (Code 6). */
  E_SENSOR_INVALID_PARAMETER      = 1007,   /**< VectorNav sensor invalid parameter (Code 7). */
  E_SENSOR_INVALID_REGISTER       = 1008,   /**< VectorNav sensor invalid register (Code 8). */
  E_SENSOR_UNAUTHORIZED_ACCESS    = 1009,   /**< VectorNav sensor unauthorized access (Code 9). */
  E_SENSOR_WATCHDOG_RESET         = 1010,   /**< VectorNav sensor watchdog reset (Code 10). */
  E_SENSOR_OUTPUT_BUFFER_OVERFLOW = 1011,   /**< VectorNav sensor output buffer overflow (Code 11). */
  E_SENSOR_INSUFFICIENT_BAUD_RATE = 1012,   /**< VectorNav sensor insufficient baud rate (Code 12). */
  E_SENSOR_ERROR_BUFFER_OVERFLOW  = 1013,   /**< VectorNav sensor error buffer overflow (Code 13). */
  E_DATA_NOT_ELLIPTICAL           = 2001,   /**< \brief Data set not elliptical. */
  E_ILL_CONDITIONED               = 2002,   /**< \brief Algorithm had a bad condition. */
  E_EXCEEDED_MAX_ITERATIONS       = 2003,   /**< \brief Algorithm exceeded the number of interations it is allowed. */
  E_BAD_FINAL_INTERATION          = 2004,   /**< \brief Algorithm's last interation changed exceeded threshold. */
  E_INSUFFICIENT_DATA             = 2005    /**< \brief Not enough data points were provided. */
};

/** \brief Enumeration of the various error-detection algorithms used by the
 * library. */
enum VnErrorDetectionMode
{
  /** Signifies no error-detection should be performed. */
  VNERRORDETECTIONMODE_NONE,

  /** Signifies to use 8-bit XOR checksum. */
  VNERRORDETECTIONMODE_CHECKSUM,

  /** Signifies to use CRC16-CCITT algorithm. */
  VNERRORDETECTIONMODE_CRC

};

#ifndef __cplusplus
typedef enum PacketType PacketType_t;
typedef enum BINARYGROUP BINARYGROUP_t;
typedef enum ASYNCMODE ASYNCMODE_t;
typedef enum COMMONGROUP COMMONGROUP_t;
typedef enum TIMEGROUP TIMEGROUP_t;
typedef enum IMUGROUP IMUGROUP_t;
typedef enum GPSGROUP GPSGROUP_t;
typedef enum ATTITUDEGROUP ATTITUDEGROUP_t;
typedef enum INSGROUP INSGROUP_t;
typedef enum SENSORERROR SENSORERROR_t;
typedef enum VnError VnError_t;
typedef enum VnErrorDetectionMode VnErrorDetectionMode_t;
#endif

/** \brief Different modes for the SyncInMode field of the Synchronization Control register. */
enum VnSyncInMode
{
  /** \brief Count the number of trigger events on SYNC_IN_2 pin.
  / * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
   */
  VNSYNCINMODE_COUNT2 = 0,
  /** \brief Start ADC sampling on trigger of SYNC_IN_2 pin.
  / * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
   */
  VNSYNCINMODE_ADC2 = 1,
  /** \brief Output asynchronous message on trigger of SYNC_IN_2 pin.
  / * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
   */
  VNSYNCINMODE_ASYNC2 = 2,
  /** \brief Count number of trigger events on SYNC_IN pin.
   */
  VNSYNCINMODE_COUNT = 3,
  /** \brief Start IMU sampling on trigger of SYNC_IN pin.
   */
  VNSYNCINMODE_IMU = 4,
  /** \brief Output asynchronous message on trigger of SYNC_IN pin.
   */
  VNSYNCINMODE_ASYNC = 5
};

/** \brief Different modes for the SyncInEdge field of the Synchronization Control register. */
enum VnSyncInEdge
{
  /** \brief Trigger on the rising edge on the SYNC_IN pin.
   */
  VNSYNCINEDGE_RISING = 0,
  /** \brief Trigger on the falling edge on the SYNC_IN pin.
   */
  VNSYNCINEDGE_FALLING = 1
};

/** \brief Different modes for the SyncOutMode field of the Synchronization Control register. */
enum VnSyncOutMode
{
  /** \brief None.
   */
  VNSYNCOUTMODE_NONE = 0,
  /** \brief Trigger at start of IMU sampling.
   */
  VNSYNCOUTMODE_ITEMSTART = 1,
  /** \brief Trigger when IMU measurements are available.
   */
  VNSYNCOUTMODE_IMUREADY = 2,
  /** \brief Trigger when attitude measurements are available.
   */
  VNSYNCOUTMODE_INS = 3,
  /** \brief Trigger on GPS PPS event when a 3D fix is valid.
   */
  VNSYNCOUTMODE_GPSPPS = 6
};

/** \brief Different modes for the SyncOutPolarity field of the Synchronization Control register. */
enum VnSyncOutPolarity
{
  /** \brief Negative pulse.
   */
  VNSYNCOUTPOLARITY_NEGATIVE = 0,
  /** \brief Positive pulse.
   */
  VNSYNCOUTPOLARITY_POSITIVE = 1
};

/** \brief Counting modes for the Communication Protocol Control register. */
enum VnCountMode
{
  /** \brief Off.
   */
  VNCOUNTMODE_NONE = 0,
  /** \brief SyncIn counter.
   */
  VNCOUNTMODE_SYNCINCOUNT = 1,
  /** \brief SyncIn time.
   */
  VNCOUNTMODE_SYNCINTIME = 2,
  /** \brief SyncOut counter.
   */
  VNCOUNTMODE_SYNCOUTCOUNTER = 3,
  /** \brief GPS PPS time.
   */
  VNCOUNTMODE_GPSPPS = 4
};

/** \brief Status modes for the Communication Protocol Control register. */
enum VnStatusMode
{
  /** \brief Off.
   */
  VNSTATUSMODE_OFF = 0,
  /** \brief VPE status.
   */
  VNSTATUSMODE_VPESTATUS = 1,
  /** \brief INS status.
   */
  VNSTATUSMODE_INSSTATUS = 2
};

/** \brief Checksum modes for the Communication Protocol Control register. */
enum VnChecksumMode
{
  /** \brief Off.
   */
  VNCHECKSUMMODE_OFF = 0,
  /** \brief 8-bit checksum.
   */
  VNCHECKSUMMODE_CHECKSUM = 1,
  /** \brief 16-bit CRC.
   */
  VNCHECKSUMMODE_CRC = 2
};

/** \brief Error modes for the Communication Protocol Control register. */
enum VnErrorMode
{
  /** \brief Ignore error.
   */
  VNERRORMODE_IGNORE = 0,
  /** \brief Send error.
   */
  VNERRORMODE_SEND = 1,
  /** \brief Send error and set ADOR register to off.
   */
  VNERRORMODE_SENDANDOFF = 2
};

/** \brief Filter modes for the IMU Filtering Configuration register. */
enum VnFilterMode
{
  /** \brief No filtering.
   */
  VNFILTERMODE_NOFILTERING = 0,
  /** \brief Filtering performed only on raw uncompensated IMU measurements.
   */
  VNFILTERMODE_ONLYRAW = 1,
  /** \brief Filtering performed only on compensated IMU measurements.
   */
  VNFILTERMODE_ONLYCOMPENSATED = 2,
  /** \brief Filtering performed on both uncompensated and compensated IMU measurements.
   */
  VNFILTERMODE_BOTH = 3
};

/** \brief Integration frames for the Delta Theta and Delta Velocity Configuration register. */
enum VnIntegrationFrame
{
  /** \brief Body frame.
   */
  VNINTEGRATIONFRAME_BODY = 0,
  /** \brief NED frame.
   */
  VNINTEGRATIONFRAME_NED = 1
};

/** \brief Compensation modes for the Delta Theta and Delta Velocity configuration register. */
enum VnCompensationMode
{
  /** \brief None.
   */
  VNCOMPENSATIONMODE_NONE = 0,
  /** \brief Bias.
   */
  VNCOMPENSATIONMODE_BIAS = 1
};

/** \brief GPS fix modes for the GPS Solution - LLA register. */
enum VnGpsFix
{
  /** \brief No fix.
   */
  VNGPSFIX_NOFIX = 0,
  /** \brief Time only.
   */
  VNGPSFIX_TIMEONLY = 1,
  /** \brief 2D.
   */
  VNGPSFIX_2D = 2,
  /** \brief 3D.
   */
  VNGPSFIX_3D = 3
};

/** \brief GPS modes for the GPS Configuration register. */
enum VnGpsMode
{
  /** \brief Use onboard GPS.
   */
  VNGPSMODE_ONBOARDGPS = 0,
  /** \brief Use external GPS.
   */
  VNGPSMODE_EXTERNALGPS = 1,
  /** \brief Use external VN-200 as GPS.
   */
  VNGPSMODE_EXTERNALVN200GPS = 2
};

/** \brief GPS PPS mode for the GPS Configuration register. */
enum VnPpsSource
{
  /** \brief GPS PPS signal on GPS_PPS pin and triggered on rising edge.
   */
  VNPPSSOURCE_GPSPPSRISING = 0,
  /** \brief GPS PPS signal on GPS_PPS pin and triggered on falling edge.
   */
  VNPPSSOURCE_GPSPPSFALLING = 1,
  /** \brief GPS PPS signal on SyncIn pin and triggered on rising edge.
   */
  VNPPSSOURCE_SYNCINRISING = 2,
  /** \brief GPS PPS signal on SyncIn pin and triggered on falling edge.
   */
  VNPPSSOURCE_SYNCINFALLING = 3
};

/** \brief VPE Enable mode for the VPE Basic Control register. */
enum VnVpeEnable
{
  /** \brief Disable
   */
  VNVPEENABLE_DISABLE = 0,
  /** \brief Enable
   */
  VNVPEENABLE_ENABLE = 1
};

/** \brief VPE Heading modes used by the VPE Basic Control register. */
enum VnHeadingMode
{
  /** \brief Absolute heading.
   */
  VNHEADINGMODE_ABSOLUTE = 0,
  /** \brief Relative heading.
   */
  VNHEADINGMODE_RELATIVE = 1,
  /** \brief Indoor heading.
   */
  VNHEADINGMODE_INDOOR = 2
};

/** \brief VPE modes for the VPE Basic Control register. */
enum VnVpeMode
{
  /** \brief Off.
   */
  VNVPEMODE_OFF = 0,
  /** \brief Mode 1.
   */
  VNVPEMODE_MODE1 = 1
};

/** \brief Different scenario modes for the INS Basic Configuration register. */
enum VnScenario
{
  /** \brief AHRS.
   */
  VNSCENARIO_AHRS = 0,
  /** \brief General purpose INS with barometric pressure sensor.
   */
  VNSCENARIO_INSWITHPRESSURE = 1,
  /** \brief General purpose INS without barometric pressure sensor.
   */
  VNSCENARIO_INSWITHOUTPRESSURE = 2,
  /** \brief GPS moving baseline for dynamic applications.
   */
  VNSCENARIO_GPSMOVINGBASELINEDYNAMIC = 3,
  /** \brief GPS moving baseline for static applications.
   */
  VNSCENARIO_GPSMOVINGBASELINESTATIC = 4
};

/** \brief HSI modes used for the Magnetometer Calibration Control register. */
enum VnHsiMode
{
  /** \brief Real-time hard/soft iron calibration algorithm is turned off.
   */
  VNHSIMODE_OFF = 0,
  /** \brief Runs the real-time hard/soft iron calibration algorithm.
   */
  VNHSIMODE_RUN = 1,
  /** \brief Resets the real-time hard/soft iron solution.
   */
  VNHSIMODE_RESET = 2
};

/** \brief HSI output types for the Magnetometer Calibration Control register. */
enum VnHsiOutput
{
  /** \brief Onboard HSI is not applied to the magnetic measurements.
   */
  VNHSIOUTPUT_NOONBOARD = 1,
  /** \brief Onboard HSI is applied to the magnetic measurements.
   */
  VNHSIOUTPUT_USEONBOARD = 3
};

/** \brief Type of velocity compensation performed by the VPE. */
enum VnVelocityCompensationMode
{
  /** \brief Disabled
   */
  VNVELOCITYCOMPENSATIONMODE_DISABLED = 0,
  /** \brief Body Measurement
   */
  VNVELOCITYCOMPENSATIONMODE_BODYMEASUREMENT = 1
};

/** \brief How the magnetometer is used by the filter. */
enum VnMagneticMode
{
  /** \brief Magnetometer will only affect heading.
   */
  VNMAGNETICMODE_2D = 0,
  /** \brief Magnetometer will affect heading, pitch, and roll.
   */
  VNMAGNETICMODE_3D = 1
};

/** \brief Source for magnetometer used by the filter. */
enum VnExternalSensorMode
{
  /** \brief Use internal magnetometer.
   */
  VNEXTERNALSENSORMODE_INTERNAL = 0,
  /** \brief Use external magnetometer. Will use measurement at every new time step.
   */
  VNEXTERNALSENSORMODE_EXTERNAL200HZ = 1,
  /** \brief Use external magnetometer. Will only use when the measurement is updated.
   */
  VNEXTERNALSENSORMODE_EXTERNALONUPDATE = 2
};

/** \brief Options for the use of FOAM. */
enum VnFoamInit
{
  /** \brief FOAM is not used.
   */
  VNFOAMINIT_NOFOAMINIT = 0,
  /** \brief FOAM is used to initialize only pitch and roll.
   */
  VNFOAMINIT_FOAMINITPITCHROLL = 1,
  /** \brief FOAM is used to initialize heading, pitch and roll.
   */
  VNFOAMINIT_FOAMINITHEADINGPITCHROLL = 2,
  /** \brief FOAM is used to initialize pitch, roll and covariance.
   */
  VNFOAMINIT_FOAMINITPITCHROLLCOVARIANCE = 3,
  /** \brief FOAM is used to initialize heading, pitch, roll and covariance
   */
  VNFOAMINIT_FOAMINITHEADINGPITCHROLLCOVARIANCE = 4
};

#ifndef __cplusplus
typedef enum VnSyncInMode VnSyncInMode_t;
typedef enum VnSyncInEdge VnSyncInEdge_t;
typedef enum VnSyncOutMode VnSyncOutMode_t;
typedef enum VnSyncOutPolarity VnSyncOutPolarity_t;
typedef enum VnCountMode VnCountMode_t;
typedef enum VnStatusMode VnStatusMode_t;
typedef enum VnChecksumMode VnChecksumMode_t;
typedef enum VnErrorMode VnErrorMode_t;
typedef enum VnFilterMode VnFilterMode_t;
typedef enum VnIntegrationFrame VnIntegrationFrame_t;
typedef enum VnCompensationMode VnCompensationMode_t;
typedef enum VnGpsFix VnGpsFix_t;
typedef enum VnGpsMode VnGpsMode_t;
typedef enum VnPpsSource VnPpsSource_t;
typedef enum VnVpeEnable VnVpeEnable_t;
typedef enum VnHeadingMode VnHeadingMode_t;
typedef enum VnVpeMode VnVpeMode_t;
typedef enum VnScenario VnScenario_t;
typedef enum VnHsiMode VnHsiMode_t;
typedef enum VnHsiOutput VnHsiOutput_t;
typedef enum VnVelocityCompensationMode VnVelocityCompensationMode_t;
typedef enum VnMagneticMode VnMagneticMode_t;
typedef enum VnExternalSensorMode VnExternalSensorMode_t;
typedef enum VnFoamInit VnFoamInit_t;
#endif

/**\brief Converts a <c>VnError</c> to a string representation.
* \param[out] out The char buffer to output the result to.
* \param[in] outSize Size of the buffer <c>out</c>.
* \param[in] v The <c>VnError</c> to convert.
* \return Any errors encountered. */
enum VnError
    to_string_VnError(
    char* out,
    size_t outSize,
    enum VnError v);

#endif