.. _program_listing_file_include_libcaer_events_imu6.h:

Program Listing for File imu6.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_libcaer_events_imu6.h>` (``include/libcaer/events/imu6.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LIBCAER_EVENTS_IMU6_H_
   #define LIBCAER_EVENTS_IMU6_H_
   
   #include "common.h"
   
   #ifdef __cplusplus
   extern "C" {
   #endif
   
   PACKED_STRUCT(struct caer_imu6_event {
       uint32_t info;
       int32_t timestamp;
       float accel_x;
       float accel_y;
       float accel_z;
       float gyro_x;
       float gyro_y;
       float gyro_z;
       float temp;
   });
   
   typedef struct caer_imu6_event *caerIMU6Event;
   typedef const struct caer_imu6_event *caerIMU6EventConst;
   
   PACKED_STRUCT(struct caer_imu6_event_packet {
       struct caer_event_packet_header packetHeader;
       struct caer_imu6_event events[];
   });
   
   typedef struct caer_imu6_event_packet *caerIMU6EventPacket;
   typedef const struct caer_imu6_event_packet *caerIMU6EventPacketConst;
   
   static inline caerIMU6EventPacket caerIMU6EventPacketAllocate(
       int32_t eventCapacity, int16_t eventSource, int32_t tsOverflow) {
       return ((caerIMU6EventPacket) caerEventPacketAllocate(eventCapacity, eventSource, tsOverflow, IMU6_EVENT,
           sizeof(struct caer_imu6_event), offsetof(struct caer_imu6_event, timestamp)));
   }
   
   static inline caerIMU6EventPacket caerIMU6EventPacketFromPacketHeader(caerEventPacketHeader header) {
       if (caerEventPacketHeaderGetEventType(header) != IMU6_EVENT) {
           return (NULL);
       }
   
       return ((caerIMU6EventPacket) header);
   }
   
   static inline caerIMU6EventPacketConst caerIMU6EventPacketFromPacketHeaderConst(caerEventPacketHeaderConst header) {
       if (caerEventPacketHeaderGetEventType(header) != IMU6_EVENT) {
           return (NULL);
       }
   
       return ((caerIMU6EventPacketConst) header);
   }
   
   static inline caerIMU6Event caerIMU6EventPacketGetEvent(caerIMU6EventPacket packet, int32_t n) {
       // Check that we're not out of bounds.
       if (n < 0 || n >= caerEventPacketHeaderGetEventCapacity(&packet->packetHeader)) {
           caerLogEHO(CAER_LOG_CRITICAL, "IMU6 Event",
               "Called caerIMU6EventPacketGetEvent() with invalid event offset %" PRIi32
               ", while maximum allowed value is %" PRIi32 ".",
               n, caerEventPacketHeaderGetEventCapacity(&packet->packetHeader) - 1);
           return (NULL);
       }
   
       // Return a pointer to the specified event.
       return (packet->events + n);
   }
   
   static inline caerIMU6EventConst caerIMU6EventPacketGetEventConst(caerIMU6EventPacketConst packet, int32_t n) {
       // Check that we're not out of bounds.
       if (n < 0 || n >= caerEventPacketHeaderGetEventCapacity(&packet->packetHeader)) {
           caerLogEHO(CAER_LOG_CRITICAL, "IMU6 Event",
               "Called caerIMU6EventPacketGetEventConst() with invalid event offset %" PRIi32
               ", while maximum allowed value is %" PRIi32 ".",
               n, caerEventPacketHeaderGetEventCapacity(&packet->packetHeader) - 1);
           return (NULL);
       }
   
       // Return a pointer to the specified event.
       return (packet->events + n);
   }
   
   static inline int32_t caerIMU6EventGetTimestamp(caerIMU6EventConst event) {
       return (I32T(le32toh(U32T(event->timestamp))));
   }
   
   static inline int64_t caerIMU6EventGetTimestamp64(caerIMU6EventConst event, caerIMU6EventPacketConst packet) {
       return (I64T((U64T(caerEventPacketHeaderGetEventTSOverflow(&packet->packetHeader)) << TS_OVERFLOW_SHIFT)
                    | U64T(caerIMU6EventGetTimestamp(event))));
   }
   
   static inline void caerIMU6EventSetTimestamp(caerIMU6Event event, int32_t timestamp) {
       if (timestamp < 0) {
           // Negative means using the 31st bit!
           caerLogEHO(CAER_LOG_CRITICAL, "IMU6 Event", "Called caerIMU6EventSetTimestamp() with negative value!");
           return;
       }
   
       event->timestamp = I32T(htole32(U32T(timestamp)));
   }
   
   static inline bool caerIMU6EventIsValid(caerIMU6EventConst event) {
       return (GET_NUMBITS32(event->info, VALID_MARK_SHIFT, VALID_MARK_MASK));
   }
   
   static inline void caerIMU6EventValidate(caerIMU6Event event, caerIMU6EventPacket packet) {
       if (!caerIMU6EventIsValid(event)) {
           SET_NUMBITS32(event->info, VALID_MARK_SHIFT, VALID_MARK_MASK, 1);
   
           // Also increase number of events and valid events.
           // Only call this on (still) invalid events!
           caerEventPacketHeaderSetEventNumber(
               &packet->packetHeader, caerEventPacketHeaderGetEventNumber(&packet->packetHeader) + 1);
           caerEventPacketHeaderSetEventValid(
               &packet->packetHeader, caerEventPacketHeaderGetEventValid(&packet->packetHeader) + 1);
       }
       else {
           caerLogEHO(CAER_LOG_CRITICAL, "IMU6 Event", "Called caerIMU6EventValidate() on already valid event.");
       }
   }
   
   static inline void caerIMU6EventInvalidate(caerIMU6Event event, caerIMU6EventPacket packet) {
       if (caerIMU6EventIsValid(event)) {
           CLEAR_NUMBITS32(event->info, VALID_MARK_SHIFT, VALID_MARK_MASK);
   
           // Also decrease number of valid events. Number of total events doesn't change.
           // Only call this on valid events!
           caerEventPacketHeaderSetEventValid(
               &packet->packetHeader, caerEventPacketHeaderGetEventValid(&packet->packetHeader) - 1);
       }
       else {
           caerLogEHO(CAER_LOG_CRITICAL, "IMU6 Event", "Called caerIMU6EventInvalidate() on already invalid event.");
       }
   }
   
   static inline float caerIMU6EventGetAccelX(caerIMU6EventConst event) {
       return (leflttoh(event->accel_x));
   }
   
   static inline void caerIMU6EventSetAccelX(caerIMU6Event event, float accelX) {
       event->accel_x = htoleflt(accelX);
   }
   
   static inline float caerIMU6EventGetAccelY(caerIMU6EventConst event) {
       return (leflttoh(event->accel_y));
   }
   
   static inline void caerIMU6EventSetAccelY(caerIMU6Event event, float accelY) {
       event->accel_y = htoleflt(accelY);
   }
   
   static inline float caerIMU6EventGetAccelZ(caerIMU6EventConst event) {
       return (leflttoh(event->accel_z));
   }
   
   static inline void caerIMU6EventSetAccelZ(caerIMU6Event event, float accelZ) {
       event->accel_z = htoleflt(accelZ);
   }
   
   static inline float caerIMU6EventGetGyroX(caerIMU6EventConst event) {
       return (leflttoh(event->gyro_x));
   }
   
   static inline void caerIMU6EventSetGyroX(caerIMU6Event event, float gyroX) {
       event->gyro_x = htoleflt(gyroX);
   }
   
   static inline float caerIMU6EventGetGyroY(caerIMU6EventConst event) {
       return (leflttoh(event->gyro_y));
   }
   
   static inline void caerIMU6EventSetGyroY(caerIMU6Event event, float gyroY) {
       event->gyro_y = htoleflt(gyroY);
   }
   
   static inline float caerIMU6EventGetGyroZ(caerIMU6EventConst event) {
       return (leflttoh(event->gyro_z));
   }
   
   static inline void caerIMU6EventSetGyroZ(caerIMU6Event event, float gyroZ) {
       event->gyro_z = htoleflt(gyroZ);
   }
   
   static inline float caerIMU6EventGetTemp(caerIMU6EventConst event) {
       return (leflttoh(event->temp));
   }
   
   static inline void caerIMU6EventSetTemp(caerIMU6Event event, float temp) {
       event->temp = htoleflt(temp);
   }
   
   #define CAER_IMU6_ITERATOR_ALL_START(IMU6_PACKET)                                                     \
       for (int32_t caerIMU6IteratorCounter = 0;                                                         \
            caerIMU6IteratorCounter < caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader); \
            caerIMU6IteratorCounter++) {                                                                 \
           caerIMU6Event caerIMU6IteratorElement = caerIMU6EventPacketGetEvent(IMU6_PACKET, caerIMU6IteratorCounter);
   
   #define CAER_IMU6_CONST_ITERATOR_ALL_START(IMU6_PACKET)                                               \
       for (int32_t caerIMU6IteratorCounter = 0;                                                         \
            caerIMU6IteratorCounter < caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader); \
            caerIMU6IteratorCounter++) {                                                                 \
           caerIMU6EventConst caerIMU6IteratorElement                                                    \
               = caerIMU6EventPacketGetEventConst(IMU6_PACKET, caerIMU6IteratorCounter);
   
   #define CAER_IMU6_ITERATOR_ALL_END }
   
   #define CAER_IMU6_ITERATOR_VALID_START(IMU6_PACKET)                                                                \
       for (int32_t caerIMU6IteratorCounter = 0;                                                                      \
            caerIMU6IteratorCounter < caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader);              \
            caerIMU6IteratorCounter++) {                                                                              \
           caerIMU6Event caerIMU6IteratorElement = caerIMU6EventPacketGetEvent(IMU6_PACKET, caerIMU6IteratorCounter); \
           if (!caerIMU6EventIsValid(caerIMU6IteratorElement)) {                                                      \
               continue;                                                                                              \
           } // Skip invalid IMU6 events.
   
   #define CAER_IMU6_CONST_ITERATOR_VALID_START(IMU6_PACKET)                                             \
       for (int32_t caerIMU6IteratorCounter = 0;                                                         \
            caerIMU6IteratorCounter < caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader); \
            caerIMU6IteratorCounter++) {                                                                 \
           caerIMU6EventConst caerIMU6IteratorElement                                                    \
               = caerIMU6EventPacketGetEventConst(IMU6_PACKET, caerIMU6IteratorCounter);                 \
           if (!caerIMU6EventIsValid(caerIMU6IteratorElement)) {                                         \
               continue;                                                                                 \
           } // Skip invalid IMU6 events.
   
   #define CAER_IMU6_ITERATOR_VALID_END }
   
   #define CAER_IMU6_REVERSE_ITERATOR_ALL_START(IMU6_PACKET)                                                         \
       for (int32_t caerIMU6IteratorCounter = caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader) - 1; \
            caerIMU6IteratorCounter >= 0; caerIMU6IteratorCounter--) {                                               \
           caerIMU6Event caerIMU6IteratorElement = caerIMU6EventPacketGetEvent(IMU6_PACKET, caerIMU6IteratorCounter);
   #define CAER_IMU6_CONST_REVERSE_ITERATOR_ALL_START(IMU6_PACKET)                                                   \
       for (int32_t caerIMU6IteratorCounter = caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader) - 1; \
            caerIMU6IteratorCounter >= 0; caerIMU6IteratorCounter--) {                                               \
           caerIMU6EventConst caerIMU6IteratorElement                                                                \
               = caerIMU6EventPacketGetEventConst(IMU6_PACKET, caerIMU6IteratorCounter);
   
   #define CAER_IMU6_REVERSE_ITERATOR_ALL_END }
   
   #define CAER_IMU6_REVERSE_ITERATOR_VALID_START(IMU6_PACKET)                                                        \
       for (int32_t caerIMU6IteratorCounter = caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader) - 1;  \
            caerIMU6IteratorCounter >= 0; caerIMU6IteratorCounter--) {                                                \
           caerIMU6Event caerIMU6IteratorElement = caerIMU6EventPacketGetEvent(IMU6_PACKET, caerIMU6IteratorCounter); \
           if (!caerIMU6EventIsValid(caerIMU6IteratorElement)) {                                                      \
               continue;                                                                                              \
           } // Skip invalid IMU6 events.
   
   #define CAER_IMU6_CONST_REVERSE_ITERATOR_VALID_START(IMU6_PACKET)                                                 \
       for (int32_t caerIMU6IteratorCounter = caerEventPacketHeaderGetEventNumber(&(IMU6_PACKET)->packetHeader) - 1; \
            caerIMU6IteratorCounter >= 0; caerIMU6IteratorCounter--) {                                               \
           caerIMU6EventConst caerIMU6IteratorElement                                                                \
               = caerIMU6EventPacketGetEventConst(IMU6_PACKET, caerIMU6IteratorCounter);                             \
           if (!caerIMU6EventIsValid(caerIMU6IteratorElement)) {                                                     \
               continue;                                                                                             \
           } // Skip invalid IMU6 events.
   
   #define CAER_IMU6_REVERSE_ITERATOR_VALID_END }
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif /* LIBCAER_EVENTS_IMU6_H_ */