commands_3dm.h

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#pragma once
 
#include <mip/definitions/common.h>
#include <mip/mip_descriptors.h>
#include <mip/mip_result.h>
#include <mip/mip_interface.h>
 
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
 
#ifdef __cplusplus
namespace mip {
namespace C {
extern "C" {
 
#endif // __cplusplus
 
 
// Descriptors
 
enum 
{
    MIP_3DM_CMD_DESC_SET                             = 0x0C,
    
    MIP_CMD_DESC_3DM_POLL_IMU_MESSAGE                = 0x01,
    MIP_CMD_DESC_3DM_POLL_GNSS_MESSAGE               = 0x02,
    MIP_CMD_DESC_3DM_POLL_FILTER_MESSAGE             = 0x03,
    MIP_CMD_DESC_3DM_POLL_NMEA_MESSAGE               = 0x04,
    MIP_CMD_DESC_3DM_GET_IMU_BASE_RATE               = 0x06,
    MIP_CMD_DESC_3DM_GET_GNSS_BASE_RATE              = 0x07,
    MIP_CMD_DESC_3DM_IMU_MESSAGE_FORMAT              = 0x08,
    MIP_CMD_DESC_3DM_GNSS_MESSAGE_FORMAT             = 0x09,
    MIP_CMD_DESC_3DM_FILTER_MESSAGE_FORMAT           = 0x0A,
    MIP_CMD_DESC_3DM_GET_FILTER_BASE_RATE            = 0x0B,
    MIP_CMD_DESC_3DM_NMEA_MESSAGE_FORMAT             = 0x0C,
    MIP_CMD_DESC_3DM_POLL_DATA                       = 0x0D,
    MIP_CMD_DESC_3DM_GET_BASE_RATE                   = 0x0E,
    MIP_CMD_DESC_3DM_MESSAGE_FORMAT                  = 0x0F,
    MIP_CMD_DESC_3DM_CONFIGURE_FACTORY_STREAMING     = 0x10,
    MIP_CMD_DESC_3DM_CONTROL_DATA_STREAM             = 0x11,
    MIP_CMD_DESC_3DM_GNSS_CONSTELLATION_SETTINGS     = 0x21,
    MIP_CMD_DESC_3DM_GNSS_SBAS_SETTINGS              = 0x22,
    MIP_CMD_DESC_3DM_GNSS_ASSISTED_FIX_SETTINGS      = 0x23,
    MIP_CMD_DESC_3DM_GNSS_TIME_ASSISTANCE            = 0x24,
    MIP_CMD_DESC_3DM_PPS_SOURCE                      = 0x28,
    MIP_CMD_DESC_3DM_EVENT_SUPPORT                   = 0x2A,
    MIP_CMD_DESC_3DM_EVENT_CONTROL                   = 0x2B,
    MIP_CMD_DESC_3DM_EVENT_TRIGGER_STATUS            = 0x2C,
    MIP_CMD_DESC_3DM_EVENT_ACTION_STATUS             = 0x2D,
    MIP_CMD_DESC_3DM_EVENT_TRIGGER_CONFIG            = 0x2E,
    MIP_CMD_DESC_3DM_EVENT_ACTION_CONFIG             = 0x2F,
    MIP_CMD_DESC_3DM_DEVICE_STARTUP_SETTINGS         = 0x30,
    MIP_CMD_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_EUL    = 0x31,
    MIP_CMD_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_QUAT   = 0x32,
    MIP_CMD_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_DCM    = 0x33,
    MIP_CMD_DESC_3DM_ACCEL_BIAS                      = 0x37,
    MIP_CMD_DESC_3DM_GYRO_BIAS                       = 0x38,
    MIP_CMD_DESC_3DM_CAPTURE_GYRO_BIAS               = 0x39,
    MIP_CMD_DESC_3DM_HARD_IRON_OFFSET                = 0x3A,
    MIP_CMD_DESC_3DM_SOFT_IRON_MATRIX                = 0x3B,
    MIP_CMD_DESC_3DM_CONING_AND_SCULLING_ENABLE      = 0x3E,
    MIP_CMD_DESC_3DM_UART_BAUDRATE                   = 0x40,
    MIP_CMD_DESC_3DM_GPIO_CONFIG                     = 0x41,
    MIP_CMD_DESC_3DM_GPIO_STATE                      = 0x42,
    MIP_CMD_DESC_3DM_ODOMETER_CONFIG                 = 0x43,
    MIP_CMD_DESC_3DM_IMU_LOWPASS_FILTER              = 0x50,
    MIP_CMD_DESC_3DM_LEGACY_COMP_FILTER              = 0x51,
    MIP_CMD_DESC_3DM_SENSOR_RANGE                    = 0x52,
    MIP_CMD_DESC_3DM_CALIBRATED_RANGES               = 0x53,
    MIP_CMD_DESC_3DM_LOWPASS_FILTER                  = 0x54,
    
    MIP_REPLY_DESC_3DM_IMU_MESSAGE_FORMAT            = 0x80,
    MIP_REPLY_DESC_3DM_GNSS_MESSAGE_FORMAT           = 0x81,
    MIP_REPLY_DESC_3DM_FILTER_MESSAGE_FORMAT         = 0x82,
    MIP_REPLY_DESC_3DM_IMU_BASE_RATE                 = 0x83,
    MIP_REPLY_DESC_3DM_GNSS_BASE_RATE                = 0x84,
    MIP_REPLY_DESC_3DM_DATASTREAM_ENABLE             = 0x85,
    MIP_REPLY_DESC_3DM_UART_BAUDRATE                 = 0x87,
    MIP_REPLY_DESC_3DM_FILTER_BASE_RATE              = 0x8A,
    MIP_REPLY_DESC_3DM_ADVANCED_DATA_FILTER          = 0x8B,
    MIP_REPLY_DESC_3DM_POLL_DATA                     = 0x8D,
    MIP_REPLY_DESC_3DM_BASE_RATE                     = 0x8E,
    MIP_REPLY_DESC_3DM_MESSAGE_FORMAT                = 0x8F,
    MIP_REPLY_DESC_3DM_LEGACY_COMP_FILTER            = 0x97,
    MIP_REPLY_DESC_3DM_ACCEL_BIAS_VECTOR             = 0x9A,
    MIP_REPLY_DESC_3DM_GYRO_BIAS_VECTOR              = 0x9B,
    MIP_REPLY_DESC_3DM_HARD_IRON_OFFSET_VECTOR       = 0x9C,
    MIP_REPLY_DESC_3DM_SOFT_IRON_COMP_MATRIX         = 0x9D,
    MIP_REPLY_DESC_3DM_CONING_AND_SCULLING_ENABLE    = 0x9E,
    MIP_REPLY_DESC_3DM_GNSS_CONSTELLATION_SETTINGS   = 0xA0,
    MIP_REPLY_DESC_3DM_GNSS_SBAS_SETTINGS            = 0xA1,
    MIP_REPLY_DESC_3DM_GNSS_ASSISTED_FIX_SETTINGS    = 0xA2,
    MIP_REPLY_DESC_3DM_GNSS_TIME_ASSISTANCE          = 0xA3,
    MIP_REPLY_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_EUL  = 0xB1,
    MIP_REPLY_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_QUAT = 0xB2,
    MIP_REPLY_DESC_3DM_SENSOR2VEHICLE_TRANSFORM_DCM  = 0xB3,
    MIP_REPLY_DESC_3DM_EVENT_SUPPORT                 = 0xB4,
    MIP_REPLY_DESC_3DM_EVENT_CONTROL                 = 0xB5,
    MIP_REPLY_DESC_3DM_EVENT_TRIGGER_STATUS          = 0xB6,
    MIP_REPLY_DESC_3DM_EVENT_ACTION_STATUS           = 0xB7,
    MIP_REPLY_DESC_3DM_EVENT_TRIGGER_CONFIG          = 0xB8,
    MIP_REPLY_DESC_3DM_EVENT_ACTION_CONFIG           = 0xB9,
    MIP_REPLY_DESC_3DM_NMEA_MESSAGE_FORMAT           = 0x8C,
    MIP_REPLY_DESC_3DM_PPS_SOURCE                    = 0xA8,
    MIP_REPLY_DESC_3DM_GPIO_CONFIG                   = 0xC1,
    MIP_REPLY_DESC_3DM_GPIO_STATE                    = 0xC2,
    MIP_REPLY_DESC_3DM_ODOMETER_CONFIG               = 0xC3,
    MIP_REPLY_DESC_3DM_SENSOR_RANGE                  = 0xD2,
    MIP_REPLY_DESC_3DM_CALIBRATED_RANGES             = 0xD3,
    MIP_REPLY_DESC_3DM_LOWPASS_FILTER                = 0xD4,
};
 
// Shared Type Definitions
 
enum mip_nmea_message_message_id
{
    MIP_NMEA_MESSAGE_MESSAGE_ID_GGA  = 1,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_GLL  = 2,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_GSV  = 3,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_RMC  = 4,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_VTG  = 5,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_HDT  = 6,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_ZDA  = 7,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_GST  = 8,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_MSRA = 129,  
    MIP_NMEA_MESSAGE_MESSAGE_ID_MSRR = 130,  
};
typedef enum mip_nmea_message_message_id mip_nmea_message_message_id;
 
static inline void insert_mip_nmea_message_message_id(microstrain_serializer* serializer, const mip_nmea_message_message_id self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_nmea_message_message_id(microstrain_serializer* serializer, mip_nmea_message_message_id* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_nmea_message_message_id)tmp;
}
 
enum mip_nmea_message_talker_id
{
    MIP_NMEA_MESSAGE_TALKER_ID_IGNORED = 0,  
    MIP_NMEA_MESSAGE_TALKER_ID_GNSS    = 1,  
    MIP_NMEA_MESSAGE_TALKER_ID_GPS     = 2,  
    MIP_NMEA_MESSAGE_TALKER_ID_GALILEO = 3,  
    MIP_NMEA_MESSAGE_TALKER_ID_GLONASS = 4,  
};
typedef enum mip_nmea_message_talker_id mip_nmea_message_talker_id;
 
static inline void insert_mip_nmea_message_talker_id(microstrain_serializer* serializer, const mip_nmea_message_talker_id self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_nmea_message_talker_id(microstrain_serializer* serializer, mip_nmea_message_talker_id* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_nmea_message_talker_id)tmp;
}
 
 
struct mip_nmea_message
{
    mip_nmea_message_message_id message_id; 
    mip_nmea_message_talker_id talker_id; 
    uint8_t source_desc_set; 
    uint16_t decimation; 
};
typedef struct mip_nmea_message mip_nmea_message;
 
void insert_mip_nmea_message(microstrain_serializer* serializer, const mip_nmea_message* self);
void extract_mip_nmea_message(microstrain_serializer* serializer, mip_nmea_message* self);
 
enum mip_sensor_range_type
{
    MIP_SENSOR_RANGE_TYPE_ALL   = 0,  
    MIP_SENSOR_RANGE_TYPE_ACCEL = 1,  
    MIP_SENSOR_RANGE_TYPE_GYRO  = 2,  
    MIP_SENSOR_RANGE_TYPE_MAG   = 3,  
    MIP_SENSOR_RANGE_TYPE_PRESS = 4,  
};
typedef enum mip_sensor_range_type mip_sensor_range_type;
 
static inline void insert_mip_sensor_range_type(microstrain_serializer* serializer, const mip_sensor_range_type self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_sensor_range_type(microstrain_serializer* serializer, mip_sensor_range_type* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_sensor_range_type)tmp;
}
 
 
// Mip Fields
 
 
struct mip_3dm_poll_imu_message_command
{
    bool suppress_ack; 
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[83]; 
};
typedef struct mip_3dm_poll_imu_message_command mip_3dm_poll_imu_message_command;
 
void insert_mip_3dm_poll_imu_message_command(microstrain_serializer* serializer, const mip_3dm_poll_imu_message_command* self);
void extract_mip_3dm_poll_imu_message_command(microstrain_serializer* serializer, mip_3dm_poll_imu_message_command* self);
 
mip_cmd_result mip_3dm_poll_imu_message(mip_interface* device, bool suppress_ack, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
 
 
struct mip_3dm_poll_gnss_message_command
{
    bool suppress_ack; 
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[83]; 
};
typedef struct mip_3dm_poll_gnss_message_command mip_3dm_poll_gnss_message_command;
 
void insert_mip_3dm_poll_gnss_message_command(microstrain_serializer* serializer, const mip_3dm_poll_gnss_message_command* self);
void extract_mip_3dm_poll_gnss_message_command(microstrain_serializer* serializer, mip_3dm_poll_gnss_message_command* self);
 
mip_cmd_result mip_3dm_poll_gnss_message(mip_interface* device, bool suppress_ack, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
 
 
struct mip_3dm_poll_filter_message_command
{
    bool suppress_ack; 
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[83]; 
};
typedef struct mip_3dm_poll_filter_message_command mip_3dm_poll_filter_message_command;
 
void insert_mip_3dm_poll_filter_message_command(microstrain_serializer* serializer, const mip_3dm_poll_filter_message_command* self);
void extract_mip_3dm_poll_filter_message_command(microstrain_serializer* serializer, mip_3dm_poll_filter_message_command* self);
 
mip_cmd_result mip_3dm_poll_filter_message(mip_interface* device, bool suppress_ack, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
 
 
struct mip_3dm_nmea_poll_data_command
{
    bool suppress_ack; 
    uint8_t count; 
    mip_nmea_message format_entries[40]; 
};
typedef struct mip_3dm_nmea_poll_data_command mip_3dm_nmea_poll_data_command;
 
void insert_mip_3dm_nmea_poll_data_command(microstrain_serializer* serializer, const mip_3dm_nmea_poll_data_command* self);
void extract_mip_3dm_nmea_poll_data_command(microstrain_serializer* serializer, mip_3dm_nmea_poll_data_command* self);
 
mip_cmd_result mip_3dm_nmea_poll_data(mip_interface* device, bool suppress_ack, uint8_t count, const mip_nmea_message* format_entries);
 
 
typedef struct mip_3dm_imu_get_base_rate_command mip_3dm_imu_get_base_rate_command; 
 
struct mip_3dm_imu_get_base_rate_response
{
    uint16_t rate; 
};
typedef struct mip_3dm_imu_get_base_rate_response mip_3dm_imu_get_base_rate_response;
 
void insert_mip_3dm_imu_get_base_rate_response(microstrain_serializer* serializer, const mip_3dm_imu_get_base_rate_response* self);
void extract_mip_3dm_imu_get_base_rate_response(microstrain_serializer* serializer, mip_3dm_imu_get_base_rate_response* self);
 
mip_cmd_result mip_3dm_imu_get_base_rate(mip_interface* device, uint16_t* rate_out);
 
 
typedef struct mip_3dm_gnss_get_base_rate_command mip_3dm_gnss_get_base_rate_command; 
 
struct mip_3dm_gnss_get_base_rate_response
{
    uint16_t rate; 
};
typedef struct mip_3dm_gnss_get_base_rate_response mip_3dm_gnss_get_base_rate_response;
 
void insert_mip_3dm_gnss_get_base_rate_response(microstrain_serializer* serializer, const mip_3dm_gnss_get_base_rate_response* self);
void extract_mip_3dm_gnss_get_base_rate_response(microstrain_serializer* serializer, mip_3dm_gnss_get_base_rate_response* self);
 
mip_cmd_result mip_3dm_gnss_get_base_rate(mip_interface* device, uint16_t* rate_out);
 
 
struct mip_3dm_imu_message_format_command
{
    mip_function_selector function;
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_imu_message_format_command mip_3dm_imu_message_format_command;
 
void insert_mip_3dm_imu_message_format_command(microstrain_serializer* serializer, const mip_3dm_imu_message_format_command* self);
void extract_mip_3dm_imu_message_format_command(microstrain_serializer* serializer, mip_3dm_imu_message_format_command* self);
 
struct mip_3dm_imu_message_format_response
{
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_imu_message_format_response mip_3dm_imu_message_format_response;
 
void insert_mip_3dm_imu_message_format_response(microstrain_serializer* serializer, const mip_3dm_imu_message_format_response* self);
void extract_mip_3dm_imu_message_format_response(microstrain_serializer* serializer, mip_3dm_imu_message_format_response* self);
 
mip_cmd_result mip_3dm_write_imu_message_format(mip_interface* device, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
mip_cmd_result mip_3dm_read_imu_message_format(mip_interface* device, uint8_t* num_descriptors_out, uint8_t num_descriptors_out_max, mip_descriptor_rate* descriptors_out);
mip_cmd_result mip_3dm_save_imu_message_format(mip_interface* device);
mip_cmd_result mip_3dm_load_imu_message_format(mip_interface* device);
mip_cmd_result mip_3dm_default_imu_message_format(mip_interface* device);
 
 
struct mip_3dm_gnss_message_format_command
{
    mip_function_selector function;
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_gnss_message_format_command mip_3dm_gnss_message_format_command;
 
void insert_mip_3dm_gnss_message_format_command(microstrain_serializer* serializer, const mip_3dm_gnss_message_format_command* self);
void extract_mip_3dm_gnss_message_format_command(microstrain_serializer* serializer, mip_3dm_gnss_message_format_command* self);
 
struct mip_3dm_gnss_message_format_response
{
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_gnss_message_format_response mip_3dm_gnss_message_format_response;
 
void insert_mip_3dm_gnss_message_format_response(microstrain_serializer* serializer, const mip_3dm_gnss_message_format_response* self);
void extract_mip_3dm_gnss_message_format_response(microstrain_serializer* serializer, mip_3dm_gnss_message_format_response* self);
 
mip_cmd_result mip_3dm_write_gnss_message_format(mip_interface* device, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
mip_cmd_result mip_3dm_read_gnss_message_format(mip_interface* device, uint8_t* num_descriptors_out, uint8_t num_descriptors_out_max, mip_descriptor_rate* descriptors_out);
mip_cmd_result mip_3dm_save_gnss_message_format(mip_interface* device);
mip_cmd_result mip_3dm_load_gnss_message_format(mip_interface* device);
mip_cmd_result mip_3dm_default_gnss_message_format(mip_interface* device);
 
 
struct mip_3dm_filter_message_format_command
{
    mip_function_selector function;
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82];
};
typedef struct mip_3dm_filter_message_format_command mip_3dm_filter_message_format_command;
 
void insert_mip_3dm_filter_message_format_command(microstrain_serializer* serializer, const mip_3dm_filter_message_format_command* self);
void extract_mip_3dm_filter_message_format_command(microstrain_serializer* serializer, mip_3dm_filter_message_format_command* self);
 
struct mip_3dm_filter_message_format_response
{
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82];
};
typedef struct mip_3dm_filter_message_format_response mip_3dm_filter_message_format_response;
 
void insert_mip_3dm_filter_message_format_response(microstrain_serializer* serializer, const mip_3dm_filter_message_format_response* self);
void extract_mip_3dm_filter_message_format_response(microstrain_serializer* serializer, mip_3dm_filter_message_format_response* self);
 
mip_cmd_result mip_3dm_write_filter_message_format(mip_interface* device, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
mip_cmd_result mip_3dm_read_filter_message_format(mip_interface* device, uint8_t* num_descriptors_out, uint8_t num_descriptors_out_max, mip_descriptor_rate* descriptors_out);
mip_cmd_result mip_3dm_save_filter_message_format(mip_interface* device);
mip_cmd_result mip_3dm_load_filter_message_format(mip_interface* device);
mip_cmd_result mip_3dm_default_filter_message_format(mip_interface* device);
 
 
typedef struct mip_3dm_filter_get_base_rate_command mip_3dm_filter_get_base_rate_command; 
 
struct mip_3dm_filter_get_base_rate_response
{
    uint16_t rate; 
};
typedef struct mip_3dm_filter_get_base_rate_response mip_3dm_filter_get_base_rate_response;
 
void insert_mip_3dm_filter_get_base_rate_response(microstrain_serializer* serializer, const mip_3dm_filter_get_base_rate_response* self);
void extract_mip_3dm_filter_get_base_rate_response(microstrain_serializer* serializer, mip_3dm_filter_get_base_rate_response* self);
 
mip_cmd_result mip_3dm_filter_get_base_rate(mip_interface* device, uint16_t* rate_out);
 
 
struct mip_3dm_nmea_message_format_command
{
    mip_function_selector function;
    uint8_t count; 
    mip_nmea_message format_entries[40]; 
};
typedef struct mip_3dm_nmea_message_format_command mip_3dm_nmea_message_format_command;
 
void insert_mip_3dm_nmea_message_format_command(microstrain_serializer* serializer, const mip_3dm_nmea_message_format_command* self);
void extract_mip_3dm_nmea_message_format_command(microstrain_serializer* serializer, mip_3dm_nmea_message_format_command* self);
 
struct mip_3dm_nmea_message_format_response
{
    uint8_t count; 
    mip_nmea_message format_entries[40]; 
};
typedef struct mip_3dm_nmea_message_format_response mip_3dm_nmea_message_format_response;
 
void insert_mip_3dm_nmea_message_format_response(microstrain_serializer* serializer, const mip_3dm_nmea_message_format_response* self);
void extract_mip_3dm_nmea_message_format_response(microstrain_serializer* serializer, mip_3dm_nmea_message_format_response* self);
 
mip_cmd_result mip_3dm_write_nmea_message_format(mip_interface* device, uint8_t count, const mip_nmea_message* format_entries);
mip_cmd_result mip_3dm_read_nmea_message_format(mip_interface* device, uint8_t* count_out, uint8_t count_out_max, mip_nmea_message* format_entries_out);
mip_cmd_result mip_3dm_save_nmea_message_format(mip_interface* device);
mip_cmd_result mip_3dm_load_nmea_message_format(mip_interface* device);
mip_cmd_result mip_3dm_default_nmea_message_format(mip_interface* device);
 
 
struct mip_3dm_poll_data_command
{
    uint8_t desc_set; 
    bool suppress_ack; 
    uint8_t num_descriptors; 
    uint8_t descriptors[82]; 
};
typedef struct mip_3dm_poll_data_command mip_3dm_poll_data_command;
 
void insert_mip_3dm_poll_data_command(microstrain_serializer* serializer, const mip_3dm_poll_data_command* self);
void extract_mip_3dm_poll_data_command(microstrain_serializer* serializer, mip_3dm_poll_data_command* self);
 
mip_cmd_result mip_3dm_poll_data(mip_interface* device, uint8_t desc_set, bool suppress_ack, uint8_t num_descriptors, const uint8_t* descriptors);
 
 
struct mip_3dm_get_base_rate_command
{
    uint8_t desc_set; 
};
typedef struct mip_3dm_get_base_rate_command mip_3dm_get_base_rate_command;
 
void insert_mip_3dm_get_base_rate_command(microstrain_serializer* serializer, const mip_3dm_get_base_rate_command* self);
void extract_mip_3dm_get_base_rate_command(microstrain_serializer* serializer, mip_3dm_get_base_rate_command* self);
 
struct mip_3dm_get_base_rate_response
{
    uint8_t desc_set; 
    uint16_t rate; 
};
typedef struct mip_3dm_get_base_rate_response mip_3dm_get_base_rate_response;
 
void insert_mip_3dm_get_base_rate_response(microstrain_serializer* serializer, const mip_3dm_get_base_rate_response* self);
void extract_mip_3dm_get_base_rate_response(microstrain_serializer* serializer, mip_3dm_get_base_rate_response* self);
 
mip_cmd_result mip_3dm_get_base_rate(mip_interface* device, uint8_t desc_set, uint16_t* rate_out);
 
 
struct mip_3dm_message_format_command
{
    mip_function_selector function;
    uint8_t desc_set; 
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_message_format_command mip_3dm_message_format_command;
 
void insert_mip_3dm_message_format_command(microstrain_serializer* serializer, const mip_3dm_message_format_command* self);
void extract_mip_3dm_message_format_command(microstrain_serializer* serializer, mip_3dm_message_format_command* self);
 
struct mip_3dm_message_format_response
{
    uint8_t desc_set; 
    uint8_t num_descriptors; 
    mip_descriptor_rate descriptors[82]; 
};
typedef struct mip_3dm_message_format_response mip_3dm_message_format_response;
 
void insert_mip_3dm_message_format_response(microstrain_serializer* serializer, const mip_3dm_message_format_response* self);
void extract_mip_3dm_message_format_response(microstrain_serializer* serializer, mip_3dm_message_format_response* self);
 
mip_cmd_result mip_3dm_write_message_format(mip_interface* device, uint8_t desc_set, uint8_t num_descriptors, const mip_descriptor_rate* descriptors);
mip_cmd_result mip_3dm_read_message_format(mip_interface* device, uint8_t desc_set, uint8_t* num_descriptors_out, uint8_t num_descriptors_out_max, mip_descriptor_rate* descriptors_out);
mip_cmd_result mip_3dm_save_message_format(mip_interface* device, uint8_t desc_set);
mip_cmd_result mip_3dm_load_message_format(mip_interface* device, uint8_t desc_set);
mip_cmd_result mip_3dm_default_message_format(mip_interface* device, uint8_t desc_set);
 
 
enum mip_3dm_factory_streaming_command_action
{
    MIP_3DM_FACTORY_STREAMING_COMMAND_ACTION_OVERWRITE = 0,  
    MIP_3DM_FACTORY_STREAMING_COMMAND_ACTION_MERGE     = 1,  
    MIP_3DM_FACTORY_STREAMING_COMMAND_ACTION_ADD       = 2,  
};
typedef enum mip_3dm_factory_streaming_command_action mip_3dm_factory_streaming_command_action;
 
static inline void insert_mip_3dm_factory_streaming_command_action(microstrain_serializer* serializer, const mip_3dm_factory_streaming_command_action self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_factory_streaming_command_action(microstrain_serializer* serializer, mip_3dm_factory_streaming_command_action* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_factory_streaming_command_action)tmp;
}
 
 
struct mip_3dm_factory_streaming_command
{
    mip_3dm_factory_streaming_command_action action;
    uint8_t reserved; 
};
typedef struct mip_3dm_factory_streaming_command mip_3dm_factory_streaming_command;
 
void insert_mip_3dm_factory_streaming_command(microstrain_serializer* serializer, const mip_3dm_factory_streaming_command* self);
void extract_mip_3dm_factory_streaming_command(microstrain_serializer* serializer, mip_3dm_factory_streaming_command* self);
 
mip_cmd_result mip_3dm_factory_streaming(mip_interface* device, mip_3dm_factory_streaming_command_action action, uint8_t reserved);
 
 
enum { MIP_3DM_DATASTREAM_CONTROL_COMMAND_LEGACY_IMU_STREAM = 0x01 };
enum { MIP_3DM_DATASTREAM_CONTROL_COMMAND_LEGACY_GNSS_STREAM = 0x02 };
enum { MIP_3DM_DATASTREAM_CONTROL_COMMAND_LEGACY_FILTER_STREAM = 0x03 };
enum { MIP_3DM_DATASTREAM_CONTROL_COMMAND_ALL_STREAMS = 0x00 };
 
struct mip_3dm_datastream_control_command
{
    mip_function_selector function;
    uint8_t desc_set; 
    bool enable; 
};
typedef struct mip_3dm_datastream_control_command mip_3dm_datastream_control_command;
 
void insert_mip_3dm_datastream_control_command(microstrain_serializer* serializer, const mip_3dm_datastream_control_command* self);
void extract_mip_3dm_datastream_control_command(microstrain_serializer* serializer, mip_3dm_datastream_control_command* self);
 
struct mip_3dm_datastream_control_response
{
    uint8_t desc_set;
    bool enabled;
};
typedef struct mip_3dm_datastream_control_response mip_3dm_datastream_control_response;
 
void insert_mip_3dm_datastream_control_response(microstrain_serializer* serializer, const mip_3dm_datastream_control_response* self);
void extract_mip_3dm_datastream_control_response(microstrain_serializer* serializer, mip_3dm_datastream_control_response* self);
 
mip_cmd_result mip_3dm_write_datastream_control(mip_interface* device, uint8_t desc_set, bool enable);
mip_cmd_result mip_3dm_read_datastream_control(mip_interface* device, uint8_t desc_set, bool* enabled_out);
mip_cmd_result mip_3dm_save_datastream_control(mip_interface* device, uint8_t desc_set);
mip_cmd_result mip_3dm_load_datastream_control(mip_interface* device, uint8_t desc_set);
mip_cmd_result mip_3dm_default_datastream_control(mip_interface* device, uint8_t desc_set);
 
 
enum mip_3dm_constellation_settings_command_constellation_id
{
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_GPS     = 0,  
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_SBAS    = 1,  
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_GALILEO = 2,  
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_BEIDOU  = 3,  
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_QZSS    = 5,  
    MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_CONSTELLATION_ID_GLONASS = 6,  
};
typedef enum mip_3dm_constellation_settings_command_constellation_id mip_3dm_constellation_settings_command_constellation_id;
 
static inline void insert_mip_3dm_constellation_settings_command_constellation_id(microstrain_serializer* serializer, const mip_3dm_constellation_settings_command_constellation_id self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_constellation_settings_command_constellation_id(microstrain_serializer* serializer, mip_3dm_constellation_settings_command_constellation_id* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_constellation_settings_command_constellation_id)tmp;
}
 
typedef uint16_t mip_3dm_constellation_settings_command_option_flags;
static const mip_3dm_constellation_settings_command_option_flags MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_OPTION_FLAGS_NONE   = 0x0000;
static const mip_3dm_constellation_settings_command_option_flags MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_OPTION_FLAGS_L1SAIF = 0x0001; 
static const mip_3dm_constellation_settings_command_option_flags MIP_3DM_CONSTELLATION_SETTINGS_COMMAND_OPTION_FLAGS_ALL    = 0x0001;
static inline void insert_mip_3dm_constellation_settings_command_option_flags(microstrain_serializer* serializer, const mip_3dm_constellation_settings_command_option_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_3dm_constellation_settings_command_option_flags(microstrain_serializer* serializer, mip_3dm_constellation_settings_command_option_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = (mip_3dm_constellation_settings_command_option_flags)tmp;
}
 
struct mip_3dm_constellation_settings_command_settings
{
    mip_3dm_constellation_settings_command_constellation_id constellation_id; 
    uint8_t enable; 
    uint8_t reserved_channels; 
    uint8_t max_channels; 
    mip_3dm_constellation_settings_command_option_flags option_flags; 
};
typedef struct mip_3dm_constellation_settings_command_settings mip_3dm_constellation_settings_command_settings;
 
void insert_mip_3dm_constellation_settings_command_settings(microstrain_serializer* serializer, const mip_3dm_constellation_settings_command_settings* self);
void extract_mip_3dm_constellation_settings_command_settings(microstrain_serializer* serializer, mip_3dm_constellation_settings_command_settings* self);
 
 
struct mip_3dm_constellation_settings_command
{
    mip_function_selector function;
    uint16_t max_channels;
    uint8_t config_count;
    mip_3dm_constellation_settings_command_settings settings[42];
};
typedef struct mip_3dm_constellation_settings_command mip_3dm_constellation_settings_command;
 
void insert_mip_3dm_constellation_settings_command(microstrain_serializer* serializer, const mip_3dm_constellation_settings_command* self);
void extract_mip_3dm_constellation_settings_command(microstrain_serializer* serializer, mip_3dm_constellation_settings_command* self);
 
struct mip_3dm_constellation_settings_response
{
    uint16_t max_channels_available; 
    uint16_t max_channels_use; 
    uint8_t config_count; 
    mip_3dm_constellation_settings_command_settings settings[42]; 
};
typedef struct mip_3dm_constellation_settings_response mip_3dm_constellation_settings_response;
 
void insert_mip_3dm_constellation_settings_response(microstrain_serializer* serializer, const mip_3dm_constellation_settings_response* self);
void extract_mip_3dm_constellation_settings_response(microstrain_serializer* serializer, mip_3dm_constellation_settings_response* self);
 
mip_cmd_result mip_3dm_write_constellation_settings(mip_interface* device, uint16_t max_channels, uint8_t config_count, const mip_3dm_constellation_settings_command_settings* settings);
mip_cmd_result mip_3dm_read_constellation_settings(mip_interface* device, uint16_t* max_channels_available_out, uint16_t* max_channels_use_out, uint8_t* config_count_out, uint8_t config_count_out_max, mip_3dm_constellation_settings_command_settings* settings_out);
mip_cmd_result mip_3dm_save_constellation_settings(mip_interface* device);
mip_cmd_result mip_3dm_load_constellation_settings(mip_interface* device);
mip_cmd_result mip_3dm_default_constellation_settings(mip_interface* device);
 
 
typedef uint16_t mip_3dm_gnss_sbas_settings_command_sbasoptions;
static const mip_3dm_gnss_sbas_settings_command_sbasoptions MIP_3DM_GNSS_SBAS_SETTINGS_COMMAND_SBASOPTIONS_NONE               = 0x0000;
static const mip_3dm_gnss_sbas_settings_command_sbasoptions MIP_3DM_GNSS_SBAS_SETTINGS_COMMAND_SBASOPTIONS_ENABLE_RANGING     = 0x0001; 
static const mip_3dm_gnss_sbas_settings_command_sbasoptions MIP_3DM_GNSS_SBAS_SETTINGS_COMMAND_SBASOPTIONS_ENABLE_CORRECTIONS = 0x0002; 
static const mip_3dm_gnss_sbas_settings_command_sbasoptions MIP_3DM_GNSS_SBAS_SETTINGS_COMMAND_SBASOPTIONS_APPLY_INTEGRITY    = 0x0004; 
static const mip_3dm_gnss_sbas_settings_command_sbasoptions MIP_3DM_GNSS_SBAS_SETTINGS_COMMAND_SBASOPTIONS_ALL                = 0x0007;
static inline void insert_mip_3dm_gnss_sbas_settings_command_sbasoptions(microstrain_serializer* serializer, const mip_3dm_gnss_sbas_settings_command_sbasoptions self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_3dm_gnss_sbas_settings_command_sbasoptions(microstrain_serializer* serializer, mip_3dm_gnss_sbas_settings_command_sbasoptions* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = (mip_3dm_gnss_sbas_settings_command_sbasoptions)tmp;
}
 
 
struct mip_3dm_gnss_sbas_settings_command
{
    mip_function_selector function;
    uint8_t enable_sbas; 
    mip_3dm_gnss_sbas_settings_command_sbasoptions sbas_options; 
    uint8_t num_included_prns; 
    uint16_t included_prns[39]; 
};
typedef struct mip_3dm_gnss_sbas_settings_command mip_3dm_gnss_sbas_settings_command;
 
void insert_mip_3dm_gnss_sbas_settings_command(microstrain_serializer* serializer, const mip_3dm_gnss_sbas_settings_command* self);
void extract_mip_3dm_gnss_sbas_settings_command(microstrain_serializer* serializer, mip_3dm_gnss_sbas_settings_command* self);
 
struct mip_3dm_gnss_sbas_settings_response
{
    uint8_t enable_sbas; 
    mip_3dm_gnss_sbas_settings_command_sbasoptions sbas_options; 
    uint8_t num_included_prns; 
    uint16_t included_prns[39]; 
};
typedef struct mip_3dm_gnss_sbas_settings_response mip_3dm_gnss_sbas_settings_response;
 
void insert_mip_3dm_gnss_sbas_settings_response(microstrain_serializer* serializer, const mip_3dm_gnss_sbas_settings_response* self);
void extract_mip_3dm_gnss_sbas_settings_response(microstrain_serializer* serializer, mip_3dm_gnss_sbas_settings_response* self);
 
mip_cmd_result mip_3dm_write_gnss_sbas_settings(mip_interface* device, uint8_t enable_sbas, mip_3dm_gnss_sbas_settings_command_sbasoptions sbas_options, uint8_t num_included_prns, const uint16_t* included_prns);
mip_cmd_result mip_3dm_read_gnss_sbas_settings(mip_interface* device, uint8_t* enable_sbas_out, mip_3dm_gnss_sbas_settings_command_sbasoptions* sbas_options_out, uint8_t* num_included_prns_out, uint8_t num_included_prns_out_max, uint16_t* included_prns_out);
mip_cmd_result mip_3dm_save_gnss_sbas_settings(mip_interface* device);
mip_cmd_result mip_3dm_load_gnss_sbas_settings(mip_interface* device);
mip_cmd_result mip_3dm_default_gnss_sbas_settings(mip_interface* device);
 
 
enum mip_3dm_gnss_assisted_fix_command_assisted_fix_option
{
    MIP_3DM_GNSS_ASSISTED_FIX_COMMAND_ASSISTED_FIX_OPTION_NONE    = 0,  
    MIP_3DM_GNSS_ASSISTED_FIX_COMMAND_ASSISTED_FIX_OPTION_ENABLED = 1,  
};
typedef enum mip_3dm_gnss_assisted_fix_command_assisted_fix_option mip_3dm_gnss_assisted_fix_command_assisted_fix_option;
 
static inline void insert_mip_3dm_gnss_assisted_fix_command_assisted_fix_option(microstrain_serializer* serializer, const mip_3dm_gnss_assisted_fix_command_assisted_fix_option self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_gnss_assisted_fix_command_assisted_fix_option(microstrain_serializer* serializer, mip_3dm_gnss_assisted_fix_command_assisted_fix_option* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_gnss_assisted_fix_command_assisted_fix_option)tmp;
}
 
 
struct mip_3dm_gnss_assisted_fix_command
{
    mip_function_selector function;
    mip_3dm_gnss_assisted_fix_command_assisted_fix_option option; 
    uint8_t flags; 
};
typedef struct mip_3dm_gnss_assisted_fix_command mip_3dm_gnss_assisted_fix_command;
 
void insert_mip_3dm_gnss_assisted_fix_command(microstrain_serializer* serializer, const mip_3dm_gnss_assisted_fix_command* self);
void extract_mip_3dm_gnss_assisted_fix_command(microstrain_serializer* serializer, mip_3dm_gnss_assisted_fix_command* self);
 
struct mip_3dm_gnss_assisted_fix_response
{
    mip_3dm_gnss_assisted_fix_command_assisted_fix_option option; 
    uint8_t flags; 
};
typedef struct mip_3dm_gnss_assisted_fix_response mip_3dm_gnss_assisted_fix_response;
 
void insert_mip_3dm_gnss_assisted_fix_response(microstrain_serializer* serializer, const mip_3dm_gnss_assisted_fix_response* self);
void extract_mip_3dm_gnss_assisted_fix_response(microstrain_serializer* serializer, mip_3dm_gnss_assisted_fix_response* self);
 
mip_cmd_result mip_3dm_write_gnss_assisted_fix(mip_interface* device, mip_3dm_gnss_assisted_fix_command_assisted_fix_option option, uint8_t flags);
mip_cmd_result mip_3dm_read_gnss_assisted_fix(mip_interface* device, mip_3dm_gnss_assisted_fix_command_assisted_fix_option* option_out, uint8_t* flags_out);
mip_cmd_result mip_3dm_save_gnss_assisted_fix(mip_interface* device);
mip_cmd_result mip_3dm_load_gnss_assisted_fix(mip_interface* device);
mip_cmd_result mip_3dm_default_gnss_assisted_fix(mip_interface* device);
 
 
struct mip_3dm_gnss_time_assistance_command
{
    mip_function_selector function;
    double tow; 
    uint16_t week_number; 
    float accuracy; 
};
typedef struct mip_3dm_gnss_time_assistance_command mip_3dm_gnss_time_assistance_command;
 
void insert_mip_3dm_gnss_time_assistance_command(microstrain_serializer* serializer, const mip_3dm_gnss_time_assistance_command* self);
void extract_mip_3dm_gnss_time_assistance_command(microstrain_serializer* serializer, mip_3dm_gnss_time_assistance_command* self);
 
struct mip_3dm_gnss_time_assistance_response
{
    double tow; 
    uint16_t week_number; 
    float accuracy; 
};
typedef struct mip_3dm_gnss_time_assistance_response mip_3dm_gnss_time_assistance_response;
 
void insert_mip_3dm_gnss_time_assistance_response(microstrain_serializer* serializer, const mip_3dm_gnss_time_assistance_response* self);
void extract_mip_3dm_gnss_time_assistance_response(microstrain_serializer* serializer, mip_3dm_gnss_time_assistance_response* self);
 
mip_cmd_result mip_3dm_write_gnss_time_assistance(mip_interface* device, double tow, uint16_t week_number, float accuracy);
mip_cmd_result mip_3dm_read_gnss_time_assistance(mip_interface* device, double* tow_out, uint16_t* week_number_out, float* accuracy_out);
 
 
enum mip_3dm_pps_source_command_source
{
    MIP_3DM_PPS_SOURCE_COMMAND_SOURCE_DISABLED   = 0,  
    MIP_3DM_PPS_SOURCE_COMMAND_SOURCE_RECEIVER_1 = 1,  
    MIP_3DM_PPS_SOURCE_COMMAND_SOURCE_RECEIVER_2 = 2,  
    MIP_3DM_PPS_SOURCE_COMMAND_SOURCE_GPIO       = 3,  
    MIP_3DM_PPS_SOURCE_COMMAND_SOURCE_GENERATED  = 4,  
};
typedef enum mip_3dm_pps_source_command_source mip_3dm_pps_source_command_source;
 
static inline void insert_mip_3dm_pps_source_command_source(microstrain_serializer* serializer, const mip_3dm_pps_source_command_source self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_pps_source_command_source(microstrain_serializer* serializer, mip_3dm_pps_source_command_source* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_pps_source_command_source)tmp;
}
 
 
struct mip_3dm_pps_source_command
{
    mip_function_selector function;
    mip_3dm_pps_source_command_source source;
};
typedef struct mip_3dm_pps_source_command mip_3dm_pps_source_command;
 
void insert_mip_3dm_pps_source_command(microstrain_serializer* serializer, const mip_3dm_pps_source_command* self);
void extract_mip_3dm_pps_source_command(microstrain_serializer* serializer, mip_3dm_pps_source_command* self);
 
struct mip_3dm_pps_source_response
{
    mip_3dm_pps_source_command_source source;
};
typedef struct mip_3dm_pps_source_response mip_3dm_pps_source_response;
 
void insert_mip_3dm_pps_source_response(microstrain_serializer* serializer, const mip_3dm_pps_source_response* self);
void extract_mip_3dm_pps_source_response(microstrain_serializer* serializer, mip_3dm_pps_source_response* self);
 
mip_cmd_result mip_3dm_write_pps_source(mip_interface* device, mip_3dm_pps_source_command_source source);
mip_cmd_result mip_3dm_read_pps_source(mip_interface* device, mip_3dm_pps_source_command_source* source_out);
mip_cmd_result mip_3dm_save_pps_source(mip_interface* device);
mip_cmd_result mip_3dm_load_pps_source(mip_interface* device);
mip_cmd_result mip_3dm_default_pps_source(mip_interface* device);
 
 
enum mip_3dm_get_event_support_command_query
{
    MIP_3DM_GET_EVENT_SUPPORT_COMMAND_QUERY_TRIGGER_TYPES = 1,  
    MIP_3DM_GET_EVENT_SUPPORT_COMMAND_QUERY_ACTION_TYPES  = 2,  
};
typedef enum mip_3dm_get_event_support_command_query mip_3dm_get_event_support_command_query;
 
static inline void insert_mip_3dm_get_event_support_command_query(microstrain_serializer* serializer, const mip_3dm_get_event_support_command_query self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_get_event_support_command_query(microstrain_serializer* serializer, mip_3dm_get_event_support_command_query* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_get_event_support_command_query)tmp;
}
 
struct mip_3dm_get_event_support_command_info
{
    uint8_t type; 
    uint8_t count; 
};
typedef struct mip_3dm_get_event_support_command_info mip_3dm_get_event_support_command_info;
 
void insert_mip_3dm_get_event_support_command_info(microstrain_serializer* serializer, const mip_3dm_get_event_support_command_info* self);
void extract_mip_3dm_get_event_support_command_info(microstrain_serializer* serializer, mip_3dm_get_event_support_command_info* self);
 
 
struct mip_3dm_get_event_support_command
{
    mip_3dm_get_event_support_command_query query; 
};
typedef struct mip_3dm_get_event_support_command mip_3dm_get_event_support_command;
 
void insert_mip_3dm_get_event_support_command(microstrain_serializer* serializer, const mip_3dm_get_event_support_command* self);
void extract_mip_3dm_get_event_support_command(microstrain_serializer* serializer, mip_3dm_get_event_support_command* self);
 
struct mip_3dm_get_event_support_response
{
    mip_3dm_get_event_support_command_query query; 
    uint8_t max_instances; 
    uint8_t num_entries; 
    mip_3dm_get_event_support_command_info entries[126]; 
};
typedef struct mip_3dm_get_event_support_response mip_3dm_get_event_support_response;
 
void insert_mip_3dm_get_event_support_response(microstrain_serializer* serializer, const mip_3dm_get_event_support_response* self);
void extract_mip_3dm_get_event_support_response(microstrain_serializer* serializer, mip_3dm_get_event_support_response* self);
 
mip_cmd_result mip_3dm_get_event_support(mip_interface* device, mip_3dm_get_event_support_command_query query, uint8_t* max_instances_out, uint8_t* num_entries_out, uint8_t num_entries_out_max, mip_3dm_get_event_support_command_info* entries_out);
 
 
enum mip_3dm_event_control_command_mode
{
    MIP_3DM_EVENT_CONTROL_COMMAND_MODE_DISABLED   = 0,  
    MIP_3DM_EVENT_CONTROL_COMMAND_MODE_ENABLED    = 1,  
    MIP_3DM_EVENT_CONTROL_COMMAND_MODE_TEST       = 2,  
    MIP_3DM_EVENT_CONTROL_COMMAND_MODE_TEST_PULSE = 3,  
};
typedef enum mip_3dm_event_control_command_mode mip_3dm_event_control_command_mode;
 
static inline void insert_mip_3dm_event_control_command_mode(microstrain_serializer* serializer, const mip_3dm_event_control_command_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_control_command_mode(microstrain_serializer* serializer, mip_3dm_event_control_command_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_control_command_mode)tmp;
}
 
 
struct mip_3dm_event_control_command
{
    mip_function_selector function;
    uint8_t instance; 
    mip_3dm_event_control_command_mode mode; 
};
typedef struct mip_3dm_event_control_command mip_3dm_event_control_command;
 
void insert_mip_3dm_event_control_command(microstrain_serializer* serializer, const mip_3dm_event_control_command* self);
void extract_mip_3dm_event_control_command(microstrain_serializer* serializer, mip_3dm_event_control_command* self);
 
struct mip_3dm_event_control_response
{
    uint8_t instance; 
    mip_3dm_event_control_command_mode mode; 
};
typedef struct mip_3dm_event_control_response mip_3dm_event_control_response;
 
void insert_mip_3dm_event_control_response(microstrain_serializer* serializer, const mip_3dm_event_control_response* self);
void extract_mip_3dm_event_control_response(microstrain_serializer* serializer, mip_3dm_event_control_response* self);
 
mip_cmd_result mip_3dm_write_event_control(mip_interface* device, uint8_t instance, mip_3dm_event_control_command_mode mode);
mip_cmd_result mip_3dm_read_event_control(mip_interface* device, uint8_t instance, mip_3dm_event_control_command_mode* mode_out);
mip_cmd_result mip_3dm_save_event_control(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_load_event_control(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_default_event_control(mip_interface* device, uint8_t instance);
 
 
typedef uint8_t mip_3dm_get_event_trigger_status_command_status;
static const mip_3dm_get_event_trigger_status_command_status MIP_3DM_GET_EVENT_TRIGGER_STATUS_COMMAND_STATUS_NONE    = 0x00;
static const mip_3dm_get_event_trigger_status_command_status MIP_3DM_GET_EVENT_TRIGGER_STATUS_COMMAND_STATUS_ACTIVE  = 0x01; 
static const mip_3dm_get_event_trigger_status_command_status MIP_3DM_GET_EVENT_TRIGGER_STATUS_COMMAND_STATUS_ENABLED = 0x02; 
static const mip_3dm_get_event_trigger_status_command_status MIP_3DM_GET_EVENT_TRIGGER_STATUS_COMMAND_STATUS_TEST    = 0x04; 
static const mip_3dm_get_event_trigger_status_command_status MIP_3DM_GET_EVENT_TRIGGER_STATUS_COMMAND_STATUS_ALL     = 0x07;
static inline void insert_mip_3dm_get_event_trigger_status_command_status(microstrain_serializer* serializer, const mip_3dm_get_event_trigger_status_command_status self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_get_event_trigger_status_command_status(microstrain_serializer* serializer, mip_3dm_get_event_trigger_status_command_status* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_get_event_trigger_status_command_status)tmp;
}
 
struct mip_3dm_get_event_trigger_status_command_entry
{
    uint8_t type; 
    mip_3dm_get_event_trigger_status_command_status status; 
};
typedef struct mip_3dm_get_event_trigger_status_command_entry mip_3dm_get_event_trigger_status_command_entry;
 
void insert_mip_3dm_get_event_trigger_status_command_entry(microstrain_serializer* serializer, const mip_3dm_get_event_trigger_status_command_entry* self);
void extract_mip_3dm_get_event_trigger_status_command_entry(microstrain_serializer* serializer, mip_3dm_get_event_trigger_status_command_entry* self);
 
 
struct mip_3dm_get_event_trigger_status_command
{
    uint8_t requested_count; 
    uint8_t requested_instances[20]; 
};
typedef struct mip_3dm_get_event_trigger_status_command mip_3dm_get_event_trigger_status_command;
 
void insert_mip_3dm_get_event_trigger_status_command(microstrain_serializer* serializer, const mip_3dm_get_event_trigger_status_command* self);
void extract_mip_3dm_get_event_trigger_status_command(microstrain_serializer* serializer, mip_3dm_get_event_trigger_status_command* self);
 
struct mip_3dm_get_event_trigger_status_response
{
    uint8_t count; 
    mip_3dm_get_event_trigger_status_command_entry triggers[20]; 
};
typedef struct mip_3dm_get_event_trigger_status_response mip_3dm_get_event_trigger_status_response;
 
void insert_mip_3dm_get_event_trigger_status_response(microstrain_serializer* serializer, const mip_3dm_get_event_trigger_status_response* self);
void extract_mip_3dm_get_event_trigger_status_response(microstrain_serializer* serializer, mip_3dm_get_event_trigger_status_response* self);
 
mip_cmd_result mip_3dm_get_event_trigger_status(mip_interface* device, uint8_t requested_count, const uint8_t* requested_instances, uint8_t* count_out, uint8_t count_out_max, mip_3dm_get_event_trigger_status_command_entry* triggers_out);
 
 
struct mip_3dm_get_event_action_status_command_entry
{
    uint8_t action_type; 
    uint8_t trigger_id; 
};
typedef struct mip_3dm_get_event_action_status_command_entry mip_3dm_get_event_action_status_command_entry;
 
void insert_mip_3dm_get_event_action_status_command_entry(microstrain_serializer* serializer, const mip_3dm_get_event_action_status_command_entry* self);
void extract_mip_3dm_get_event_action_status_command_entry(microstrain_serializer* serializer, mip_3dm_get_event_action_status_command_entry* self);
 
 
struct mip_3dm_get_event_action_status_command
{
    uint8_t requested_count; 
    uint8_t requested_instances[20]; 
};
typedef struct mip_3dm_get_event_action_status_command mip_3dm_get_event_action_status_command;
 
void insert_mip_3dm_get_event_action_status_command(microstrain_serializer* serializer, const mip_3dm_get_event_action_status_command* self);
void extract_mip_3dm_get_event_action_status_command(microstrain_serializer* serializer, mip_3dm_get_event_action_status_command* self);
 
struct mip_3dm_get_event_action_status_response
{
    uint8_t count; 
    mip_3dm_get_event_action_status_command_entry actions[20]; 
};
typedef struct mip_3dm_get_event_action_status_response mip_3dm_get_event_action_status_response;
 
void insert_mip_3dm_get_event_action_status_response(microstrain_serializer* serializer, const mip_3dm_get_event_action_status_response* self);
void extract_mip_3dm_get_event_action_status_response(microstrain_serializer* serializer, mip_3dm_get_event_action_status_response* self);
 
mip_cmd_result mip_3dm_get_event_action_status(mip_interface* device, uint8_t requested_count, const uint8_t* requested_instances, uint8_t* count_out, uint8_t count_out_max, mip_3dm_get_event_action_status_command_entry* actions_out);
 
 
enum mip_3dm_event_trigger_command_gpio_params_mode
{
    MIP_3DM_EVENT_TRIGGER_COMMAND_GPIO_PARAMS_MODE_DISABLED   = 0,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_GPIO_PARAMS_MODE_WHILE_HIGH = 1,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_GPIO_PARAMS_MODE_WHILE_LOW  = 2,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_GPIO_PARAMS_MODE_EDGE       = 4,  
};
typedef enum mip_3dm_event_trigger_command_gpio_params_mode mip_3dm_event_trigger_command_gpio_params_mode;
 
static inline void insert_mip_3dm_event_trigger_command_gpio_params_mode(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_gpio_params_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_trigger_command_gpio_params_mode(microstrain_serializer* serializer, mip_3dm_event_trigger_command_gpio_params_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_trigger_command_gpio_params_mode)tmp;
}
 
 
struct mip_3dm_event_trigger_command_gpio_params
{
    uint8_t pin; 
    mip_3dm_event_trigger_command_gpio_params_mode mode; 
};
typedef struct mip_3dm_event_trigger_command_gpio_params mip_3dm_event_trigger_command_gpio_params;
 
void insert_mip_3dm_event_trigger_command_gpio_params(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_gpio_params* self);
void extract_mip_3dm_event_trigger_command_gpio_params(microstrain_serializer* serializer, mip_3dm_event_trigger_command_gpio_params* self);
 
enum mip_3dm_event_trigger_command_threshold_params_type
{
    MIP_3DM_EVENT_TRIGGER_COMMAND_THRESHOLD_PARAMS_TYPE_WINDOW   = 1,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_THRESHOLD_PARAMS_TYPE_INTERVAL = 2,  
};
typedef enum mip_3dm_event_trigger_command_threshold_params_type mip_3dm_event_trigger_command_threshold_params_type;
 
static inline void insert_mip_3dm_event_trigger_command_threshold_params_type(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_threshold_params_type self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_trigger_command_threshold_params_type(microstrain_serializer* serializer, mip_3dm_event_trigger_command_threshold_params_type* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_trigger_command_threshold_params_type)tmp;
}
 
 
struct mip_3dm_event_trigger_command_threshold_params
{
    uint8_t desc_set; 
    uint8_t field_desc; 
    uint8_t param_id; 
    mip_3dm_event_trigger_command_threshold_params_type type; 
    union
    {
        double low_thres;
        double int_thres;
    };
    union
    {
        double high_thres;
        double interval;
    };
};
typedef struct mip_3dm_event_trigger_command_threshold_params mip_3dm_event_trigger_command_threshold_params;
 
void insert_mip_3dm_event_trigger_command_threshold_params(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_threshold_params* self);
void extract_mip_3dm_event_trigger_command_threshold_params(microstrain_serializer* serializer, mip_3dm_event_trigger_command_threshold_params* self);
 
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_NEVER = 0x0000 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_ALWAYS = 0xFFFF };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_NONE = 0x0001 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_OR = 0xFFFE };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_NAND = 0x7FFF };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_XOR_ONE = 0x0116 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_ONLY_A = 0x0002 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_ONLY_B = 0x0004 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_ONLY_C = 0x0010 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_ONLY_D = 0x0100 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_AND_AB = 0x8888 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_AB_OR_C = 0xF8F8 };
enum { MIP_3DM_EVENT_TRIGGER_COMMAND_COMBINATION_PARAMS_LOGIC_AND = 0x8000 };
 
struct mip_3dm_event_trigger_command_combination_params
{
    uint16_t logic_table; 
    uint8_t input_triggers[4]; 
};
typedef struct mip_3dm_event_trigger_command_combination_params mip_3dm_event_trigger_command_combination_params;
 
void insert_mip_3dm_event_trigger_command_combination_params(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_combination_params* self);
void extract_mip_3dm_event_trigger_command_combination_params(microstrain_serializer* serializer, mip_3dm_event_trigger_command_combination_params* self);
 
enum mip_3dm_event_trigger_command_type
{
    MIP_3DM_EVENT_TRIGGER_COMMAND_TYPE_NONE        = 0,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_TYPE_GPIO        = 1,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_TYPE_THRESHOLD   = 2,  
    MIP_3DM_EVENT_TRIGGER_COMMAND_TYPE_COMBINATION = 3,  
};
typedef enum mip_3dm_event_trigger_command_type mip_3dm_event_trigger_command_type;
 
static inline void insert_mip_3dm_event_trigger_command_type(microstrain_serializer* serializer, const mip_3dm_event_trigger_command_type self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_trigger_command_type(microstrain_serializer* serializer, mip_3dm_event_trigger_command_type* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_trigger_command_type)tmp;
}
 
union mip_3dm_event_trigger_command_parameters
{
    mip_3dm_event_trigger_command_gpio_params gpio;
    mip_3dm_event_trigger_command_threshold_params threshold;
    mip_3dm_event_trigger_command_combination_params combination;
};
typedef union mip_3dm_event_trigger_command_parameters mip_3dm_event_trigger_command_parameters;
 
struct mip_3dm_event_trigger_command
{
    mip_function_selector function;
    uint8_t instance; 
    mip_3dm_event_trigger_command_type type; 
    mip_3dm_event_trigger_command_parameters parameters;
};
typedef struct mip_3dm_event_trigger_command mip_3dm_event_trigger_command;
 
void insert_mip_3dm_event_trigger_command(microstrain_serializer* serializer, const mip_3dm_event_trigger_command* self);
void extract_mip_3dm_event_trigger_command(microstrain_serializer* serializer, mip_3dm_event_trigger_command* self);
 
struct mip_3dm_event_trigger_response
{
    uint8_t instance; 
    mip_3dm_event_trigger_command_type type; 
    mip_3dm_event_trigger_command_parameters parameters;
};
typedef struct mip_3dm_event_trigger_response mip_3dm_event_trigger_response;
 
void insert_mip_3dm_event_trigger_response(microstrain_serializer* serializer, const mip_3dm_event_trigger_response* self);
void extract_mip_3dm_event_trigger_response(microstrain_serializer* serializer, mip_3dm_event_trigger_response* self);
 
mip_cmd_result mip_3dm_write_event_trigger(mip_interface* device, uint8_t instance, mip_3dm_event_trigger_command_type type, const mip_3dm_event_trigger_command_parameters* parameters);
mip_cmd_result mip_3dm_read_event_trigger(mip_interface* device, uint8_t instance, mip_3dm_event_trigger_command_type* type_out, mip_3dm_event_trigger_command_parameters* parameters_out);
mip_cmd_result mip_3dm_save_event_trigger(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_load_event_trigger(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_default_event_trigger(mip_interface* device, uint8_t instance);
 
 
enum mip_3dm_event_action_command_gpio_params_mode
{
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_DISABLED     = 0,  
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_ACTIVE_HIGH  = 1,  
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_ACTIVE_LOW   = 2,  
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_ONESHOT_HIGH = 5,  
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_ONESHOT_LOW  = 6,  
    MIP_3DM_EVENT_ACTION_COMMAND_GPIO_PARAMS_MODE_TOGGLE       = 7,  
};
typedef enum mip_3dm_event_action_command_gpio_params_mode mip_3dm_event_action_command_gpio_params_mode;
 
static inline void insert_mip_3dm_event_action_command_gpio_params_mode(microstrain_serializer* serializer, const mip_3dm_event_action_command_gpio_params_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_action_command_gpio_params_mode(microstrain_serializer* serializer, mip_3dm_event_action_command_gpio_params_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_action_command_gpio_params_mode)tmp;
}
 
 
struct mip_3dm_event_action_command_gpio_params
{
    uint8_t pin; 
    mip_3dm_event_action_command_gpio_params_mode mode; 
};
typedef struct mip_3dm_event_action_command_gpio_params mip_3dm_event_action_command_gpio_params;
 
void insert_mip_3dm_event_action_command_gpio_params(microstrain_serializer* serializer, const mip_3dm_event_action_command_gpio_params* self);
void extract_mip_3dm_event_action_command_gpio_params(microstrain_serializer* serializer, mip_3dm_event_action_command_gpio_params* self);
 
struct mip_3dm_event_action_command_message_params
{
    uint8_t desc_set; 
    uint16_t decimation; 
    uint8_t num_fields; 
    uint8_t descriptors[20]; 
};
typedef struct mip_3dm_event_action_command_message_params mip_3dm_event_action_command_message_params;
 
void insert_mip_3dm_event_action_command_message_params(microstrain_serializer* serializer, const mip_3dm_event_action_command_message_params* self);
void extract_mip_3dm_event_action_command_message_params(microstrain_serializer* serializer, mip_3dm_event_action_command_message_params* self);
 
enum mip_3dm_event_action_command_type
{
    MIP_3DM_EVENT_ACTION_COMMAND_TYPE_NONE    = 0,  
    MIP_3DM_EVENT_ACTION_COMMAND_TYPE_GPIO    = 1,  
    MIP_3DM_EVENT_ACTION_COMMAND_TYPE_MESSAGE = 2,  
};
typedef enum mip_3dm_event_action_command_type mip_3dm_event_action_command_type;
 
static inline void insert_mip_3dm_event_action_command_type(microstrain_serializer* serializer, const mip_3dm_event_action_command_type self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_event_action_command_type(microstrain_serializer* serializer, mip_3dm_event_action_command_type* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_event_action_command_type)tmp;
}
 
union mip_3dm_event_action_command_parameters
{
    mip_3dm_event_action_command_gpio_params gpio;
    mip_3dm_event_action_command_message_params message;
};
typedef union mip_3dm_event_action_command_parameters mip_3dm_event_action_command_parameters;
 
struct mip_3dm_event_action_command
{
    mip_function_selector function;
    uint8_t instance; 
    uint8_t trigger; 
    mip_3dm_event_action_command_type type; 
    mip_3dm_event_action_command_parameters parameters;
};
typedef struct mip_3dm_event_action_command mip_3dm_event_action_command;
 
void insert_mip_3dm_event_action_command(microstrain_serializer* serializer, const mip_3dm_event_action_command* self);
void extract_mip_3dm_event_action_command(microstrain_serializer* serializer, mip_3dm_event_action_command* self);
 
struct mip_3dm_event_action_response
{
    uint8_t instance; 
    uint8_t trigger; 
    mip_3dm_event_action_command_type type; 
    mip_3dm_event_action_command_parameters parameters;
};
typedef struct mip_3dm_event_action_response mip_3dm_event_action_response;
 
void insert_mip_3dm_event_action_response(microstrain_serializer* serializer, const mip_3dm_event_action_response* self);
void extract_mip_3dm_event_action_response(microstrain_serializer* serializer, mip_3dm_event_action_response* self);
 
mip_cmd_result mip_3dm_write_event_action(mip_interface* device, uint8_t instance, uint8_t trigger, mip_3dm_event_action_command_type type, const mip_3dm_event_action_command_parameters* parameters);
mip_cmd_result mip_3dm_read_event_action(mip_interface* device, uint8_t instance, uint8_t* trigger_out, mip_3dm_event_action_command_type* type_out, mip_3dm_event_action_command_parameters* parameters_out);
mip_cmd_result mip_3dm_save_event_action(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_load_event_action(mip_interface* device, uint8_t instance);
mip_cmd_result mip_3dm_default_event_action(mip_interface* device, uint8_t instance);
 
 
struct mip_3dm_device_settings_command
{
    mip_function_selector function;
};
typedef struct mip_3dm_device_settings_command mip_3dm_device_settings_command;
 
void insert_mip_3dm_device_settings_command(microstrain_serializer* serializer, const mip_3dm_device_settings_command* self);
void extract_mip_3dm_device_settings_command(microstrain_serializer* serializer, mip_3dm_device_settings_command* self);
 
mip_cmd_result mip_3dm_save_device_settings(mip_interface* device);
mip_cmd_result mip_3dm_load_device_settings(mip_interface* device);
mip_cmd_result mip_3dm_default_device_settings(mip_interface* device);
 
 
struct mip_3dm_sensor_2_vehicle_transform_euler_command
{
    mip_function_selector function;
    float roll; 
    float pitch; 
    float yaw; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_euler_command mip_3dm_sensor_2_vehicle_transform_euler_command;
 
void insert_mip_3dm_sensor_2_vehicle_transform_euler_command(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_euler_command* self);
void extract_mip_3dm_sensor_2_vehicle_transform_euler_command(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_euler_command* self);
 
struct mip_3dm_sensor_2_vehicle_transform_euler_response
{
    float roll; 
    float pitch; 
    float yaw; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_euler_response mip_3dm_sensor_2_vehicle_transform_euler_response;
 
void insert_mip_3dm_sensor_2_vehicle_transform_euler_response(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_euler_response* self);
void extract_mip_3dm_sensor_2_vehicle_transform_euler_response(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_euler_response* self);
 
mip_cmd_result mip_3dm_write_sensor_2_vehicle_transform_euler(mip_interface* device, float roll, float pitch, float yaw);
mip_cmd_result mip_3dm_read_sensor_2_vehicle_transform_euler(mip_interface* device, float* roll_out, float* pitch_out, float* yaw_out);
mip_cmd_result mip_3dm_save_sensor_2_vehicle_transform_euler(mip_interface* device);
mip_cmd_result mip_3dm_load_sensor_2_vehicle_transform_euler(mip_interface* device);
mip_cmd_result mip_3dm_default_sensor_2_vehicle_transform_euler(mip_interface* device);
 
 
struct mip_3dm_sensor_2_vehicle_transform_quaternion_command
{
    mip_function_selector function;
    mip_quatf q; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_quaternion_command mip_3dm_sensor_2_vehicle_transform_quaternion_command;
 
void insert_mip_3dm_sensor_2_vehicle_transform_quaternion_command(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_quaternion_command* self);
void extract_mip_3dm_sensor_2_vehicle_transform_quaternion_command(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_quaternion_command* self);
 
struct mip_3dm_sensor_2_vehicle_transform_quaternion_response
{
    mip_quatf q; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_quaternion_response mip_3dm_sensor_2_vehicle_transform_quaternion_response;
 
void insert_mip_3dm_sensor_2_vehicle_transform_quaternion_response(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_quaternion_response* self);
void extract_mip_3dm_sensor_2_vehicle_transform_quaternion_response(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_quaternion_response* self);
 
mip_cmd_result mip_3dm_write_sensor_2_vehicle_transform_quaternion(mip_interface* device, const float* q);
mip_cmd_result mip_3dm_read_sensor_2_vehicle_transform_quaternion(mip_interface* device, float* q_out);
mip_cmd_result mip_3dm_save_sensor_2_vehicle_transform_quaternion(mip_interface* device);
mip_cmd_result mip_3dm_load_sensor_2_vehicle_transform_quaternion(mip_interface* device);
mip_cmd_result mip_3dm_default_sensor_2_vehicle_transform_quaternion(mip_interface* device);
 
 
struct mip_3dm_sensor_2_vehicle_transform_dcm_command
{
    mip_function_selector function;
    mip_matrix3f dcm; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_dcm_command mip_3dm_sensor_2_vehicle_transform_dcm_command;
 
void insert_mip_3dm_sensor_2_vehicle_transform_dcm_command(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_dcm_command* self);
void extract_mip_3dm_sensor_2_vehicle_transform_dcm_command(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_dcm_command* self);
 
struct mip_3dm_sensor_2_vehicle_transform_dcm_response
{
    mip_matrix3f dcm; 
};
typedef struct mip_3dm_sensor_2_vehicle_transform_dcm_response mip_3dm_sensor_2_vehicle_transform_dcm_response;
 
void insert_mip_3dm_sensor_2_vehicle_transform_dcm_response(microstrain_serializer* serializer, const mip_3dm_sensor_2_vehicle_transform_dcm_response* self);
void extract_mip_3dm_sensor_2_vehicle_transform_dcm_response(microstrain_serializer* serializer, mip_3dm_sensor_2_vehicle_transform_dcm_response* self);
 
mip_cmd_result mip_3dm_write_sensor_2_vehicle_transform_dcm(mip_interface* device, const float* dcm);
mip_cmd_result mip_3dm_read_sensor_2_vehicle_transform_dcm(mip_interface* device, float* dcm_out);
mip_cmd_result mip_3dm_save_sensor_2_vehicle_transform_dcm(mip_interface* device);
mip_cmd_result mip_3dm_load_sensor_2_vehicle_transform_dcm(mip_interface* device);
mip_cmd_result mip_3dm_default_sensor_2_vehicle_transform_dcm(mip_interface* device);
 
 
struct mip_3dm_accel_bias_command
{
    mip_function_selector function;
    mip_vector3f bias; 
};
typedef struct mip_3dm_accel_bias_command mip_3dm_accel_bias_command;
 
void insert_mip_3dm_accel_bias_command(microstrain_serializer* serializer, const mip_3dm_accel_bias_command* self);
void extract_mip_3dm_accel_bias_command(microstrain_serializer* serializer, mip_3dm_accel_bias_command* self);
 
struct mip_3dm_accel_bias_response
{
    mip_vector3f bias; 
};
typedef struct mip_3dm_accel_bias_response mip_3dm_accel_bias_response;
 
void insert_mip_3dm_accel_bias_response(microstrain_serializer* serializer, const mip_3dm_accel_bias_response* self);
void extract_mip_3dm_accel_bias_response(microstrain_serializer* serializer, mip_3dm_accel_bias_response* self);
 
mip_cmd_result mip_3dm_write_accel_bias(mip_interface* device, const float* bias);
mip_cmd_result mip_3dm_read_accel_bias(mip_interface* device, float* bias_out);
mip_cmd_result mip_3dm_save_accel_bias(mip_interface* device);
mip_cmd_result mip_3dm_load_accel_bias(mip_interface* device);
mip_cmd_result mip_3dm_default_accel_bias(mip_interface* device);
 
 
struct mip_3dm_gyro_bias_command
{
    mip_function_selector function;
    mip_vector3f bias; 
};
typedef struct mip_3dm_gyro_bias_command mip_3dm_gyro_bias_command;
 
void insert_mip_3dm_gyro_bias_command(microstrain_serializer* serializer, const mip_3dm_gyro_bias_command* self);
void extract_mip_3dm_gyro_bias_command(microstrain_serializer* serializer, mip_3dm_gyro_bias_command* self);
 
struct mip_3dm_gyro_bias_response
{
    mip_vector3f bias; 
};
typedef struct mip_3dm_gyro_bias_response mip_3dm_gyro_bias_response;
 
void insert_mip_3dm_gyro_bias_response(microstrain_serializer* serializer, const mip_3dm_gyro_bias_response* self);
void extract_mip_3dm_gyro_bias_response(microstrain_serializer* serializer, mip_3dm_gyro_bias_response* self);
 
mip_cmd_result mip_3dm_write_gyro_bias(mip_interface* device, const float* bias);
mip_cmd_result mip_3dm_read_gyro_bias(mip_interface* device, float* bias_out);
mip_cmd_result mip_3dm_save_gyro_bias(mip_interface* device);
mip_cmd_result mip_3dm_load_gyro_bias(mip_interface* device);
mip_cmd_result mip_3dm_default_gyro_bias(mip_interface* device);
 
 
struct mip_3dm_capture_gyro_bias_command
{
    uint16_t averaging_time_ms; 
};
typedef struct mip_3dm_capture_gyro_bias_command mip_3dm_capture_gyro_bias_command;
 
void insert_mip_3dm_capture_gyro_bias_command(microstrain_serializer* serializer, const mip_3dm_capture_gyro_bias_command* self);
void extract_mip_3dm_capture_gyro_bias_command(microstrain_serializer* serializer, mip_3dm_capture_gyro_bias_command* self);
 
struct mip_3dm_capture_gyro_bias_response
{
    mip_vector3f bias; 
};
typedef struct mip_3dm_capture_gyro_bias_response mip_3dm_capture_gyro_bias_response;
 
void insert_mip_3dm_capture_gyro_bias_response(microstrain_serializer* serializer, const mip_3dm_capture_gyro_bias_response* self);
void extract_mip_3dm_capture_gyro_bias_response(microstrain_serializer* serializer, mip_3dm_capture_gyro_bias_response* self);
 
mip_cmd_result mip_3dm_capture_gyro_bias(mip_interface* device, uint16_t averaging_time_ms, float* bias_out);
 
 
struct mip_3dm_mag_hard_iron_offset_command
{
    mip_function_selector function;
    mip_vector3f offset; 
};
typedef struct mip_3dm_mag_hard_iron_offset_command mip_3dm_mag_hard_iron_offset_command;
 
void insert_mip_3dm_mag_hard_iron_offset_command(microstrain_serializer* serializer, const mip_3dm_mag_hard_iron_offset_command* self);
void extract_mip_3dm_mag_hard_iron_offset_command(microstrain_serializer* serializer, mip_3dm_mag_hard_iron_offset_command* self);
 
struct mip_3dm_mag_hard_iron_offset_response
{
    mip_vector3f offset; 
};
typedef struct mip_3dm_mag_hard_iron_offset_response mip_3dm_mag_hard_iron_offset_response;
 
void insert_mip_3dm_mag_hard_iron_offset_response(microstrain_serializer* serializer, const mip_3dm_mag_hard_iron_offset_response* self);
void extract_mip_3dm_mag_hard_iron_offset_response(microstrain_serializer* serializer, mip_3dm_mag_hard_iron_offset_response* self);
 
mip_cmd_result mip_3dm_write_mag_hard_iron_offset(mip_interface* device, const float* offset);
mip_cmd_result mip_3dm_read_mag_hard_iron_offset(mip_interface* device, float* offset_out);
mip_cmd_result mip_3dm_save_mag_hard_iron_offset(mip_interface* device);
mip_cmd_result mip_3dm_load_mag_hard_iron_offset(mip_interface* device);
mip_cmd_result mip_3dm_default_mag_hard_iron_offset(mip_interface* device);
 
 
struct mip_3dm_mag_soft_iron_matrix_command
{
    mip_function_selector function;
    mip_matrix3f offset; 
};
typedef struct mip_3dm_mag_soft_iron_matrix_command mip_3dm_mag_soft_iron_matrix_command;
 
void insert_mip_3dm_mag_soft_iron_matrix_command(microstrain_serializer* serializer, const mip_3dm_mag_soft_iron_matrix_command* self);
void extract_mip_3dm_mag_soft_iron_matrix_command(microstrain_serializer* serializer, mip_3dm_mag_soft_iron_matrix_command* self);
 
struct mip_3dm_mag_soft_iron_matrix_response
{
    mip_matrix3f offset; 
};
typedef struct mip_3dm_mag_soft_iron_matrix_response mip_3dm_mag_soft_iron_matrix_response;
 
void insert_mip_3dm_mag_soft_iron_matrix_response(microstrain_serializer* serializer, const mip_3dm_mag_soft_iron_matrix_response* self);
void extract_mip_3dm_mag_soft_iron_matrix_response(microstrain_serializer* serializer, mip_3dm_mag_soft_iron_matrix_response* self);
 
mip_cmd_result mip_3dm_write_mag_soft_iron_matrix(mip_interface* device, const float* offset);
mip_cmd_result mip_3dm_read_mag_soft_iron_matrix(mip_interface* device, float* offset_out);
mip_cmd_result mip_3dm_save_mag_soft_iron_matrix(mip_interface* device);
mip_cmd_result mip_3dm_load_mag_soft_iron_matrix(mip_interface* device);
mip_cmd_result mip_3dm_default_mag_soft_iron_matrix(mip_interface* device);
 
 
struct mip_3dm_coning_sculling_enable_command
{
    mip_function_selector function;
    bool enable; 
};
typedef struct mip_3dm_coning_sculling_enable_command mip_3dm_coning_sculling_enable_command;
 
void insert_mip_3dm_coning_sculling_enable_command(microstrain_serializer* serializer, const mip_3dm_coning_sculling_enable_command* self);
void extract_mip_3dm_coning_sculling_enable_command(microstrain_serializer* serializer, mip_3dm_coning_sculling_enable_command* self);
 
struct mip_3dm_coning_sculling_enable_response
{
    bool enable; 
};
typedef struct mip_3dm_coning_sculling_enable_response mip_3dm_coning_sculling_enable_response;
 
void insert_mip_3dm_coning_sculling_enable_response(microstrain_serializer* serializer, const mip_3dm_coning_sculling_enable_response* self);
void extract_mip_3dm_coning_sculling_enable_response(microstrain_serializer* serializer, mip_3dm_coning_sculling_enable_response* self);
 
mip_cmd_result mip_3dm_write_coning_sculling_enable(mip_interface* device, bool enable);
mip_cmd_result mip_3dm_read_coning_sculling_enable(mip_interface* device, bool* enable_out);
mip_cmd_result mip_3dm_save_coning_sculling_enable(mip_interface* device);
mip_cmd_result mip_3dm_load_coning_sculling_enable(mip_interface* device);
mip_cmd_result mip_3dm_default_coning_sculling_enable(mip_interface* device);
 
 
struct mip_3dm_uart_baudrate_command
{
    mip_function_selector function;
    uint32_t baud;
};
typedef struct mip_3dm_uart_baudrate_command mip_3dm_uart_baudrate_command;
 
void insert_mip_3dm_uart_baudrate_command(microstrain_serializer* serializer, const mip_3dm_uart_baudrate_command* self);
void extract_mip_3dm_uart_baudrate_command(microstrain_serializer* serializer, mip_3dm_uart_baudrate_command* self);
 
struct mip_3dm_uart_baudrate_response
{
    uint32_t baud;
};
typedef struct mip_3dm_uart_baudrate_response mip_3dm_uart_baudrate_response;
 
void insert_mip_3dm_uart_baudrate_response(microstrain_serializer* serializer, const mip_3dm_uart_baudrate_response* self);
void extract_mip_3dm_uart_baudrate_response(microstrain_serializer* serializer, mip_3dm_uart_baudrate_response* self);
 
mip_cmd_result mip_3dm_write_uart_baudrate(mip_interface* device, uint32_t baud);
mip_cmd_result mip_3dm_read_uart_baudrate(mip_interface* device, uint32_t* baud_out);
mip_cmd_result mip_3dm_save_uart_baudrate(mip_interface* device);
mip_cmd_result mip_3dm_load_uart_baudrate(mip_interface* device);
mip_cmd_result mip_3dm_default_uart_baudrate(mip_interface* device);
 
 
enum mip_3dm_gpio_config_command_feature
{
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_UNUSED    = 0,  
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_GPIO      = 1,  
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_PPS       = 2,  
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_ENCODER   = 3,  
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_TIMESTAMP = 4,  
    MIP_3DM_GPIO_CONFIG_COMMAND_FEATURE_UART      = 5,  
};
typedef enum mip_3dm_gpio_config_command_feature mip_3dm_gpio_config_command_feature;
 
static inline void insert_mip_3dm_gpio_config_command_feature(microstrain_serializer* serializer, const mip_3dm_gpio_config_command_feature self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_gpio_config_command_feature(microstrain_serializer* serializer, mip_3dm_gpio_config_command_feature* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_gpio_config_command_feature)tmp;
}
 
enum mip_3dm_gpio_config_command_behavior
{
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_UNUSED            = 0,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_GPIO_INPUT        = 1,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_GPIO_OUTPUT_LOW   = 2,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_GPIO_OUTPUT_HIGH  = 3,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_PPS_INPUT         = 1,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_PPS_OUTPUT        = 2,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_ENCODER_A         = 1,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_ENCODER_B         = 2,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_TIMESTAMP_RISING  = 1,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_TIMESTAMP_FALLING = 2,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_TIMESTAMP_EITHER  = 3,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_UART_PORT2_TX     = 33,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_UART_PORT2_RX     = 34,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_UART_PORT3_TX     = 49,  
    MIP_3DM_GPIO_CONFIG_COMMAND_BEHAVIOR_UART_PORT3_RX     = 50,  
};
typedef enum mip_3dm_gpio_config_command_behavior mip_3dm_gpio_config_command_behavior;
 
static inline void insert_mip_3dm_gpio_config_command_behavior(microstrain_serializer* serializer, const mip_3dm_gpio_config_command_behavior self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_gpio_config_command_behavior(microstrain_serializer* serializer, mip_3dm_gpio_config_command_behavior* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_gpio_config_command_behavior)tmp;
}
 
typedef uint8_t mip_3dm_gpio_config_command_pin_mode;
static const mip_3dm_gpio_config_command_pin_mode MIP_3DM_GPIO_CONFIG_COMMAND_PIN_MODE_NONE       = 0x00;
static const mip_3dm_gpio_config_command_pin_mode MIP_3DM_GPIO_CONFIG_COMMAND_PIN_MODE_OPEN_DRAIN = 0x01; 
static const mip_3dm_gpio_config_command_pin_mode MIP_3DM_GPIO_CONFIG_COMMAND_PIN_MODE_PULLDOWN   = 0x02; 
static const mip_3dm_gpio_config_command_pin_mode MIP_3DM_GPIO_CONFIG_COMMAND_PIN_MODE_PULLUP     = 0x04; 
static const mip_3dm_gpio_config_command_pin_mode MIP_3DM_GPIO_CONFIG_COMMAND_PIN_MODE_ALL        = 0x07;
static inline void insert_mip_3dm_gpio_config_command_pin_mode(microstrain_serializer* serializer, const mip_3dm_gpio_config_command_pin_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_gpio_config_command_pin_mode(microstrain_serializer* serializer, mip_3dm_gpio_config_command_pin_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_gpio_config_command_pin_mode)tmp;
}
 
 
struct mip_3dm_gpio_config_command
{
    mip_function_selector function;
    uint8_t pin; 
    mip_3dm_gpio_config_command_feature feature; 
    mip_3dm_gpio_config_command_behavior behavior; 
    mip_3dm_gpio_config_command_pin_mode pin_mode; 
};
typedef struct mip_3dm_gpio_config_command mip_3dm_gpio_config_command;
 
void insert_mip_3dm_gpio_config_command(microstrain_serializer* serializer, const mip_3dm_gpio_config_command* self);
void extract_mip_3dm_gpio_config_command(microstrain_serializer* serializer, mip_3dm_gpio_config_command* self);
 
struct mip_3dm_gpio_config_response
{
    uint8_t pin; 
    mip_3dm_gpio_config_command_feature feature; 
    mip_3dm_gpio_config_command_behavior behavior; 
    mip_3dm_gpio_config_command_pin_mode pin_mode; 
};
typedef struct mip_3dm_gpio_config_response mip_3dm_gpio_config_response;
 
void insert_mip_3dm_gpio_config_response(microstrain_serializer* serializer, const mip_3dm_gpio_config_response* self);
void extract_mip_3dm_gpio_config_response(microstrain_serializer* serializer, mip_3dm_gpio_config_response* self);
 
mip_cmd_result mip_3dm_write_gpio_config(mip_interface* device, uint8_t pin, mip_3dm_gpio_config_command_feature feature, mip_3dm_gpio_config_command_behavior behavior, mip_3dm_gpio_config_command_pin_mode pin_mode);
mip_cmd_result mip_3dm_read_gpio_config(mip_interface* device, uint8_t pin, mip_3dm_gpio_config_command_feature* feature_out, mip_3dm_gpio_config_command_behavior* behavior_out, mip_3dm_gpio_config_command_pin_mode* pin_mode_out);
mip_cmd_result mip_3dm_save_gpio_config(mip_interface* device, uint8_t pin);
mip_cmd_result mip_3dm_load_gpio_config(mip_interface* device, uint8_t pin);
mip_cmd_result mip_3dm_default_gpio_config(mip_interface* device, uint8_t pin);
 
 
struct mip_3dm_gpio_state_command
{
    mip_function_selector function;
    uint8_t pin; 
    bool state; 
};
typedef struct mip_3dm_gpio_state_command mip_3dm_gpio_state_command;
 
void insert_mip_3dm_gpio_state_command(microstrain_serializer* serializer, const mip_3dm_gpio_state_command* self);
void extract_mip_3dm_gpio_state_command(microstrain_serializer* serializer, mip_3dm_gpio_state_command* self);
 
struct mip_3dm_gpio_state_response
{
    uint8_t pin; 
    bool state; 
};
typedef struct mip_3dm_gpio_state_response mip_3dm_gpio_state_response;
 
void insert_mip_3dm_gpio_state_response(microstrain_serializer* serializer, const mip_3dm_gpio_state_response* self);
void extract_mip_3dm_gpio_state_response(microstrain_serializer* serializer, mip_3dm_gpio_state_response* self);
 
mip_cmd_result mip_3dm_write_gpio_state(mip_interface* device, uint8_t pin, bool state);
mip_cmd_result mip_3dm_read_gpio_state(mip_interface* device, uint8_t pin, bool* state_out);
 
 
enum mip_3dm_odometer_command_mode
{
    MIP_3DM_ODOMETER_COMMAND_MODE_DISABLED   = 0,  
    MIP_3DM_ODOMETER_COMMAND_MODE_QUADRATURE = 2,  
};
typedef enum mip_3dm_odometer_command_mode mip_3dm_odometer_command_mode;
 
static inline void insert_mip_3dm_odometer_command_mode(microstrain_serializer* serializer, const mip_3dm_odometer_command_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_3dm_odometer_command_mode(microstrain_serializer* serializer, mip_3dm_odometer_command_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_3dm_odometer_command_mode)tmp;
}
 
 
struct mip_3dm_odometer_command
{
    mip_function_selector function;
    mip_3dm_odometer_command_mode mode; 
    float scaling; 
    float uncertainty; 
};
typedef struct mip_3dm_odometer_command mip_3dm_odometer_command;
 
void insert_mip_3dm_odometer_command(microstrain_serializer* serializer, const mip_3dm_odometer_command* self);
void extract_mip_3dm_odometer_command(microstrain_serializer* serializer, mip_3dm_odometer_command* self);
 
struct mip_3dm_odometer_response
{
    mip_3dm_odometer_command_mode mode; 
    float scaling; 
    float uncertainty; 
};
typedef struct mip_3dm_odometer_response mip_3dm_odometer_response;
 
void insert_mip_3dm_odometer_response(microstrain_serializer* serializer, const mip_3dm_odometer_response* self);
void extract_mip_3dm_odometer_response(microstrain_serializer* serializer, mip_3dm_odometer_response* self);
 
mip_cmd_result mip_3dm_write_odometer(mip_interface* device, mip_3dm_odometer_command_mode mode, float scaling, float uncertainty);
mip_cmd_result mip_3dm_read_odometer(mip_interface* device, mip_3dm_odometer_command_mode* mode_out, float* scaling_out, float* uncertainty_out);
mip_cmd_result mip_3dm_save_odometer(mip_interface* device);
mip_cmd_result mip_3dm_load_odometer(mip_interface* device);
mip_cmd_result mip_3dm_default_odometer(mip_interface* device);
 
 
struct mip_3dm_imu_lowpass_filter_command
{
    mip_function_selector function;
    uint8_t target_descriptor; 
    bool enable; 
    bool manual; 
    uint16_t frequency; 
    uint8_t reserved; 
};
typedef struct mip_3dm_imu_lowpass_filter_command mip_3dm_imu_lowpass_filter_command;
 
void insert_mip_3dm_imu_lowpass_filter_command(microstrain_serializer* serializer, const mip_3dm_imu_lowpass_filter_command* self);
void extract_mip_3dm_imu_lowpass_filter_command(microstrain_serializer* serializer, mip_3dm_imu_lowpass_filter_command* self);
 
struct mip_3dm_imu_lowpass_filter_response
{
    uint8_t target_descriptor;
    bool enable; 
    bool manual; 
    uint16_t frequency; 
    uint8_t reserved; 
};
typedef struct mip_3dm_imu_lowpass_filter_response mip_3dm_imu_lowpass_filter_response;
 
void insert_mip_3dm_imu_lowpass_filter_response(microstrain_serializer* serializer, const mip_3dm_imu_lowpass_filter_response* self);
void extract_mip_3dm_imu_lowpass_filter_response(microstrain_serializer* serializer, mip_3dm_imu_lowpass_filter_response* self);
 
mip_cmd_result mip_3dm_write_imu_lowpass_filter(mip_interface* device, uint8_t target_descriptor, bool enable, bool manual, uint16_t frequency, uint8_t reserved);
mip_cmd_result mip_3dm_read_imu_lowpass_filter(mip_interface* device, uint8_t target_descriptor, bool* enable_out, bool* manual_out, uint16_t* frequency_out, uint8_t* reserved_out);
mip_cmd_result mip_3dm_save_imu_lowpass_filter(mip_interface* device, uint8_t target_descriptor);
mip_cmd_result mip_3dm_load_imu_lowpass_filter(mip_interface* device, uint8_t target_descriptor);
mip_cmd_result mip_3dm_default_imu_lowpass_filter(mip_interface* device, uint8_t target_descriptor);
 
 
struct mip_3dm_complementary_filter_command
{
    mip_function_selector function;
    bool pitch_roll_enable; 
    bool heading_enable; 
    float pitch_roll_time_constant; 
    float heading_time_constant; 
};
typedef struct mip_3dm_complementary_filter_command mip_3dm_complementary_filter_command;
 
void insert_mip_3dm_complementary_filter_command(microstrain_serializer* serializer, const mip_3dm_complementary_filter_command* self);
void extract_mip_3dm_complementary_filter_command(microstrain_serializer* serializer, mip_3dm_complementary_filter_command* self);
 
struct mip_3dm_complementary_filter_response
{
    bool pitch_roll_enable; 
    bool heading_enable; 
    float pitch_roll_time_constant; 
    float heading_time_constant; 
};
typedef struct mip_3dm_complementary_filter_response mip_3dm_complementary_filter_response;
 
void insert_mip_3dm_complementary_filter_response(microstrain_serializer* serializer, const mip_3dm_complementary_filter_response* self);
void extract_mip_3dm_complementary_filter_response(microstrain_serializer* serializer, mip_3dm_complementary_filter_response* self);
 
mip_cmd_result mip_3dm_write_complementary_filter(mip_interface* device, bool pitch_roll_enable, bool heading_enable, float pitch_roll_time_constant, float heading_time_constant);
mip_cmd_result mip_3dm_read_complementary_filter(mip_interface* device, bool* pitch_roll_enable_out, bool* heading_enable_out, float* pitch_roll_time_constant_out, float* heading_time_constant_out);
mip_cmd_result mip_3dm_save_complementary_filter(mip_interface* device);
mip_cmd_result mip_3dm_load_complementary_filter(mip_interface* device);
mip_cmd_result mip_3dm_default_complementary_filter(mip_interface* device);
 
 
struct mip_3dm_sensor_range_command
{
    mip_function_selector function;
    mip_sensor_range_type sensor; 
    uint8_t setting; 
};
typedef struct mip_3dm_sensor_range_command mip_3dm_sensor_range_command;
 
void insert_mip_3dm_sensor_range_command(microstrain_serializer* serializer, const mip_3dm_sensor_range_command* self);
void extract_mip_3dm_sensor_range_command(microstrain_serializer* serializer, mip_3dm_sensor_range_command* self);
 
struct mip_3dm_sensor_range_response
{
    mip_sensor_range_type sensor; 
    uint8_t setting; 
};
typedef struct mip_3dm_sensor_range_response mip_3dm_sensor_range_response;
 
void insert_mip_3dm_sensor_range_response(microstrain_serializer* serializer, const mip_3dm_sensor_range_response* self);
void extract_mip_3dm_sensor_range_response(microstrain_serializer* serializer, mip_3dm_sensor_range_response* self);
 
mip_cmd_result mip_3dm_write_sensor_range(mip_interface* device, mip_sensor_range_type sensor, uint8_t setting);
mip_cmd_result mip_3dm_read_sensor_range(mip_interface* device, mip_sensor_range_type sensor, uint8_t* setting_out);
mip_cmd_result mip_3dm_save_sensor_range(mip_interface* device, mip_sensor_range_type sensor);
mip_cmd_result mip_3dm_load_sensor_range(mip_interface* device, mip_sensor_range_type sensor);
mip_cmd_result mip_3dm_default_sensor_range(mip_interface* device, mip_sensor_range_type sensor);
 
 
struct mip_3dm_calibrated_sensor_ranges_command_entry
{
    uint8_t setting; 
    float range; 
};
typedef struct mip_3dm_calibrated_sensor_ranges_command_entry mip_3dm_calibrated_sensor_ranges_command_entry;
 
void insert_mip_3dm_calibrated_sensor_ranges_command_entry(microstrain_serializer* serializer, const mip_3dm_calibrated_sensor_ranges_command_entry* self);
void extract_mip_3dm_calibrated_sensor_ranges_command_entry(microstrain_serializer* serializer, mip_3dm_calibrated_sensor_ranges_command_entry* self);
 
 
struct mip_3dm_calibrated_sensor_ranges_command
{
    mip_sensor_range_type sensor; 
};
typedef struct mip_3dm_calibrated_sensor_ranges_command mip_3dm_calibrated_sensor_ranges_command;
 
void insert_mip_3dm_calibrated_sensor_ranges_command(microstrain_serializer* serializer, const mip_3dm_calibrated_sensor_ranges_command* self);
void extract_mip_3dm_calibrated_sensor_ranges_command(microstrain_serializer* serializer, mip_3dm_calibrated_sensor_ranges_command* self);
 
struct mip_3dm_calibrated_sensor_ranges_response
{
    mip_sensor_range_type sensor; 
    uint8_t num_ranges; 
    mip_3dm_calibrated_sensor_ranges_command_entry ranges[50]; 
};
typedef struct mip_3dm_calibrated_sensor_ranges_response mip_3dm_calibrated_sensor_ranges_response;
 
void insert_mip_3dm_calibrated_sensor_ranges_response(microstrain_serializer* serializer, const mip_3dm_calibrated_sensor_ranges_response* self);
void extract_mip_3dm_calibrated_sensor_ranges_response(microstrain_serializer* serializer, mip_3dm_calibrated_sensor_ranges_response* self);
 
mip_cmd_result mip_3dm_calibrated_sensor_ranges(mip_interface* device, mip_sensor_range_type sensor, uint8_t* num_ranges_out, uint8_t num_ranges_out_max, mip_3dm_calibrated_sensor_ranges_command_entry* ranges_out);
 
 
struct mip_3dm_lowpass_filter_command
{
    mip_function_selector function;
    uint8_t desc_set; 
    uint8_t field_desc; 
    bool enable; 
    bool manual; 
    float frequency; 
};
typedef struct mip_3dm_lowpass_filter_command mip_3dm_lowpass_filter_command;
 
void insert_mip_3dm_lowpass_filter_command(microstrain_serializer* serializer, const mip_3dm_lowpass_filter_command* self);
void extract_mip_3dm_lowpass_filter_command(microstrain_serializer* serializer, mip_3dm_lowpass_filter_command* self);
 
struct mip_3dm_lowpass_filter_response
{
    uint8_t desc_set; 
    uint8_t field_desc; 
    bool enable; 
    bool manual; 
    float frequency; 
};
typedef struct mip_3dm_lowpass_filter_response mip_3dm_lowpass_filter_response;
 
void insert_mip_3dm_lowpass_filter_response(microstrain_serializer* serializer, const mip_3dm_lowpass_filter_response* self);
void extract_mip_3dm_lowpass_filter_response(microstrain_serializer* serializer, mip_3dm_lowpass_filter_response* self);
 
mip_cmd_result mip_3dm_write_lowpass_filter(mip_interface* device, uint8_t desc_set, uint8_t field_desc, bool enable, bool manual, float frequency);
mip_cmd_result mip_3dm_read_lowpass_filter(mip_interface* device, uint8_t desc_set, uint8_t field_desc, bool* enable_out, bool* manual_out, float* frequency_out);
mip_cmd_result mip_3dm_save_lowpass_filter(mip_interface* device, uint8_t desc_set, uint8_t field_desc);
mip_cmd_result mip_3dm_load_lowpass_filter(mip_interface* device, uint8_t desc_set, uint8_t field_desc);
mip_cmd_result mip_3dm_default_lowpass_filter(mip_interface* device, uint8_t desc_set, uint8_t field_desc);
 
 
#ifdef __cplusplus
} // extern "C"
} // namespace C
} // namespace mip
#endif // __cplusplus