text: 
  //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  #include "xssensorranges.h"
  #include <cassert>
  
  extern "C" {
  
  	/*  Find the A in hardware info of the product code
  
  	    Returns a pointer to the A.
  	*/
  	static const char* findHardwareType(const char* productCode)
  	{
  		if (findHardwareManufacturer(productCode) != HMT_MT)
  			return nullptr;
  
  		const char* A = strchr(productCode, 'A');
  		if (!A)
  			return nullptr;
  		const char* G = strchr(A, 'G');
  		if (!G)
  			return nullptr;
  		assert(G - A <= 3);
  		return A;
  	}
  
  	/*! \brief Return the hardware manufacturer from \a productCode
  	*/
  	HardwareManufacturerType findHardwareManufacturerC(const XsString* productCode)
  	{
  		if (strstr(productCode->c_str(), "MT") != nullptr)
  			return HMT_MT;
  
  		return HMT_None;
  	}
  
  	/*! \brief Return the hardware type from \a productCode
  	*/
  	void findHardwareTypeC(const XsString* productCode, XsString* resultValue)
  	{
  		if (!resultValue)
  			return;
  		const char* hwt = findHardwareType(productCode->c_str());
  		if (!hwt)
  			resultValue->clear();
  		else
  			*resultValue = hwt;
  	}
  
  	/* Return the accelerometer range field */
  	static char accelerometerRangeField(const char* productCode)
  	{
  		const char* hwi = findHardwareType(productCode);
  		if (!hwi)
  			return 0;
  		return *(hwi + 1);
  	}
  
  	/* Return the gyroscope range field */
  	static char gyroscopeRangeField(const char* productCode)
  	{
  		const char* hwi = findHardwareType(productCode);
  		if (!hwi)
  			return 0;
  		const char* G = strchr(hwi, 'G');
  		if (!G)
  			return 0;
  		return *(G + 1);
  	}
  
  	/*! \brief The accelerometer range from product code \a productCode
  	*/
  	double accelerometerRangeC(const XsString* productCode, int32_t hwVersionMajor)
  	{
  		switch (findHardwareManufacturerC(productCode))
  		{
  			case HardwareManufacturerType::HMT_MT:
  				switch (accelerometerRangeField(productCode->c_str()))
  				{
  					case '1':
  						return   100.0;
  					case '2':
  						return    20.0;
  					case '3':
  						return    17.0;
  					case '5':
  						return    50.0;
  					case '6':
  						return    60.0;
  					case '7':
  						return   160.0;
  					case '8':
  					{
  						if (hwVersionMajor < 3)
  							return 180.0;
  						else
  							return 200.0;
  					}
  					default:
  						return 10000.0;
  				}
  
  			default:
  				return 10000.0;
  		}
  	}
  
  	/*! \brief The actual accelerometer range from product code \a productCode
  
  	    This is a measured value and possibly larger than what accelerometerRange() returns.
  	*/
  	double actualAccelerometerRangeC(const XsString* productCode, int32_t hwVersionMajor)
  	{
  		switch (findHardwareManufacturerC(productCode))
  		{
  			case HardwareManufacturerType::HMT_MT:
  				switch (accelerometerRangeField(productCode->c_str()))
  				{
  					case '1':
  						return   100.0;
  					case '2':
  						return    20.0;
  					case '3':
  						return    17.0;
  					case '5':
  						return    50.0;
  					case '6':
  						return    60.0;
  					case '7':
  						return   160.0;
  					case '8':
  					{
  						if (hwVersionMajor < 3)
  							return 180.0;
  						else
  							return 200.0;
  					}
  					default:
  						return 10000.0;
  				}
  
  			default:
  				return 10000.0;
  		}
  	}
  
  	/*! \brief The gyroscope range from product code \a productCode
  	*/
  	double gyroscopeRangeC(const XsString* productCode)
  	{
  		switch (findHardwareManufacturerC(productCode))
  		{
  			case HardwareManufacturerType::HMT_MT:
  				switch (gyroscopeRangeField(productCode->c_str()))
  				{
  					case '0':
  						return  1000.0;
  					case '1':
  						return   150.0;
  					case '2':
  						return  1200.0;
  					case '3':
  						return   300.0;
  					case '4':
  						return   450.0;
  					case '5':
  						return  2500.0;
  					case '6':
  						return  1800.0;
  					case '9':
  						return   900.0;
  					default:
  						return 10000.0;
  				}
  
  			default:
  				return 10000.0;
  		}
  	}
  
  	/*! \brief The actual gyroscope range from product code \a productCode
  
  	    This is a measured value and possibly larger than what gyroscopeRange() returns.
  	*/
  	double actualGyroscopeRangeC(const XsString* productCode)
  	{
  		switch (findHardwareManufacturerC(productCode))
  		{
  			case HardwareManufacturerType::HMT_MT:
  				switch (gyroscopeRangeField(productCode->c_str()))
  				{
  					case '0':
  						return  1000.0;
  					case '1':
  						return   180.0;
  					case '2':
  						return  1700.0;
  					case '3':
  						return   420.0;
  					case '4':
  						return   450.0;
  					case '5':
  						return  2500.0;
  					case '6':
  						return  2000.0;
  					case '9':
  						return  1080.0;
  					default:
  						return 10000.0;
  				}
  
  			default:
  				return 10000.0;
  		}
  	}
  
  }
  