sbgEComCmdOdo.h

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#ifndef SBG_ECOM_CMD_ODO_H
#define SBG_ECOM_CMD_ODO_H
 
#include "sbgEComCmdCommon.h"
 
//----------------------------------------------------------------------//
//- Public definitions                                                 -//
//----------------------------------------------------------------------//
 
typedef struct _SbgEComOdoConf
{
        float           gain;                                           
        uint8_t         gainError;                                      
        bool            reverseMode;                            
} SbgEComOdoConf;
 
typedef struct _SbgEComOdoRejectionConf
{
        SbgEComRejectionMode    velocity;               
} SbgEComOdoRejectionConf;
 
typedef enum _SbgEComCmdOdoCanChannel
{
        SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY        = 0,                                                    
        SBG_ECOM_CMD_ODO_CAN_CH_REVERSE         = 1                                                             
} SbgEComCmdOdoCanChannel;
 
/*
 * Define CAN odometer options bitmask
 */
#define SBG_ECOM_CMD_ODO_CAN_ENABLE                             (uint16_t)(0x0001 << 0) 
#define SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED                (uint16_t)(0x0001 << 1) 
#define SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN                 (uint16_t)(0x0001 << 2) 
#define SBG_ECOM_CMD_ODO_CAN_SIGNED                             (uint16_t)(0x0001 << 3) 
typedef struct _SbgEComCmdOdoCanConf
{
        uint16_t        options;                                
        uint32_t        canId;                                  
        size_t          startBit;                               
        size_t          dataSize;                               
        float           scale;                                  
        float           offset;                                 
        float           minValue;                               
        float           maxValue;                               
} SbgEComCmdOdoCanConf;
 
//----------------------------------------------------------------------//
//- Public methods                                                     -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdOdoGetConf(SbgEComHandle *pHandle, SbgEComOdoConf *pOdometerConf);
 
SbgErrorCode sbgEComCmdOdoSetConf(SbgEComHandle *pHandle, const SbgEComOdoConf *pOdometerConf);
 
SbgErrorCode sbgEComCmdOdoGetLeverArm(SbgEComHandle *pHandle, float leverArm[3]);
 
SbgErrorCode sbgEComCmdOdoSetLeverArm(SbgEComHandle *pHandle, const float leverArm[3]);
 
SbgErrorCode sbgEComCmdOdoGetRejection(SbgEComHandle *pHandle, SbgEComOdoRejectionConf *pRejectConf);
 
SbgErrorCode sbgEComCmdOdoSetRejection(SbgEComHandle *pHandle, const SbgEComOdoRejectionConf *pRejectConf);
 
SbgErrorCode sbgEComCmdOdoCanGetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, SbgEComCmdOdoCanConf *pOdoCanConf);
 
SbgErrorCode sbgEComCmdOdoCanSetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, const SbgEComCmdOdoCanConf *pOdoCanConf);
 
#endif /* SBG_ECOM_CMD_ODO_H */