This file implements SbgECom commands related to Odometer module. More...

#include "sbgEComCmdCommon.h"

Include dependency graph for sbgEComCmdOdo.h:

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Classes
struct	_SbgEComCmdOdoCanConf

struct	_SbgEComOdoConf

struct	_SbgEComOdoRejectionConf

Macros
#define	SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN (uint16_t)(0x0001 << 2)

#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_SIGNED (uint16_t)(0x0001 << 3)

Typedefs
typedef enum _SbgEComCmdOdoCanChannel	SbgEComCmdOdoCanChannel

typedef struct _SbgEComCmdOdoCanConf	SbgEComCmdOdoCanConf

typedef struct _SbgEComOdoConf	SbgEComOdoConf

typedef struct _SbgEComOdoRejectionConf	SbgEComOdoRejectionConf

Enumerations
enum	_SbgEComCmdOdoCanChannel { SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY = 0, SBG_ECOM_CMD_ODO_CAN_CH_REVERSE = 1 }

Functions
SbgErrorCode	sbgEComCmdOdoCanGetConf (SbgEComHandle pHandle, SbgEComCmdOdoCanChannel canChannel, SbgEComCmdOdoCanConf pOdoCanConf)

SbgErrorCode	sbgEComCmdOdoCanSetConf (SbgEComHandle pHandle, SbgEComCmdOdoCanChannel canChannel, const SbgEComCmdOdoCanConf pOdoCanConf)

SbgErrorCode	sbgEComCmdOdoGetConf (SbgEComHandle pHandle, SbgEComOdoConf pOdometerConf)

SbgErrorCode	sbgEComCmdOdoGetLeverArm (SbgEComHandle *pHandle, float leverArm[3])

SbgErrorCode	sbgEComCmdOdoGetRejection (SbgEComHandle pHandle, SbgEComOdoRejectionConf pRejectConf)

SbgErrorCode	sbgEComCmdOdoSetConf (SbgEComHandle pHandle, const SbgEComOdoConf pOdometerConf)

SbgErrorCode	sbgEComCmdOdoSetLeverArm (SbgEComHandle *pHandle, const float leverArm[3])

SbgErrorCode	sbgEComCmdOdoSetRejection (SbgEComHandle pHandle, const SbgEComOdoRejectionConf pRejectConf)

Detailed Description

This file implements SbgECom commands related to Odometer module.

Author: SBG Systems

Date: 11 June 2014

Copyright Notice

This source code is intended for use only by SBG Systems SAS and those that have explicit written permission to use it from SBG Systems SAS.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Definition in file sbgEComCmdOdo.h.

Macro Definition Documentation

#define SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN (uint16_t)(0x0001 << 2)

Set if the velocity is encoded in big endian, otherwise little endian

Definition at line 62 of file sbgEComCmdOdo.h.

#define SBG_ECOM_CMD_ODO_CAN_ENABLE (uint16_t)(0x0001 << 0)

Set to enable CAN odometer information decoding.

Definition at line 60 of file sbgEComCmdOdo.h.

#define SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED (uint16_t)(0x0001 << 1)

Set for a 29 bit extended CAN message, otherwise standard 11 bit

Definition at line 61 of file sbgEComCmdOdo.h.

#define SBG_ECOM_CMD_ODO_CAN_SIGNED (uint16_t)(0x0001 << 3)

Set to interpret the parsed value as signed, otherwise unsigned.

Definition at line 63 of file sbgEComCmdOdo.h.

Typedef Documentation

typedef enum _SbgEComCmdOdoCanChannel SbgEComCmdOdoCanChannel

CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.

typedef struct _SbgEComCmdOdoCanConf SbgEComCmdOdoCanConf

Holds all necessary information for CAN Odometer parameter configuration. This format is very similar to info contained in a DBC file.

typedef struct _SbgEComOdoConf SbgEComOdoConf

Holds all necessary information for Odometer module parameter configuration.

typedef struct _SbgEComOdoRejectionConf SbgEComOdoRejectionConf

Holds all necessary information for Odometer module data rejection.

Enumeration Type Documentation

enum _SbgEComCmdOdoCanChannel

CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.

Enumerator
SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY	Channel used to decode the vehicle velocity information
SBG_ECOM_CMD_ODO_CAN_CH_REVERSE	Channel used to decode the vehicle velocity reverse info (if available).

Definition at line 51 of file sbgEComCmdOdo.h.

Function Documentation

SbgErrorCode sbgEComCmdOdoCanGetConf	(	SbgEComHandle *	pHandle,
		SbgEComCmdOdoCanChannel	canChannel,
		SbgEComCmdOdoCanConf *	pOdoCanConf
	)

Retrieve the CAN odometer configuration for a specific CAN information channel

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	canChannel	The CAN channel to retreive associated DBC configuration.
[out]	pOdoCanConf	Struct to hold configuration of the CAN odometer.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 415 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoCanSetConf	(	SbgEComHandle *	pHandle,
		SbgEComCmdOdoCanChannel	canChannel,
		const SbgEComCmdOdoCanConf *	pOdoCanConf
	)

Set the CAN odometer configuration for a specific CAN information channel

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	canChannel	The CAN channel to define associated DBC configuration.
[in]	pOdoCanConf	Struct holding configuration for the CAN odometer.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 499 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoGetConf	(	SbgEComHandle *	pHandle,
		SbgEComOdoConf *	pOdometerConf
	)

For quadrature and/or pulse based odometer, retrieve the configuration.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pOdometerConf	Pointer to a SbgEComOdoConf struct to hold configuration of the odometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 26 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoGetLeverArm	(	SbgEComHandle *	pHandle,
		float	leverArm[3]
	)

Retrieve the lever arm applicable for both quadrature or CAN based odometer.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	leverArm	Array of three values, one for each axis.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 157 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoGetRejection	(	SbgEComHandle *	pHandle,
		SbgEComOdoRejectionConf *	pRejectConf
	)

Retrieve the velocity rejection configuration for both quadrature or CAN based odometer.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pRejectConf	Pointer to a SbgEComOdoRejectionConf struct to hold rejection configuration of the odometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 288 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoSetConf	(	SbgEComHandle *	pHandle,
		const SbgEComOdoConf *	pOdometerConf
	)

For quadrature and/or pulse base odometer, define the configuration.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pOdometerConf	Pointer to a SbgEComOdoConf struct holding configuration for the odometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 92 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoSetLeverArm	(	SbgEComHandle *	pHandle,
		const float	leverArm[3]
	)

Set the lever arm applicable for both quadrature or CAN based odometer.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	leverArm	Array of three values, one for each axis.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 223 of file sbgEComCmdOdo.c.

SbgErrorCode sbgEComCmdOdoSetRejection	(	SbgEComHandle *	pHandle,
		const SbgEComOdoRejectionConf *	pRejectConf
	)

Set the velocity rejection configuration for both quadrature or CAN based odometer.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pRejectConf	Pointer to a SbgEComOdoRejectionConf struct holding rejection configuration for the odometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 352 of file sbgEComCmdOdo.c.

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Copyright Notice

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation