This file groups all common definitions required by all commands. More...

#include "../sbgECom.h"

Include dependency graph for sbgEComCmdCommon.h:

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Classes
struct	_SbgEComModelInfo

Macros
#define	SBG_ECOM_DEFAULT_CMD_TIME_OUT (500)

Typedefs
typedef enum _SbgEComAxisDirection	SbgEComAxisDirection

typedef struct _SbgEComModelInfo	SbgEComModelInfo

typedef enum _SbgEComRejectionMode	SbgEComRejectionMode

Enumerations
enum	_SbgEComAxisDirection { SBG_ECOM_ALIGNMENT_FORWARD = 0, SBG_ECOM_ALIGNMENT_BACKWARD = 1, SBG_ECOM_ALIGNMENT_LEFT = 2, SBG_ECOM_ALIGNMENT_RIGHT = 3, SBG_ECOM_ALIGNMENT_UP = 4, SBG_ECOM_ALIGNMENT_DOWN = 5 }

enum	_SbgEComRejectionMode { SBG_ECOM_NEVER_ACCEPT_MODE = 0, SBG_ECOM_AUTOMATIC_MODE = 1, SBG_ECOM_ALWAYS_ACCEPT_MODE = 2 }

Functions
SbgErrorCode	sbgEComCmdGenericGetModelId (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, uint32_t pModelId)

SbgErrorCode	sbgEComCmdGenericGetModelInfo (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, SbgEComModelInfo pModelInfo)

SbgErrorCode	sbgEComCmdGenericSetModelId (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t modelId)

SbgErrorCode	sbgEComReceiveAnyCmd (SbgEComHandle pHandle, uint8_t pMsgClass, uint8_t pMsg, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComReceiveCmd (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComSendAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, SbgErrorCode cmdError)

SbgErrorCode	sbgEComWaitForAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t timeOut)

Detailed Description

This file groups all common definitions required by all commands.

Author: SBG Systems (Maxime Renaudet)

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 sbgEComCmdCommon.h.

Macro Definition Documentation

◆ SBG_ECOM_DEFAULT_CMD_TIME_OUT

#define SBG_ECOM_DEFAULT_CMD_TIME_OUT (500)

Default time out in ms for commands reception.

Definition at line 29 of file sbgEComCmdCommon.h.

Typedef Documentation

◆ SbgEComAxisDirection

typedef enum _SbgEComAxisDirection SbgEComAxisDirection

List of all axis directions for modules/sensor alignment.

◆ SbgEComModelInfo

typedef struct _SbgEComModelInfo SbgEComModelInfo

Common model information structure. This is used for motion profile or Magnetometer,Gps, or other aiding sensor error model.

◆ SbgEComRejectionMode

typedef enum _SbgEComRejectionMode SbgEComRejectionMode

List of all rejection modes for aiding inputs.

Enumeration Type Documentation

◆ _SbgEComAxisDirection

enum _SbgEComAxisDirection

List of all axis directions for modules/sensor alignment.

Enumerator
SBG_ECOM_ALIGNMENT_FORWARD	IMU/module Axis is turned in vehicle's forward direction.
SBG_ECOM_ALIGNMENT_BACKWARD	IMU/module Axis is turned in vehicle's backward direction.
SBG_ECOM_ALIGNMENT_LEFT	IMU/module Axis is turned in vehicle's left direction.
SBG_ECOM_ALIGNMENT_RIGHT	IMU/module Axis is turned in vehicle's right direction.
SBG_ECOM_ALIGNMENT_UP	IMU/module Axis is turned in vehicle's up direction.
SBG_ECOM_ALIGNMENT_DOWN	IMU/module Axis is turned in vehicle's down direction.

Definition at line 44 of file sbgEComCmdCommon.h.

◆ _SbgEComRejectionMode

enum _SbgEComRejectionMode

List of all rejection modes for aiding inputs.

Enumerator
SBG_ECOM_NEVER_ACCEPT_MODE	Measurement is not taken into account.
SBG_ECOM_AUTOMATIC_MODE	Measurement is accepted and rejected automatically depending on consistency checks
SBG_ECOM_ALWAYS_ACCEPT_MODE	Measurement is always accepted. Should be used with caution

Definition at line 34 of file sbgEComCmdCommon.h.

Function Documentation

◆ sbgEComCmdGenericGetModelId()

SbgErrorCode sbgEComCmdGenericGetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t *	pModelId
	)

Generic function to get an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[out]	pModelId	Returns the currently used model ID.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 446 of file sbgEComCmdCommon.c.

◆ sbgEComCmdGenericGetModelInfo()

SbgErrorCode sbgEComCmdGenericGetModelInfo	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		SbgEComModelInfo *	pModelInfo
	)

Generic function to retrieve error model information.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[out]	pMotionProfileInfo	Pointer to a SbgEComModelInfo to contain model info.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 512 of file sbgEComCmdCommon.c.

◆ sbgEComCmdGenericSetModelId()

SbgErrorCode sbgEComCmdGenericSetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	modelId
	)

Generic function to set an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[in]	modelId	Model ID to set

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 380 of file sbgEComCmdCommon.c.

◆ sbgEComReceiveAnyCmd()

SbgErrorCode sbgEComReceiveAnyCmd	(	SbgEComHandle *	pHandle,
		uint8_t *	pMsgClass,
		uint8_t *	pMsg,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Wait until any command that is not a output log is recevied during a specific time out. All binary logs received during this time are handled trough the standard callback system.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pMsgClass	Pointer used to hold the received command class.
[out]	pMsg	Pointer used to hold the received command ID.
[out]	pData	Allocated buffer used to hold received data field.
[out]	pSize	Pointer used to hold the received data field size.
[in]	maxSize	Max number of bytes that can be stored in the pData buffer.
[in]	timeOut	Time out in ms during which we can receive the command.

Returns: SBG_NO_ERROR if we have received a valid frame.
SBG_NOT_READY if we haven't received a valid frame or if the serial buffer is empty.
SBG_INVALID_CRC if the received frame has an invalid CRC.
SBG_NULL_POINTER if an input parameter is NULL.
SBG_BUFFER_OVERFLOW if the received frame payload couldn't fit into the pData buffer. SBG_TIME_OUT if the command hasn't been received withint the specified time out.

Definition at line 25 of file sbgEComCmdCommon.c.

◆ sbgEComReceiveCmd()

SbgErrorCode sbgEComReceiveCmd	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Wait for a specific command to be received given a time out. All binary logs received during this time are handled trough the standard callback system.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	msgClass	Command class we expect to receive
[out]	msg	Message id we expect to receive
[out]	pData	Allocated buffer used to hold received data field.
[out]	pSize	Pointer used to hold the received data field size.
[in]	maxSize	Max number of bytes that can be stored in the pData buffer.
[in]	timeOut	Time out in ms during which we can receive the command.

Returns: SBG_NO_ERROR if we have received a valid frame.
SBG_NOT_READY if we haven't received a valid frame or if the serial buffer is empty.
SBG_INVALID_CRC if the received frame has an invalid CRC.
SBG_NULL_POINTER if an input parameter is NULL.
SBG_BUFFER_OVERFLOW if the received frame payload couldn't fit into the pData buffer. SBG_TIME_OUT if the command hasn't been received withint the specified time out.

Wait for a specific command to be received given a time out.
All binary logs received during this time are handled trough the standard callback system.
NACK for the requested command is treated as a negative answer and the corresponding error code is returned to user. In case an ACK is returned, we condider it's an error as well as expected command is not an ACK but regular command.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	msgClass	Command class we expect to receive
[out]	msg	Message id we expect to receive
[out]	pData	Allocated buffer used to hold received data field.
[out]	pSize	Pointer used to hold the received data field size.
[in]	maxSize	Max number of bytes that can be stored in the pData buffer.
[in]	timeOut	Time out in ms during which we can receive the command.

Returns: SBG_NO_ERROR if we have received a valid frame.
Other error codes may come from the function itself, or from the device returning an NACK.

Definition at line 174 of file sbgEComCmdCommon.c.

◆ sbgEComSendAck()

SbgErrorCode sbgEComSendAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		SbgErrorCode	cmdError
	)

Send an ACK for a specific command with an associated error code.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to send
[in]	msg	The message ID that we want to send.
[in]	cmdError	The associated error code.

Returns: SBG_NO_ERROR if the ACK has been sent.

Definition at line 351 of file sbgEComCmdCommon.c.

◆ sbgEComWaitForAck()

SbgErrorCode sbgEComWaitForAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	timeOut
	)

Wait for an ACK for a specified amount of time.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to check
[in]	msg	The message ID that we want to check
[in]	timeOut	Time out in ms during which we can receive the ACK.

Returns: SBG_NO_ERROR if the ACK has been received.

Definition at line 278 of file sbgEComCmdCommon.c.

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Copyright Notice

Macro Definition Documentation

◆ SBG_ECOM_DEFAULT_CMD_TIME_OUT

Typedef Documentation

◆ SbgEComAxisDirection

◆ SbgEComModelInfo

◆ SbgEComRejectionMode

Enumeration Type Documentation

◆ _SbgEComAxisDirection

◆ _SbgEComRejectionMode

Function Documentation

◆ sbgEComCmdGenericGetModelId()

◆ sbgEComCmdGenericGetModelInfo()

◆ sbgEComCmdGenericSetModelId()

◆ sbgEComReceiveAnyCmd()

◆ sbgEComReceiveCmd()

◆ sbgEComSendAck()

◆ sbgEComWaitForAck()