This file implements SbgECom commands related to Odometer module. More...
#include "sbgEComCmdCommon.h"
Go to the source code of this file.
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) |
This file implements SbgECom commands related to Odometer module.
Copyright (C) 2007-2019, SBG Systems SAS. All rights reserved.
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.
#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 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.
CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.
Definition at line 51 of file sbgEComCmdOdo.h.
SbgErrorCode sbgEComCmdOdoCanGetConf | ( | SbgEComHandle * | pHandle, |
SbgEComCmdOdoCanChannel | canChannel, | ||
SbgEComCmdOdoCanConf * | pOdoCanConf | ||
) |
Retrieve the CAN odometer configuration for a specific CAN information channel
[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. |
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
[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. |
Definition at line 499 of file sbgEComCmdOdo.c.
SbgErrorCode sbgEComCmdOdoGetConf | ( | SbgEComHandle * | pHandle, |
SbgEComOdoConf * | pOdometerConf | ||
) |
For quadrature and/or pulse based odometer, retrieve the configuration.
[in] | pHandle | A valid sbgECom handle. |
[out] | pOdometerConf | Pointer to a SbgEComOdoConf struct to hold configuration of the odometer module. |
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.
[in] | pHandle | A valid sbgECom handle. |
[out] | leverArm | Array of three values, one for each axis. |
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.
[in] | pHandle | A valid sbgECom handle. |
[out] | pRejectConf | Pointer to a SbgEComOdoRejectionConf struct to hold rejection configuration of the odometer module. |
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.
[in] | pHandle | A valid sbgECom handle. |
[in] | pOdometerConf | Pointer to a SbgEComOdoConf struct holding configuration for the odometer module. |
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.
[in] | pHandle | A valid sbgECom handle. |
[in] | leverArm | Array of three values, one for each axis. |
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.
[in] | pHandle | A valid sbgECom handle. |
[in] | pRejectConf | Pointer to a SbgEComOdoRejectionConf struct holding rejection configuration for the odometer module. |
Definition at line 352 of file sbgEComCmdOdo.c.