sbgEComCmdOdo.h

Go to the documentation of this file.

#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 */