sbgEComCmdOutput.h

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#ifndef __SBG_ECOM_CMD_OUTPUT_H__
#define __SBG_ECOM_CMD_OUTPUT_H__

#include "sbgEComCmdCommon.h"
#include "../sbgECanId.h"

//----------------------------------------------------------------------//
//- Output definitions                                                                                             -//
//----------------------------------------------------------------------//

typedef enum _SbgEComOutputPort
{
        SBG_ECOM_OUTPUT_PORT_A = 0,                             
        SBG_ECOM_OUTPUT_PORT_C = 2,                             
        SBG_ECOM_OUTPUT_PORT_E = 4                              
} SbgEComOutputPort;

typedef enum _SbgEComLegacyFormat
{
        SBG_ECOM_LEGACY_FORMAT_FLOAT = 0,               
        SBG_ECOM_LEGACY_FORMAT_FIXED                    
} SbgEComLegacyFormat;

typedef enum _SbgEComLegacyEndian
{
        SBG_ECOM_LEGACY_LITTLE_ENDIAN = 0,              
        SBG_ECOM_LEGACY_BIG_ENDIAN                              
} SbgEComLegacyEndian;          

typedef enum _SbgEComOutputMode
{
        SBG_ECOM_OUTPUT_MODE_DISABLED           = 0,            
        SBG_ECOM_OUTPUT_MODE_MAIN_LOOP          = 1,            
        SBG_ECOM_OUTPUT_MODE_DIV_2                      = 2,            
        SBG_ECOM_OUTPUT_MODE_DIV_4                      = 4,            
        SBG_ECOM_OUTPUT_MODE_DIV_5                      = 5,            
        SBG_ECOM_OUTPUT_MODE_DIV_8                      = 8,            
        SBG_ECOM_OUTPUT_MODE_DIV_10             = 10,           
        SBG_ECOM_OUTPUT_MODE_DIV_20             = 20,           
        SBG_ECOM_OUTPUT_MODE_DIV_40             = 40,           
        SBG_ECOM_OUTPUT_MODE_DIV_200            = 200,          
        SBG_ECOM_OUTPUT_MODE_PPS                        = 10000,        
        SBG_ECOM_OUTPUT_MODE_NEW_DATA           = 10001,        
        SBG_ECOM_OUTPUT_MODE_EVENT_IN_A         = 10003,        
        SBG_ECOM_OUTPUT_MODE_EVENT_IN_B         = 10004,        
        SBG_ECOM_OUTPUT_MODE_EVENT_IN_C         = 10005,        
        SBG_ECOM_OUTPUT_MODE_EVENT_IN_D         = 10006,        
        SBG_ECOM_OUTPUT_MODE_EVENT_IN_E         = 10007,        
        SBG_ECOM_OUTPUT_MODE_HIGH_FREQ_LOOP = 20001             
} SbgEComOutputMode;

typedef enum _SbgEComOutputMonitoringPoint
{
        SBG_ECOM_OUTPUT_MONITORING_POINT_IMU    = 0,            
        SBG_ECOM_OUTPUT_MONITORING_POINT_COG    = 1,            
        SBG_ECOM_OUTPUT_MONITORING_POINT_1              = 2,            
        SBG_ECOM_OUTPUT_MONITORING_POINT_2              = 3,            
        SBG_ECOM_OUTPUT_MONITORING_POINT_3              = 4,            
        SBG_ECOM_OUTPUT_MONITORING_NUM                                          
} SbgEComOutputMonitoringPoint;

//----------------------------------------------------------------------//
//- Helper structure definitions                                                                           -//
//----------------------------------------------------------------------//

typedef struct _SbgEComLegacyConf
{
        uint32_t                                        mask;           
        SbgEComLegacyFormat             format;         
        SbgEComLegacyEndian             endian;         
        SbgEComOutputMode               mode;           
} SbgEComLegacyConf;

//----------------------------------------------------------------------//
//- Output commands                                                    -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdOutputGetConf(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, SbgEComClass classId, SbgEComMsgId msgId, SbgEComOutputMode *pMode);

SbgErrorCode sbgEComCmdOutputSetConf(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, SbgEComClass classId, SbgEComMsgId msgId, SbgEComOutputMode mode);

SbgErrorCode sbgEComCmdOutputClassGetEnable(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, SbgEComClass classId, bool *pEnable);

SbgErrorCode sbgEComCmdOutputClassSetEnable(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, SbgEComClass classId, bool enable);

SbgErrorCode sbgEComCmdCanOutputGetConf(SbgEComHandle *pHandle, SbgECanMessageId internalId, SbgEComOutputMode *pMode, uint32_t *pUserId, bool *pExtended);

SbgErrorCode sbgEComCmdCanOutputSetConf(SbgEComHandle *pHandle, SbgECanMessageId internalId, SbgEComOutputMode mode, uint32_t userId, bool extended);

SbgErrorCode sbgEComCmdOutputGetLegacyConf(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, SbgEComLegacyConf *pConf);

SbgErrorCode sbgEComCmdOutputSetLegacyConf(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, const SbgEComLegacyConf *pConf);

SbgErrorCode sbgEComCmdOutputGetNmeaTalkerId(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, char nmeaTalkerId[2]);

SbgErrorCode sbgEComCmdOutputSetNmeaTalkerId(SbgEComHandle *pHandle, SbgEComOutputPort outputPort, const char nmeaTalkerId[2]);

#endif