sbgEComCmdSensor.h

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#ifndef __SBG_ECOM_CMD_SENSOR_H__
#define __SBG_ECOM_CMD_SENSOR_H__

#include "sbgEComCmdCommon.h"

//----------------------------------------------------------------------//
//- Sensor definitions                                                                                             -//
//----------------------------------------------------------------------//

typedef enum _SbgEComModulePortAssignment
{
        SBG_ECOM_MODULE_PORT_B          = 1,            
        SBG_ECOM_MODULE_PORT_C          = 2,            
        SBG_ECOM_MODULE_PORT_D          = 3,            
        SBG_ECOM_MODULE_PORT_E          = 4,            
        SBG_ECOM_MODULE_INTERNAL        = 5,            
        SBG_ECOM_MODULE_DISABLED        = 0xFF          
} SbgEComModulePortAssignment;

typedef enum _SbgEComModuleSyncAssignment
{
        SBG_ECOM_MODULE_SYNC_DISABLED   = 0,            
        SBG_ECOM_MODULE_SYNC_IN_A               = 1,            
        SBG_ECOM_MODULE_SYNC_IN_B               = 2,            
        SBG_ECOM_MODULE_SYNC_IN_C               = 3,            
        SBG_ECOM_MODULE_SYNC_IN_D               = 4,            
        SBG_ECOM_MODULE_SYNC_INTERNAL   = 5,            
        SBG_ECOM_MODULE_SYNC_OUT_A              = 6,            
        SBG_ECOM_MODULE_SYNC_OUT_B              = 7,            
} SbgEComModuleSyncAssignment;

typedef enum _SbgEComOdometerPinAssignment
{
        SBG_ECOM_MODULE_ODO_DISABLED    = 0,            
        SBG_ECOM_MODULE_ODO_A                   = 1,            
        SBG_ECOM_MODULE_ODO_A_B                 = 2,            
        SBG_ECOM_MODULE_ODO_CAN                 = 3,            
} SbgEComOdometerPinAssignment;

typedef enum _SbgEComMotionProfileStdIds
{
        SBG_ECOM_MOTION_PROFILE_GENERAL_PURPOSE         = 1,            
        SBG_ECOM_MOTION_PROFILE_AUTOMOTIVE                      = 2,            
        SBG_ECOM_MOTION_PROFILE_MARINE                          = 3,            
        SBG_ECOM_MOTION_PROFILE_AIRPLANE                        = 4,            
        SBG_ECOM_MOTION_PROFILE_HELICOPTER                      = 5,            
        SBG_ECOM_MOTION_PROFILE_UAV_ROTARY_WING         = 7,            
        SBG_ECOM_MOTION_PROFILE_HEAVY_MACHINERY         = 8,            
} SbgEComMotionProfileStdIds;

//----------------------------------------------------------------------//
//- Event configurations                                                                                           -//
//----------------------------------------------------------------------//

typedef struct _SbgEComAidingAssignConf
{
        SbgEComModulePortAssignment             gps1Port;                       
        SbgEComModuleSyncAssignment             gps1Sync;                       
        SbgEComModulePortAssignment             dvlPort;                        
        SbgEComModuleSyncAssignment             dvlSync;                        
        SbgEComModulePortAssignment             rtcmPort;                       
        SbgEComModulePortAssignment             airDataPort;            
        SbgEComOdometerPinAssignment    odometerPinsConf;       
} SbgEComAidingAssignConf;

typedef struct _SbgEComSensorAlignmentInfo
{
        SbgEComAxisDirection    axisDirectionX;                 
        SbgEComAxisDirection    axisDirectionY;                 
        float                                   misRoll;                                
        float                                   misPitch;                               
        float                                   misYaw;                                 
} SbgEComSensorAlignmentInfo;

typedef struct _SbgEComInitConditionConf
{
        double                          latitude;                                       
        double                          longitude;                                      
        double                          altitude;                                       
        uint16_t                                year;                                           
        uint8_t                         month;                                          
        uint8_t                         day;                                            
} SbgEComInitConditionConf;

//----------------------------------------------------------------------//
//- Sensor commands                                                                    -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdSensorSetMotionProfileId(SbgEComHandle *pHandle, uint32_t id);

SbgErrorCode sbgEComCmdSensorGetMotionProfileInfo(SbgEComHandle *pHandle, SbgEComModelInfo *pMotionProfileInfo);

SbgErrorCode sbgEComCmdSensorGetInitCondition(SbgEComHandle *pHandle, SbgEComInitConditionConf *pConf);

SbgErrorCode sbgEComCmdSensorSetInitCondition(SbgEComHandle *pHandle, const SbgEComInitConditionConf *pConf);

SbgErrorCode sbgEComCmdSensorGetAidingAssignment(SbgEComHandle *pHandle, SbgEComAidingAssignConf *pConf);

SbgErrorCode sbgEComCmdSensorSetAidingAssignment(SbgEComHandle *pHandle, const SbgEComAidingAssignConf *pConf);

SbgErrorCode sbgEComCmdSensorGetAlignmentAndLeverArm(SbgEComHandle *pHandle, SbgEComSensorAlignmentInfo *pAlignConf, float leverArm[3]);

SbgErrorCode sbgEComCmdSensorSetAlignmentAndLeverArm(SbgEComHandle *pHandle, const SbgEComSensorAlignmentInfo *pAlignConf, const float leverArm[3]);

#endif