sbgECom  1.11.920-stable
Data Structures | Macros | Typedefs | Enumerations | Functions
sbgEComCmdOdo.h File Reference

This file implements SbgECom commands related to Odometer module. More...

#include "sbgEComCmdCommon.h"

Go to the source code of this file.

Data Structures

struct  _SbgEComOdoConf
 
struct  _SbgEComOdoRejectionConf
 
struct  _SbgEComCmdOdoCanConf
 

Macros

#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)
 

Typedefs

typedef struct _SbgEComOdoConf SbgEComOdoConf
 
typedef struct _SbgEComOdoRejectionConf SbgEComOdoRejectionConf
 
typedef enum _SbgEComCmdOdoCanChannel SbgEComCmdOdoCanChannel
 
typedef struct _SbgEComCmdOdoCanConf SbgEComCmdOdoCanConf
 

Enumerations

enum  _SbgEComCmdOdoCanChannel {
  SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY = 0,
  SBG_ECOM_CMD_ODO_CAN_CH_REVERSE = 1
}
 

Functions

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)
 

Detailed Description

This file implements SbgECom commands related to Odometer module.

Author
SBG Systems
Date
11 June 2014

Copyright Notice

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.

Macro Definition Documentation

§ SBG_ECOM_CMD_ODO_CAN_ENABLE

#define SBG_ECOM_CMD_ODO_CAN_ENABLE   (uint16_t)(0x0001 << 0)

Set to enable CAN odometer information decoding.

§ SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED

#define SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED   (uint16_t)(0x0001 << 1)

Set for a 29 bit extended CAN message, otherwise standard 11 bit

§ SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN

#define SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN   (uint16_t)(0x0001 << 2)

Set if the velocity is encoded in big endian, otherwise little endian

§ SBG_ECOM_CMD_ODO_CAN_SIGNED

#define SBG_ECOM_CMD_ODO_CAN_SIGNED   (uint16_t)(0x0001 << 3)

Set to interpret the parsed value as signed, otherwise unsigned.

Typedef Documentation

§ SbgEComOdoConf

Holds all necessary information for Odometer module parameter configuration.

§ SbgEComOdoRejectionConf

Holds all necessary information for Odometer module data rejection.

§ SbgEComCmdOdoCanChannel

CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.

§ SbgEComCmdOdoCanConf

Holds all necessary information for CAN Odometer parameter configuration. This format is very similar to info contained in a DBC file.

Enumeration Type Documentation

§ _SbgEComCmdOdoCanChannel

CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.

Enumerator
SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY 

Channel used to decode the vehicle velocity information

SBG_ECOM_CMD_ODO_CAN_CH_REVERSE 

Channel used to decode the vehicle velocity reverse info (if available).

Function Documentation

§ sbgEComCmdOdoGetConf()

SbgErrorCode sbgEComCmdOdoGetConf ( SbgEComHandle pHandle,
SbgEComOdoConf pOdometerConf 
)

For quadrature and/or pulse based odometer, retrieve the configuration.

Parameters
[in]pHandleA valid sbgECom handle.
[out]pOdometerConfPointer to a SbgEComOdoConf struct to hold configuration of the odometer module.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoSetConf()

SbgErrorCode sbgEComCmdOdoSetConf ( SbgEComHandle pHandle,
const SbgEComOdoConf pOdometerConf 
)

For quadrature and/or pulse base odometer, define the configuration.

Parameters
[in]pHandleA valid sbgECom handle.
[in]pOdometerConfPointer to a SbgEComOdoConf struct holding configuration for the odometer module.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoGetLeverArm()

SbgErrorCode sbgEComCmdOdoGetLeverArm ( SbgEComHandle pHandle,
float  leverArm[3] 
)

Retrieve the lever arm applicable for both quadrature or CAN based odometer.

Parameters
[in]pHandleA valid sbgECom handle.
[out]leverArmArray of three values, one for each axis.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoSetLeverArm()

SbgErrorCode sbgEComCmdOdoSetLeverArm ( SbgEComHandle pHandle,
const float  leverArm[3] 
)

Set the lever arm applicable for both quadrature or CAN based odometer.

Parameters
[in]pHandleA valid sbgECom handle.
[in]leverArmArray of three values, one for each axis.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoGetRejection()

SbgErrorCode sbgEComCmdOdoGetRejection ( SbgEComHandle pHandle,
SbgEComOdoRejectionConf pRejectConf 
)

Retrieve the velocity rejection configuration for both quadrature or CAN based odometer.

Parameters
[in]pHandleA valid sbgECom handle.
[out]pRejectConfPointer to a SbgEComOdoRejectionConf struct to hold rejection configuration of the odometer module.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoSetRejection()

SbgErrorCode sbgEComCmdOdoSetRejection ( SbgEComHandle pHandle,
const SbgEComOdoRejectionConf pRejectConf 
)

Set the velocity rejection configuration for both quadrature or CAN based odometer.

Parameters
[in]pHandleA valid sbgECom handle.
[in]pRejectConfPointer to a SbgEComOdoRejectionConf struct holding rejection configuration for the odometer module.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoCanGetConf()

SbgErrorCode sbgEComCmdOdoCanGetConf ( SbgEComHandle pHandle,
SbgEComCmdOdoCanChannel  canChannel,
SbgEComCmdOdoCanConf pOdoCanConf 
)

Retrieve the CAN odometer configuration for a specific CAN information channel

Parameters
[in]pHandleA valid sbgECom handle.
[in]canChannelThe CAN channel to retreive associated DBC configuration.
[out]pOdoCanConfStruct to hold configuration of the CAN odometer.
Returns
SBG_NO_ERROR if the command has been executed successfully.

§ sbgEComCmdOdoCanSetConf()

SbgErrorCode sbgEComCmdOdoCanSetConf ( SbgEComHandle pHandle,
SbgEComCmdOdoCanChannel  canChannel,
const SbgEComCmdOdoCanConf pOdoCanConf 
)

Set the CAN odometer configuration for a specific CAN information channel

Parameters
[in]pHandleA valid sbgECom handle.
[in]canChannelThe CAN channel to define associated DBC configuration.
[in]pOdoCanConfStruct holding configuration for the CAN odometer.
Returns
SBG_NO_ERROR if the command has been executed successfully.