sbgECom  1.11.920-stable
sbgEComCmdOdo.h
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1 
20 #ifndef SBG_ECOM_CMD_ODO_H
21 #define SBG_ECOM_CMD_ODO_H
22 
23 #include "sbgEComCmdCommon.h"
24 
25 //----------------------------------------------------------------------//
26 //- Public definitions -//
27 //----------------------------------------------------------------------//
28 
32 typedef struct _SbgEComOdoConf
33 {
34  float gain;
35  uint8_t gainError;
36  bool reverseMode;
38 
43 {
46 
52 {
56 
57 /*
58  * Define CAN odometer options bitmask
59  */
60 #define SBG_ECOM_CMD_ODO_CAN_ENABLE (uint16_t)(0x0001 << 0)
61 #define SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED (uint16_t)(0x0001 << 1)
62 #define SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN (uint16_t)(0x0001 << 2)
63 #define SBG_ECOM_CMD_ODO_CAN_SIGNED (uint16_t)(0x0001 << 3)
69 typedef struct _SbgEComCmdOdoCanConf
70 {
71  uint16_t options;
72  uint32_t canId;
74  size_t startBit;
75  size_t dataSize;
77  float scale;
78  float offset;
79  float minValue;
80  float maxValue;
82 
83 //----------------------------------------------------------------------//
84 //- Public methods -//
85 //----------------------------------------------------------------------//
86 
94 SbgErrorCode sbgEComCmdOdoGetConf(SbgEComHandle *pHandle, SbgEComOdoConf *pOdometerConf);
95 
103 SbgErrorCode sbgEComCmdOdoSetConf(SbgEComHandle *pHandle, const SbgEComOdoConf *pOdometerConf);
104 
112 SbgErrorCode sbgEComCmdOdoGetLeverArm(SbgEComHandle *pHandle, float leverArm[3]);
113 
121 SbgErrorCode sbgEComCmdOdoSetLeverArm(SbgEComHandle *pHandle, const float leverArm[3]);
122 
130 SbgErrorCode sbgEComCmdOdoGetRejection(SbgEComHandle *pHandle, SbgEComOdoRejectionConf *pRejectConf);
131 
139 SbgErrorCode sbgEComCmdOdoSetRejection(SbgEComHandle *pHandle, const SbgEComOdoRejectionConf *pRejectConf);
140 
149 SbgErrorCode sbgEComCmdOdoCanGetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, SbgEComCmdOdoCanConf *pOdoCanConf);
150 
159 SbgErrorCode sbgEComCmdOdoCanSetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, const SbgEComCmdOdoCanConf *pOdoCanConf);
160 
161 #endif /* SBG_ECOM_CMD_ODO_H */
float maxValue
Definition: sbgEComCmdOdo.h:80
uint8_t gainError
Definition: sbgEComCmdOdo.h:35
enum _SbgEComRejectionMode SbgEComRejectionMode
struct _SbgEComCmdOdoCanConf SbgEComCmdOdoCanConf
struct _SbgEComOdoConf SbgEComOdoConf
float offset
Definition: sbgEComCmdOdo.h:78
float minValue
Definition: sbgEComCmdOdo.h:79
Definition: sbgECom.h:70
SbgEComRejectionMode velocity
Definition: sbgEComCmdOdo.h:44
uint16_t options
Definition: sbgEComCmdOdo.h:71
SbgErrorCode sbgEComCmdOdoGetConf(SbgEComHandle *pHandle, SbgEComOdoConf *pOdometerConf)
SbgErrorCode sbgEComCmdOdoGetLeverArm(SbgEComHandle *pHandle, float leverArm[3])
Definition: sbgEComCmdOdo.h:53
enum _SbgEComCmdOdoCanChannel SbgEComCmdOdoCanChannel
struct _SbgEComOdoRejectionConf SbgEComOdoRejectionConf
SbgErrorCode sbgEComCmdOdoSetRejection(SbgEComHandle *pHandle, const SbgEComOdoRejectionConf *pRejectConf)
Definition: sbgEComCmdOdo.h:69
SbgErrorCode sbgEComCmdOdoSetLeverArm(SbgEComHandle *pHandle, const float leverArm[3])
Definition: sbgEComCmdOdo.h:32
Definition: sbgEComCmdOdo.h:42
SbgErrorCode sbgEComCmdOdoGetRejection(SbgEComHandle *pHandle, SbgEComOdoRejectionConf *pRejectConf)
float gain
Definition: sbgEComCmdOdo.h:34
SbgErrorCode sbgEComCmdOdoCanGetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, SbgEComCmdOdoCanConf *pOdoCanConf)
This file groups all common definitions required by all commands.
size_t dataSize
Definition: sbgEComCmdOdo.h:75
SbgErrorCode sbgEComCmdOdoSetConf(SbgEComHandle *pHandle, const SbgEComOdoConf *pOdometerConf)
uint32_t canId
Definition: sbgEComCmdOdo.h:72
bool reverseMode
Definition: sbgEComCmdOdo.h:36
float scale
Definition: sbgEComCmdOdo.h:77
size_t startBit
Definition: sbgEComCmdOdo.h:74
SbgErrorCode sbgEComCmdOdoCanSetConf(SbgEComHandle *pHandle, SbgEComCmdOdoCanChannel canChannel, const SbgEComCmdOdoCanConf *pOdoCanConf)
Definition: sbgEComCmdOdo.h:54
_SbgEComCmdOdoCanChannel
Definition: sbgEComCmdOdo.h:51