sbgECom
1.11.920-stable
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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) |
This file implements SbgECom commands related to Odometer module.
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.
#define SBG_ECOM_CMD_ODO_CAN_ENABLE (uint16_t)(0x0001 << 0) |
Set to enable CAN odometer information decoding.
#define SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED (uint16_t)(0x0001 << 1) |
Set for a 29 bit extended CAN message, otherwise standard 11 bit
#define SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN (uint16_t)(0x0001 << 2) |
Set if the velocity is encoded in big endian, otherwise little endian
#define SBG_ECOM_CMD_ODO_CAN_SIGNED (uint16_t)(0x0001 << 3) |
Set to interpret the parsed value as signed, otherwise unsigned.
typedef struct _SbgEComOdoConf SbgEComOdoConf |
Holds all necessary information for Odometer module parameter configuration.
typedef struct _SbgEComOdoRejectionConf SbgEComOdoRejectionConf |
Holds all necessary information for Odometer module data rejection.
typedef enum _SbgEComCmdOdoCanChannel SbgEComCmdOdoCanChannel |
CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.
typedef struct _SbgEComCmdOdoCanConf SbgEComCmdOdoCanConf |
Holds all necessary information for CAN Odometer parameter configuration. This format is very similar to info contained in a DBC file.
CAN odometer channels definition A channel is an inforamtion that can be decoded / used by the device.
SbgErrorCode sbgEComCmdOdoGetConf | ( | SbgEComHandle * | pHandle, |
SbgEComOdoConf * | pOdometerConf | ||
) |
For quadrature and/or pulse based odometer, retrieve the configuration.
[in] | pHandle | A valid sbgECom handle. |
[out] | pOdometerConf | Pointer to a SbgEComOdoConf struct to hold configuration of the odometer module. |
SbgErrorCode sbgEComCmdOdoSetConf | ( | SbgEComHandle * | pHandle, |
const SbgEComOdoConf * | pOdometerConf | ||
) |
For quadrature and/or pulse base odometer, define the configuration.
[in] | pHandle | A valid sbgECom handle. |
[in] | pOdometerConf | Pointer to a SbgEComOdoConf struct holding configuration for the odometer module. |
SbgErrorCode sbgEComCmdOdoGetLeverArm | ( | SbgEComHandle * | pHandle, |
float | leverArm[3] | ||
) |
Retrieve the lever arm applicable for both quadrature or CAN based odometer.
[in] | pHandle | A valid sbgECom handle. |
[out] | leverArm | Array of three values, one for each axis. |
SbgErrorCode sbgEComCmdOdoSetLeverArm | ( | SbgEComHandle * | pHandle, |
const float | leverArm[3] | ||
) |
Set the lever arm applicable for both quadrature or CAN based odometer.
[in] | pHandle | A valid sbgECom handle. |
[in] | leverArm | Array of three values, one for each axis. |
SbgErrorCode sbgEComCmdOdoGetRejection | ( | SbgEComHandle * | pHandle, |
SbgEComOdoRejectionConf * | pRejectConf | ||
) |
Retrieve the velocity rejection configuration for both quadrature or CAN based odometer.
[in] | pHandle | A valid sbgECom handle. |
[out] | pRejectConf | Pointer to a SbgEComOdoRejectionConf struct to hold rejection configuration of the odometer module. |
SbgErrorCode sbgEComCmdOdoSetRejection | ( | SbgEComHandle * | pHandle, |
const SbgEComOdoRejectionConf * | pRejectConf | ||
) |
Set the velocity rejection configuration for both quadrature or CAN based odometer.
[in] | pHandle | A valid sbgECom handle. |
[in] | pRejectConf | Pointer to a SbgEComOdoRejectionConf struct holding rejection configuration for the odometer module. |
SbgErrorCode sbgEComCmdOdoCanGetConf | ( | SbgEComHandle * | pHandle, |
SbgEComCmdOdoCanChannel | canChannel, | ||
SbgEComCmdOdoCanConf * | pOdoCanConf | ||
) |
Retrieve the CAN odometer configuration for a specific CAN information channel
[in] | pHandle | A valid sbgECom handle. |
[in] | canChannel | The CAN channel to retreive associated DBC configuration. |
[out] | pOdoCanConf | Struct to hold configuration of the CAN odometer. |
SbgErrorCode sbgEComCmdOdoCanSetConf | ( | SbgEComHandle * | pHandle, |
SbgEComCmdOdoCanChannel | canChannel, | ||
const SbgEComCmdOdoCanConf * | pOdoCanConf | ||
) |
Set the CAN odometer configuration for a specific CAN information channel
[in] | pHandle | A valid sbgECom handle. |
[in] | canChannel | The CAN channel to define associated DBC configuration. |
[in] | pOdoCanConf | Struct holding configuration for the CAN odometer. |