Definitions and methods common to all commands. More...

#include <sbgCommon.h>
#include <sbgECom.h>

Macros
#define	SBG_ECOM_DEFAULT_CMD_TIME_OUT (500)

Typedefs
typedef enum _SbgEComRejectionMode	SbgEComRejectionMode

typedef enum _SbgEComAxisDirection	SbgEComAxisDirection

Enumerations
enum	_SbgEComRejectionMode { SBG_ECOM_NEVER_ACCEPT_MODE = 0 , SBG_ECOM_AUTOMATIC_MODE = 1 , SBG_ECOM_ALWAYS_ACCEPT_MODE = 2 }

enum	_SbgEComAxisDirection { SBG_ECOM_ALIGNMENT_FORWARD = 0 , SBG_ECOM_ALIGNMENT_BACKWARD = 1 , SBG_ECOM_ALIGNMENT_LEFT = 2 , SBG_ECOM_ALIGNMENT_RIGHT = 3 , SBG_ECOM_ALIGNMENT_UP = 4 , SBG_ECOM_ALIGNMENT_DOWN = 5 }

Functions
SbgErrorCode	sbgEComReceiveAnyCmd (SbgEComHandle pHandle, uint8_t pMsgClass, uint8_t pMsgId, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComReceiveAnyCmd2 (SbgEComHandle pHandle, uint8_t pMsgClass, uint8_t pMsgId, SbgEComProtocolPayload pPayload, uint32_t timeOut)

SbgErrorCode	sbgEComReceiveCmd (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msgId, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComReceiveCmd2 (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msgId, SbgEComProtocolPayload pPayload, uint32_t timeOut)

SbgErrorCode	sbgEComWaitForAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t timeOut)

SbgErrorCode	sbgEComSendAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, SbgErrorCode cmdError)

SbgErrorCode	sbgEComCmdGenericSetModelId (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t modelId)

SbgErrorCode	sbgEComCmdGenericGetModelId (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, uint32_t pModelId)

Detailed Description

Definitions and methods common to all commands.

Author: SBG Systems

Date: 11 June 2014

Copyright: Copyright (C) 2022, SBG Systems SAS. All rights reserved.

License

The MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Macro Definition Documentation

◆ SBG_ECOM_DEFAULT_CMD_TIME_OUT

#define SBG_ECOM_DEFAULT_CMD_TIME_OUT (500)

Default time out in ms for commands reception.

Typedef Documentation

◆ SbgEComRejectionMode

typedef enum _SbgEComRejectionMode SbgEComRejectionMode

List of all rejection modes for aiding inputs.

◆ SbgEComAxisDirection

typedef enum _SbgEComAxisDirection SbgEComAxisDirection

List of all axis directions for modules/sensor alignment.

Enumeration Type Documentation

◆ _SbgEComRejectionMode

enum _SbgEComRejectionMode

List of all rejection modes for aiding inputs.

Enumerator
SBG_ECOM_NEVER_ACCEPT_MODE	Measurement is not taken into account.
SBG_ECOM_AUTOMATIC_MODE	Measurement is accepted and rejected automatically depending on consistency checks
SBG_ECOM_ALWAYS_ACCEPT_MODE	Measurement is always accepted. Should be used with caution

◆ _SbgEComAxisDirection

enum _SbgEComAxisDirection

List of all axis directions for modules/sensor alignment.

Enumerator
SBG_ECOM_ALIGNMENT_FORWARD	IMU/module Axis is turned in vehicle's forward direction.
SBG_ECOM_ALIGNMENT_BACKWARD	IMU/module Axis is turned in vehicle's backward direction.
SBG_ECOM_ALIGNMENT_LEFT	IMU/module Axis is turned in vehicle's left direction.
SBG_ECOM_ALIGNMENT_RIGHT	IMU/module Axis is turned in vehicle's right direction.
SBG_ECOM_ALIGNMENT_UP	IMU/module Axis is turned in vehicle's up direction.
SBG_ECOM_ALIGNMENT_DOWN	IMU/module Axis is turned in vehicle's down direction.

Function Documentation

◆ sbgEComReceiveAnyCmd()

SbgErrorCode sbgEComReceiveAnyCmd	(	SbgEComHandle *	pHandle,
		uint8_t *	pMsgClass,
		uint8_t *	pMsgId,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Receive a command message.

All binary logs received are handled trough the standard callback system.

Parameters

[in]	pHandle	SbgECom handle.
[out]	pMsgClass	Message class.
[out]	pMsgId	Message ID.
[out]	pData	Data buffer, may be NULL.
[out]	pSize	Number of bytes received, in bytes, may be NULL.
[in]	maxSize	Data buffer size, in bytes.
[in]	timeOut	Time-out, in ms.

Returns: SBG_NO_ERROR if successful, SBG_TIME_OUT if no command message was received within the specified time out (even if timeOut = 0). SBG_NOT_READY to indicate the underlying interface is empty (only applicable when timeOut = 0). SBG_BUFFER_OVERFLOW if the payload of the received frame couldn't fit into the buffer,

◆ sbgEComReceiveAnyCmd2()

SbgErrorCode sbgEComReceiveAnyCmd2	(	SbgEComHandle *	pHandle,
		uint8_t *	pMsgClass,
		uint8_t *	pMsgId,
		SbgEComProtocolPayload *	pPayload,
		uint32_t	timeOut
	)

Receive a command message.

All binary logs received are handled trough the standard callback system.

This function is equivalent to sbgEComReceiveAnyCmd() with two exceptions :

the use of a payload object allows handling payloads not limited by the size of a user-provided buffer
the payload object allows direct access to the protocol work buffer to avoid an extra copy per call

Any allocated resource associated with the given payload is released when calling this function.

Because the payload buffer may directly refer to the protocol work buffer on return, it is only valid until the next attempt to receive a frame, with any of the receive functions.

Parameters

[in]	pHandle	SbgECom handle.
[out]	pMsgClass	Message class.
[out]	pMsgId	Message ID.
[out]	pPayload	Payload.
[in]	timeOut	Time-out, in ms.

Returns: SBG_NO_ERROR if successful. SBG_TIME_OUT if no command message was received within the specified time out (even if timeOut = 0). SBG_NOT_READY to indicate the underlying interface is empty (only applicable when timeOut = 0).

◆ sbgEComReceiveCmd()

SbgErrorCode sbgEComReceiveCmd	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msgId,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Receive a specific command message.

This function also processes ACK messages for the given class and ID.

All binary logs received during this time are handled trough the standard callback system.

Parameters

[in]	pHandle	SbgECom handle.
[in]	msgClass	Message class.
[in]	msgId	Message ID.
[out]	pData	Data buffer.
[out]	pSize	Number of bytes received, in bytes.
[in]	maxSize	Data buffer size, in bytes.
[in]	timeOut	Time-out, in ms.

Returns: SBG_NO_ERROR if successful, SBG_NOT_READY if no command message has been received, SBG_BUFFER_OVERFLOW if the payload of the received frame couldn't fit into the buffer, SBG_TIME_OUT if no command message was received within the specified time out, any error code reported by an ACK message for the given class and ID.

◆ sbgEComReceiveCmd2()

SbgErrorCode sbgEComReceiveCmd2	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msgId,
		SbgEComProtocolPayload *	pPayload,
		uint32_t	timeOut
	)

Receive a specific command message.

This function also processes ACK messages for the given class and ID.

All binary logs received during this time are handled trough the standard callback system.

This function is equivalent to sbgEComReceiveCmd() with two exceptions :

the use of a payload object allows handling payloads not limited by the size of a user-provided buffer
the payload object allows direct access to the protocol work buffer to avoid an extra copy per call

Any allocated resource associated with the given payload is released when calling this function.

Because the payload buffer may directly refer to the protocol work buffer on return, it is only valid until the next attempt to receive a frame, with any of the receive functions.

Parameters

[in]	pHandle	SbgECom handle.
[in]	msgClass	Message class.
[in]	msgId	Message ID.
[out]	pPayload	Payload.
[in]	timeOut	Time-out, in ms.

Returns: SBG_NO_ERROR if successful, SBG_NOT_READY if no command message has been received SBG_TIME_OUT if no command message was received within the specified time out, any error code reported by an ACK message for the given class and ID.

◆ sbgEComWaitForAck()

SbgErrorCode sbgEComWaitForAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	timeOut
	)

Wait for an ACK for a specified amount of time.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to check
[in]	msg	The message ID that we want to check
[in]	timeOut	Time out in ms during which we can receive the ACK.

Returns: SBG_NO_ERROR if the ACK has been received.

◆ sbgEComSendAck()

SbgErrorCode sbgEComSendAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		SbgErrorCode	cmdError
	)

Send an ACK for a specific command with an associated error code.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to send
[in]	msg	The message ID that we want to send.
[in]	cmdError	The associated error code.

Returns: SBG_NO_ERROR if the ACK has been sent.

◆ sbgEComCmdGenericSetModelId()

SbgErrorCode sbgEComCmdGenericSetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	modelId
	)

Generic function to set an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[in]	modelId	Model ID to set

Returns: SBG_NO_ERROR if the command has been executed successfully.

◆ sbgEComCmdGenericGetModelId()

SbgErrorCode sbgEComCmdGenericGetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t *	pModelId
	)

Generic function to get an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[out]	pModelId	Returns the currently used model ID.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ SBG_ECOM_DEFAULT_CMD_TIME_OUT

Typedef Documentation

◆ SbgEComRejectionMode

◆ SbgEComAxisDirection

Enumeration Type Documentation

◆ _SbgEComRejectionMode

◆ _SbgEComAxisDirection

Function Documentation

◆ sbgEComReceiveAnyCmd()

◆ sbgEComReceiveAnyCmd2()

◆ sbgEComReceiveCmd()

◆ sbgEComReceiveCmd2()

◆ sbgEComWaitForAck()

◆ sbgEComSendAck()

◆ sbgEComCmdGenericSetModelId()

◆ sbgEComCmdGenericGetModelId()