Odometer / DMI aiding module configuration commands. More...

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

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 pLeverArm)

SbgErrorCode	sbgEComCmdOdoSetLeverArm (SbgEComHandle pHandle, const float pLeverArm)

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

Odometer / DMI aiding module configuration 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_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

typedef struct _SbgEComOdoConf SbgEComOdoConf

Holds all necessary information for Odometer module parameter configuration.

◆ SbgEComOdoRejectionConf

typedef struct _SbgEComOdoRejectionConf SbgEComOdoRejectionConf

Holds all necessary information for Odometer module data rejection.

◆ SbgEComCmdOdoCanChannel

typedef enum _SbgEComCmdOdoCanChannel SbgEComCmdOdoCanChannel

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

◆ SbgEComCmdOdoCanConf

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.

Enumeration Type Documentation

◆ _SbgEComCmdOdoCanChannel

enum _SbgEComCmdOdoCanChannel

CAN odometer channels definition A channel is an information 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]	pHandle	A valid sbgECom handle.
[out]	pOdometerConf	Pointer 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]	pHandle	A valid sbgECom handle.
[in]	pOdometerConf	Pointer 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 *	pLeverArm
	)

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

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pLeverArm	Array 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 *	pLeverArm
	)

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

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pLeverArm	Array 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]	pHandle	A valid sbgECom handle.
[out]	pRejectConf	Pointer 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]	pHandle	A valid sbgECom handle.
[in]	pRejectConf	Pointer 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]	pHandle	A valid sbgECom handle.
[in]	canChannel	The CAN channel to retrieve associated DBC configuration.
[out]	pOdoCanConf	Struct 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]	pHandle	A valid sbgECom handle.
[in]	canChannel	The CAN channel to define associated DBC configuration.
[in]	pOdoCanConf	Struct holding configuration for the CAN odometer.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ SBG_ECOM_CMD_ODO_CAN_ENABLE

◆ SBG_ECOM_CMD_ODO_CAN_ID_EXTENDED

◆ SBG_ECOM_CMD_ODO_CAN_BIG_ENDIAN

◆ SBG_ECOM_CMD_ODO_CAN_SIGNED

Typedef Documentation

◆ SbgEComOdoConf

◆ SbgEComOdoRejectionConf

◆ SbgEComCmdOdoCanChannel

◆ SbgEComCmdOdoCanConf

Enumeration Type Documentation

◆ _SbgEComCmdOdoCanChannel

Function Documentation

◆ sbgEComCmdOdoGetConf()

◆ sbgEComCmdOdoSetConf()

◆ sbgEComCmdOdoGetLeverArm()

◆ sbgEComCmdOdoSetLeverArm()

◆ sbgEComCmdOdoGetRejection()

◆ sbgEComCmdOdoSetRejection()

◆ sbgEComCmdOdoCanGetConf()

◆ sbgEComCmdOdoCanSetConf()