sbgEComCmdSensor.h

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#ifndef SBG_ECOM_CMD_SENSOR_H
#define SBG_ECOM_CMD_SENSOR_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
 
// Project headers
#include <sbgECom.h>
 
// Local headers
#include "sbgEComCmdCommon.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Sensor definitions                                                 -//
//----------------------------------------------------------------------//
 
typedef enum _SbgEComModulePortAssignment
{
    SBG_ECOM_MODULE_PORT_A                      = 0,        
    SBG_ECOM_MODULE_PORT_B                      = 1,        
    SBG_ECOM_MODULE_PORT_C                      = 2,        
    SBG_ECOM_MODULE_PORT_D                      = 3,        
    SBG_ECOM_MODULE_PORT_E                      = 4,        
    SBG_ECOM_MODULE_INTERNAL                    = 5,        
    SBG_ECOM_MODULE_DISABLED                    = 0xFF      
} SbgEComModulePortAssignment;
 
typedef enum _SbgEComModuleSyncAssignment
{
    SBG_ECOM_MODULE_SYNC_DISABLED               = 0,        
    SBG_ECOM_MODULE_SYNC_IN_A                   = 1,        
    SBG_ECOM_MODULE_SYNC_IN_B                   = 2,        
    SBG_ECOM_MODULE_SYNC_IN_C                   = 3,        
    SBG_ECOM_MODULE_SYNC_IN_D                   = 4,        
    SBG_ECOM_MODULE_SYNC_INTERNAL               = 5,        
    SBG_ECOM_MODULE_SYNC_OUT_A                  = 6,        
    SBG_ECOM_MODULE_SYNC_OUT_B                  = 7,        
} SbgEComModuleSyncAssignment;
 
typedef enum _SbgEComOdometerPinAssignment
{
    SBG_ECOM_MODULE_ODO_DISABLED                = 0,        
    SBG_ECOM_MODULE_ODO_A                       = 1,        
    SBG_ECOM_MODULE_ODO_A_B                     = 2,        
    SBG_ECOM_MODULE_ODO_CAN                     = 3,        
} SbgEComOdometerPinAssignment;
 
typedef enum _SbgEComMotionProfileStdIds
{
    SBG_ECOM_MOTION_PROFILE_GENERAL_PURPOSE     = 1,        
    SBG_ECOM_MOTION_PROFILE_AUTOMOTIVE          = 2,        
    SBG_ECOM_MOTION_PROFILE_MARINE              = 3,        
    SBG_ECOM_MOTION_PROFILE_AIRPLANE            = 4,        
    SBG_ECOM_MOTION_PROFILE_HELICOPTER          = 5,        
    SBG_ECOM_MOTION_PROFILE_PEDESTRIAN          = 6,        
    SBG_ECOM_MOTION_PROFILE_UAV_ROTARY_WING     = 7,        
    SBG_ECOM_MOTION_PROFILE_HEAVY_MACHINERY     = 8,        
    SBG_ECOM_MOTION_PROFILE_STATIC              = 9,        
    SBG_ECOM_MOTION_PROFILE_TRUCK               = 10,       
    SBG_ECOM_MOTION_PROFILE_RAILWAY             = 11,       
    SBG_ECOM_MOTION_PROFILE_OFF_ROAD_VEHICLE    = 12,       
    SBG_ECOM_MOTION_PROFILE_UNDERWATER          = 13        
} SbgEComMotionProfileStdIds;
 
//----------------------------------------------------------------------//
//- Event configurations                                               -//
//----------------------------------------------------------------------//
 
typedef struct _SbgEComAidingAssignConf
{
    SbgEComModulePortAssignment     gps1Port;           
    SbgEComModuleSyncAssignment     gps1Sync;           
    SbgEComModulePortAssignment     dvlPort;            
    SbgEComModuleSyncAssignment     dvlSync;            
    SbgEComModulePortAssignment     rtcmPort;           
    SbgEComModulePortAssignment     airDataPort;        
    SbgEComOdometerPinAssignment    odometerPinsConf;   
} SbgEComAidingAssignConf;
 
typedef struct _SbgEComSensorAlignmentInfo
{
    SbgEComAxisDirection    axisDirectionX;         
    SbgEComAxisDirection    axisDirectionY;         
    float                   misRoll;                
    float                   misPitch;               
    float                   misYaw;                 
} SbgEComSensorAlignmentInfo;
 
typedef struct _SbgEComInitConditionConf
{
    double              latitude;                   
    double              longitude;                  
    double              altitude;                   
    uint16_t            year;                       
    uint8_t             month;                      
    uint8_t             day;                        
} SbgEComInitConditionConf;
 
//----------------------------------------------------------------------//
//- Public methods                                                     -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdSensorSetMotionProfileId(SbgEComHandle *pHandle, SbgEComMotionProfileStdIds modelId);
 
SbgErrorCode sbgEComCmdSensorGetMotionProfileId(SbgEComHandle *pHandle, SbgEComMotionProfileStdIds *pModelId);
 
SbgErrorCode sbgEComCmdSensorGetInitCondition(SbgEComHandle *pHandle, SbgEComInitConditionConf *pConf);
 
SbgErrorCode sbgEComCmdSensorSetInitCondition(SbgEComHandle *pHandle, const SbgEComInitConditionConf *pConf);
 
SbgErrorCode sbgEComCmdSensorGetAidingAssignment(SbgEComHandle *pHandle, SbgEComAidingAssignConf *pConf);
 
SbgErrorCode sbgEComCmdSensorSetAidingAssignment(SbgEComHandle *pHandle, const SbgEComAidingAssignConf *pConf);
 
SbgErrorCode sbgEComCmdSensorGetAlignmentAndLeverArm(SbgEComHandle *pHandle, SbgEComSensorAlignmentInfo *pAlignConf, float *pLeverArm);
 
SbgErrorCode sbgEComCmdSensorSetAlignmentAndLeverArm(SbgEComHandle *pHandle, const SbgEComSensorAlignmentInfo *pAlignConf, const float *pLeverArm);
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_CMD_SENSOR_H