sbgEComCmdCommon.h

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#ifndef SBG_ECOM_CMD_COMMON_H
#define SBG_ECOM_CMD_COMMON_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
 
// Project headers
#include <sbgECom.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Definitions                                                        -//
//----------------------------------------------------------------------//
 
#define SBG_ECOM_DEFAULT_CMD_TIME_OUT   (500)   

typedef enum _SbgEComRejectionMode
{
    SBG_ECOM_NEVER_ACCEPT_MODE        = 0,        
    SBG_ECOM_AUTOMATIC_MODE          = 1,        
    SBG_ECOM_ALWAYS_ACCEPT_MODE      = 2         
} SbgEComRejectionMode;

typedef 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         
} SbgEComAxisDirection;
 
//----------------------------------------------------------------------//
//- Common command reception operations                                -//
//----------------------------------------------------------------------//

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);
 
//----------------------------------------------------------------------//
//- ACK related commands  operations                                   -//
//----------------------------------------------------------------------//

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);
 
//----------------------------------------------------------------------//
//- Generic command definitions                                        -//
//----------------------------------------------------------------------//

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);
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_CMD_COMMON_H