sbgEComCmdOdo.h

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#ifndef SBG_ECOM_CMD_ODO_H
#define SBG_ECOM_CMD_ODO_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
 
// Project headers
#include <sbgECom.h>
 
// Local headers
#include "sbgEComCmdCommon.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Public definitions                                                 -//
//----------------------------------------------------------------------//

typedef struct _SbgEComOdoConf
{
    float       gain;                       
    uint8_t     gainError;                 
    bool        reverseMode;             
} SbgEComOdoConf;

typedef struct _SbgEComOdoRejectionConf
{
    SbgEComRejectionMode    velocity;       
} SbgEComOdoRejectionConf;

typedef enum _SbgEComCmdOdoCanChannel
{
    SBG_ECOM_CMD_ODO_CAN_CH_VELOCITY    = 0,                            
    SBG_ECOM_CMD_ODO_CAN_CH_REVERSE      = 1                             
} SbgEComCmdOdoCanChannel;
 
/*
 * Define CAN odometer options bitmask
 */
#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) 

typedef struct _SbgEComCmdOdoCanConf
{
    uint16_t    options;             
    uint32_t    canId;                 
 
    size_t      startBit;               
    size_t      dataSize;               
 
    float       scale;                 
    float       offset;                   
    float       minValue;               
    float       maxValue;               
} SbgEComCmdOdoCanConf;
 
//----------------------------------------------------------------------//
//- Public methods                                                     -//
//----------------------------------------------------------------------//

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