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