Class to read out LN-200 Sensors. More...

Public Member Functions
std::unique_ptr< uart::protocol::Packet >	findPacket (uint8_t dataByte)
	Collects data bytes and searches for packages inside of them.
	Ln200UartSensor ()=default
	Default constructor.
	Ln200UartSensor (const Ln200UartSensor &)=delete
	Copy constructor.
	Ln200UartSensor (Ln200UartSensor &&)=delete
	Move constructor.
	Ln200UartSensor (std::string name)
	Constructor.
uart::sensors::UartSensor *	operator-> ()
	Arrow operator overload.
Ln200UartSensor &	operator= (const Ln200UartSensor &)=delete
	Copy assignment operator.
Ln200UartSensor &	operator= (Ln200UartSensor &&)=delete
	Move assignment operator.
	~Ln200UartSensor ()=default
	Destructor.

Private Types
enum class	State : uint8_t { Idle , Receiving }
	Operational states of the LN-200 UART sensor node. More...

Static Private Member Functions
static bool	checksumFunction (const uart::protocol::Packet &packet)
	Function which is called to verify packet integrity.
static bool	isErrorFunction (const uart::protocol::Packet &packet)
	Function which determines, if the packet is an Error Packet.
static bool	isResponseFunction (const uart::protocol::Packet &packet)
	Function which determines, if the packet is a Response.
static void	packetFinderFunction (const std::vector< uint8_t > &data, const uart::xplat::TimeStamp &timestamp, uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void dispatchPacketUserData, void userData)
	Function which is called to find packets in the provided data buffer.
static uart::protocol::Packet::Type	packetTypeFunction (const uart::protocol::Packet &packet)
	Function which is called to determine the packet type (ascii/binary)

Private Attributes
ScrollingBuffer< bool >	_bitBuffer
	Buffer to accumulate bits of the current frame.
int	_consecutiveOnes
	Counter for bit insertion.
ScrollingBuffer< bool >	_flagWindow
	Sliding window buffer to detect flags.
const std::string	_name
	Name of the Parent Node.
size_t	_runningDataIndex
	Used for correlating raw data with where the packet was found for the end user.
uart::sensors::UartSensor	_sensor
	UartSensor object which handles the UART interface.
State	_state
	Internal state of the sensor.
bool	_wasIdle
	Flag to detect the start of a frame.

Static Private Attributes
static constexpr uart::Endianness	ENDIANNESS
	Endianess of the sensor.
static constexpr size_t	MAX_SIZE_ASCII_PACKET
	Maximum size of a ascii packet before resetting it.
static constexpr size_t	PACKET_HEADER_LENGTH
	Length of the packet header.

Detailed Description

Class to read out LN-200 Sensors.

The class is used to read out the LN-200 IMU via UART with 2000

Note: The UART interface is configured to 2Mbit/s, 8N1 set by the IMU Uart interface microcontroller. The following commands are needed to set up the UART interface: sudo usermod -a -G dialout "username" sudo dmesg | grep -i tty -> find connected device stty -F /dev/"device" -raw 2000000 cs8 -cstopb -parenb

Message content mapping:

Word Index 0: X_VEL - X Delta Velocity
Word Index 1: Y_VEL - Y Delta Velocity
Word Index 2: Z_VEL - Z Delta Velocity
Word Index 3: X_ANG - X Delta Angle
Word Index 4: Y_ANG - Y Delta Angle
Word Index 5: Z_ANG - Z Delta Angle
Word Index 6: STATUS - IMU Status Summary Word
Word Index 7: MUX_ID - Mode Bit/MUX ID
Word Index 8: MUX_DATA - Mux Data Word
Word Index 9: X_RAW_COUNT - X Raw Gyro Counts
Word Index 10: Y_RAW_COUNT - Y Raw Gyro Counts
Word Index 11: Z_RAW_COUNT - Z Raw Gyro Counts
Word Index 12: INTERNAL_CHECK_SUM - Internal Check Sum
Word Index 13: EXTERNAL_CHECK_SUM - External Check Sum

Definition at line 46 of file Ln200UartSensor.hpp.

Member Enumeration Documentation

◆ State

enum class NAV::vendor::ln::Ln200UartSensor::State : uint8_t

strongprivate

Operational states of the LN-200 UART sensor node.

Enumerator
Idle	Sensor is idle.
Receiving	Sensor is receiving data.

Definition at line 121 of file Ln200UartSensor.hpp.

Constructor & Destructor Documentation

◆ Ln200UartSensor() [1/4]

NAV::vendor::ln::Ln200UartSensor::Ln200UartSensor ( std::string name )

explicit

Constructor.

Parameters

[in] name Name of the Parent Node

Definition at line 13 of file Ln200UartSensor.cpp.

◆ Ln200UartSensor() [2/4]

NAV::vendor::ln::Ln200UartSensor::Ln200UartSensor ( )

default

Default constructor.

◆ ~Ln200UartSensor()

NAV::vendor::ln::Ln200UartSensor::~Ln200UartSensor ( )

default

Destructor.

◆ Ln200UartSensor() [3/4]

NAV::vendor::ln::Ln200UartSensor::Ln200UartSensor ( const Ln200UartSensor & )

delete

Copy constructor.

◆ Ln200UartSensor() [4/4]

NAV::vendor::ln::Ln200UartSensor::Ln200UartSensor ( Ln200UartSensor && )

delete

Move constructor.

Member Function Documentation

◆ checksumFunction()

bool NAV::vendor::ln::Ln200UartSensor::checksumFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which is called to verify packet integrity.

Parameters

[in] packet Packet to calculate the checksum for

Returns: True if the packet is fault free

Definition at line 159 of file Ln200UartSensor.cpp.

◆ findPacket()

std::unique_ptr< uart::protocol::Packet > NAV::vendor::ln::Ln200UartSensor::findPacket ( uint8_t dataByte )

Collects data bytes and searches for packages inside of them.

Parameters

[in] dataByte The next data byte

Returns: nullptr if no packet found yet, otherwise a pointer to the packet

Definition at line 17 of file Ln200UartSensor.cpp.

◆ isErrorFunction()

bool NAV::vendor::ln::Ln200UartSensor::isErrorFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which determines, if the packet is an Error Packet.

Parameters

[in] packet The packet to check

Definition at line 170 of file Ln200UartSensor.cpp.

◆ isResponseFunction()

bool NAV::vendor::ln::Ln200UartSensor::isResponseFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which determines, if the packet is a Response.

Parameters

[in] packet The packet to check

Definition at line 175 of file Ln200UartSensor.cpp.

◆ operator->()

uart::sensors::UartSensor * NAV::vendor::ln::Ln200UartSensor::operator-> ( )

inline

Arrow operator overload.

Definition at line 66 of file Ln200UartSensor.hpp.

◆ operator=() [1/2]

Ln200UartSensor & NAV::vendor::ln::Ln200UartSensor::operator= ( const Ln200UartSensor & )

delete

Copy assignment operator.

◆ operator=() [2/2]

Ln200UartSensor & NAV::vendor::ln::Ln200UartSensor::operator= ( Ln200UartSensor && )

delete

Move assignment operator.

◆ packetFinderFunction()

void NAV::vendor::ln::Ln200UartSensor::packetFinderFunction	(	const std::vector< uint8_t > &	data,
		const uart::xplat::TimeStamp &	timestamp,
		uart::sensors::UartSensor::ValidPacketFoundHandler	dispatchPacket,
		void *	dispatchPacketUserData,
		void *	userData )

staticprivate

Function which is called to find packets in the provided data buffer.

Parameters

[in]	data	Raw data buffer which has potential packets inside
[in]	timestamp	Timestamp then the data in the buffer was received
[in]	dispatchPacket	Function to call when a complete packet was found
[in]	dispatchPacketUserData	User data to forward to the dispatchPacket function
[in]	userData	User data provided when regisering this function. Should contain the sensor object

Definition at line 138 of file Ln200UartSensor.cpp.

◆ packetTypeFunction()

uart::protocol::Packet::Type NAV::vendor::ln::Ln200UartSensor::packetTypeFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which is called to determine the packet type (ascii/binary)

Parameters

[in] packet Packet to check the type of

Returns: The type of the packet

Definition at line 154 of file Ln200UartSensor.cpp.

Field Documentation

◆ _bitBuffer

ScrollingBuffer<bool> NAV::vendor::ln::Ln200UartSensor::_bitBuffer

private

Buffer to accumulate bits of the current frame.

Definition at line 131 of file Ln200UartSensor.hpp.

◆ _consecutiveOnes

int NAV::vendor::ln::Ln200UartSensor::_consecutiveOnes

private

Counter for bit insertion.

Definition at line 140 of file Ln200UartSensor.hpp.

◆ _flagWindow

ScrollingBuffer<bool> NAV::vendor::ln::Ln200UartSensor::_flagWindow

private

Sliding window buffer to detect flags.

Definition at line 134 of file Ln200UartSensor.hpp.

◆ _name

const std::string NAV::vendor::ln::Ln200UartSensor::_name

private

Name of the Parent Node.

Definition at line 75 of file Ln200UartSensor.hpp.

◆ _runningDataIndex

size_t NAV::vendor::ln::Ln200UartSensor::_runningDataIndex

private

Used for correlating raw data with where the packet was found for the end user.

Definition at line 143 of file Ln200UartSensor.hpp.

◆ _sensor

uart::sensors::UartSensor NAV::vendor::ln::Ln200UartSensor::_sensor

private

UartSensor object which handles the UART interface.

Definition at line 78 of file Ln200UartSensor.hpp.

◆ _state

State NAV::vendor::ln::Ln200UartSensor::_state

private

Internal state of the sensor.

Definition at line 128 of file Ln200UartSensor.hpp.

◆ _wasIdle

bool NAV::vendor::ln::Ln200UartSensor::_wasIdle

private

Flag to detect the start of a frame.

Definition at line 137 of file Ln200UartSensor.hpp.

◆ ENDIANNESS

uart::Endianness NAV::vendor::ln::Ln200UartSensor::ENDIANNESS

staticconstexprprivate

Endianess of the sensor.

Definition at line 116 of file Ln200UartSensor.hpp.

◆ MAX_SIZE_ASCII_PACKET

size_t NAV::vendor::ln::Ln200UartSensor::MAX_SIZE_ASCII_PACKET

staticconstexprprivate

Maximum size of a ascii packet before resetting it.

Definition at line 118 of file Ln200UartSensor.hpp.

◆ PACKET_HEADER_LENGTH

size_t NAV::vendor::ln::Ln200UartSensor::PACKET_HEADER_LENGTH

staticconstexprprivate

Length of the packet header.

Definition at line 117 of file Ln200UartSensor.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/Litton/Ln200UartSensor.hpp
/home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/Litton/Ln200UartSensor.cpp

Public Member Functions

Private Types

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ Ln200UartSensor() [1/4]

◆ Ln200UartSensor() [2/4]

◆ ~Ln200UartSensor()

◆ Ln200UartSensor() [3/4]

◆ Ln200UartSensor() [4/4]

Member Function Documentation

◆ checksumFunction()

◆ findPacket()

◆ isErrorFunction()

◆ isResponseFunction()

◆ operator->()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ packetFinderFunction()

◆ packetTypeFunction()

Field Documentation

◆ _bitBuffer

◆ _consecutiveOnes

◆ _flagWindow

◆ _name

◆ _runningDataIndex

◆ _sensor

◆ _state

◆ _wasIdle

◆ ENDIANNESS

◆ MAX_SIZE_ASCII_PACKET

◆ PACKET_HEADER_LENGTH