INSTINCT Code Coverage Report

Directory: src/
File: util/Vendor/Litton/Ln200UartSensor.hpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 2 3 66.7%
Functions: 2 3 66.7%
Branches: 3 6 50.0%
Line Branch Exec Source
1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 /// @file Ln200UartSensor.hpp
10 /// @brief Class to read out LN-200 Sensors
11 /// @author M. Senger (st166640@stud.uni-stuttgart.de)
12 /// @date 2025-03-18
13
14 #pragma once
15
16 #include <memory>
17 #include "util/Container/ScrollingBuffer.hpp"
18
19 #include "uart/sensors/sensors.hpp"
20
21 namespace NAV::vendor::ln
22 {
23 /// @brief Class to read out LN-200 Sensors
24 /// @details The class is used to read out the LN-200 IMU via UART with 2000
25 /// @note The UART interface is configured to 2Mbit/s, 8N1 set by the IMU Uart interface microcontroller.
26 /// The following commands are needed to set up the UART interface:
27 /// sudo usermod -a -G dialout "username"
28 /// sudo dmesg | grep -i tty -> find connected device
29 /// stty -F /dev/"device" -raw 2000000 cs8 -cstopb -parenb
30 ///
31 /// Message content mapping:
32 /// - Word Index 0: X_VEL - X Delta Velocity
33 /// - Word Index 1: Y_VEL - Y Delta Velocity
34 /// - Word Index 2: Z_VEL - Z Delta Velocity
35 /// - Word Index 3: X_ANG - X Delta Angle
36 /// - Word Index 4: Y_ANG - Y Delta Angle
37 /// - Word Index 5: Z_ANG - Z Delta Angle
38 /// - Word Index 6: STATUS - IMU Status Summary Word
39 /// - Word Index 7: MUX_ID - Mode Bit/MUX ID
40 /// - Word Index 8: MUX_DATA - Mux Data Word
41 /// - Word Index 9: X_RAW_COUNT - X Raw Gyro Counts
42 /// - Word Index 10: Y_RAW_COUNT - Y Raw Gyro Counts
43 /// - Word Index 11: Z_RAW_COUNT - Z Raw Gyro Counts
44 /// - Word Index 12: INTERNAL_CHECK_SUM - Internal Check Sum
45 /// - Word Index 13: EXTERNAL_CHECK_SUM - External Check Sum
46 class Ln200UartSensor
47 {
48 public:
49 /// @brief Constructor
50 /// @param[in] name Name of the Parent Node
51 explicit Ln200UartSensor(std::string name);
52
53 /// @brief Default constructor
54
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 114 Ln200UartSensor() = default;
55 /// @brief Destructor
56 114 ~Ln200UartSensor() = default;
57 /// @brief Copy constructor
58 Ln200UartSensor(const Ln200UartSensor&) = delete;
59 /// @brief Move constructor
60 Ln200UartSensor(Ln200UartSensor&&) = delete;
61 /// @brief Copy assignment operator
62 Ln200UartSensor& operator=(const Ln200UartSensor&) = delete;
63 /// @brief Move assignment operator
64 Ln200UartSensor& operator=(Ln200UartSensor&&) = delete;
65 /// @brief Arrow operator overload
66 ✗ uart::sensors::UartSensor* operator->() { return &_sensor; };
67
68 /// @brief Collects data bytes and searches for packages inside of them
69 /// @param[in] dataByte The next data byte
70 /// @return nullptr if no packet found yet, otherwise a pointer to the packet
71 std::unique_ptr<uart::protocol::Packet> findPacket(uint8_t dataByte);
72
73 private:
74 /// Name of the Parent Node
75 const std::string _name;
76
77 /// UartSensor object which handles the UART interface
78 uart::sensors::UartSensor _sensor{ ENDIANNESS,
79 packetFinderFunction,
80 this,
81 packetTypeFunction,
82 checksumFunction,
83 isErrorFunction,
84 isResponseFunction,
85 PACKET_HEADER_LENGTH };
86
87 /// @brief Function which is called to find packets in the provided data buffer
88 /// @param[in] data Raw data buffer which has potential packets inside
89 /// @param[in] timestamp Timestamp then the data in the buffer was received
90 /// @param[in] dispatchPacket Function to call when a complete packet was found
91 /// @param[in] dispatchPacketUserData User data to forward to the dispatchPacket function
92 /// @param[in] userData User data provided when regisering this function. Should contain the sensor object
93 static void packetFinderFunction(const std::vector<uint8_t>& data,
94 const uart::xplat::TimeStamp& timestamp,
95 uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void* dispatchPacketUserData,
96 void* userData);
97
98 /// @brief Function which is called to determine the packet type (ascii/binary)
99 /// @param[in] packet Packet to check the type of
100 /// @return The type of the packet
101 static uart::protocol::Packet::Type packetTypeFunction(const uart::protocol::Packet& packet);
102
103 /// @brief Function which is called to verify packet integrity
104 /// @param[in] packet Packet to calculate the checksum for
105 /// @return True if the packet is fault free
106 static bool checksumFunction(const uart::protocol::Packet& packet);
107
108 /// @brief Function which determines, if the packet is an Error Packet
109 /// @param[in] packet The packet to check
110 static bool isErrorFunction(const uart::protocol::Packet& packet);
111
112 /// @brief Function which determines, if the packet is a Response
113 /// @param[in] packet The packet to check
114 static bool isResponseFunction(const uart::protocol::Packet& packet);
115
116 static constexpr uart::Endianness ENDIANNESS = uart::Endianness::ENDIAN_LITTLE; ///< Endianess of the sensor
117 static constexpr size_t PACKET_HEADER_LENGTH = 0; ///< Length of the packet header
118 static constexpr size_t MAX_SIZE_ASCII_PACKET = 256; ///< Maximum size of a ascii packet before resetting it
119
120 /// Operational states of the LN-200 UART sensor node.
121 enum class State : uint8_t
122 {
123 Idle, ///< Sensor is idle.
124 Receiving ///< Sensor is receiving data.
125 };
126
127 /// Internal state of the sensor.
128 State _state = State::Idle;
129
130 /// Buffer to accumulate bits of the current frame.
131 ScrollingBuffer<bool> _bitBuffer;
132
133 /// Sliding window buffer to detect flags.
134 ScrollingBuffer<bool> _flagWindow;
135
136 /// Flag to detect the start of a frame.
137 bool _wasIdle = false;
138
139 /// Counter for bit insertion.
140 int _consecutiveOnes = 0;
141
142 /// Used for correlating raw data with where the packet was found for the end user.
143 size_t _runningDataIndex{ 0 };
144 };
145
146 } // namespace NAV::vendor::ln
147