CSerialMessageBuilder Class Reference

A class for building messages according to BAHRS serial protocol. More...

Public Member Functions
CSerialProtocol::SInertialDataMessage	BuildInertialDataMessage (const SOutputImuData &korImuData)
	Build inertial data message from IMU measurements.
CSerialProtocol::STimeOfInertialDataMessage	BuildTimeOfInertialDataMessage (const SOutputImuData &korImuData)
	Build the "Time of inertial data message" from IMU measurements.
CSerialProtocol::SNavigationDataMessage	BuildNavigationDataMessage (const SSafeVerticalChannelData &korVerticalChannelData, const SSafeAttitudeData &korVehicleAttitude, const SMagneticHeading &korMagneticHeading)
	Build navigation data message.
CSerialProtocol::STimeOfNavigationDataMessage	BuildTimeOfNavigationDataMessage (const SSafeAttitudeData &korVehicleAttitude)
	Build time of navigation data message.
CSerialProtocol::SAccuracyDataMessage	BuildAccuracyDataMessage (const SSafeAttitudeData &korVehicleAttitude)
	Build navigation data accuracy message.
CSerialProtocol::STimeOfLatestSyncPulseMessage	BuildTimeOfLatestSyncPulseMessage (uint64_t uTimestamp)
	Build time of the latest sync pulse message.
CSerialProtocol::SSoftwareVersionMessage	BuildSoftwareVersionMessage ()
	Build the software version message.
CSerialProtocol::SHardwareVersionMessage	BuildHardwareVersionMessage ()
	Build the hardware version message.

Static Public Member Functions
static uint32_t	CalculateCrc (uint32_t *pData, uint32_t uNumberOfWords_)
	Calculate CRC.

Private Attributes
uint8_t	uInertialDataSequenceCounter_ { 0U }
	Sent inertial data message count.
uint8_t	uNavigationDataSequenceCounter_ { 0U }
	Navigation inertial data message count.
uint8_t	uAccuracyDataSequenceCounter_ { 0U }
	Sent accuracy message count.
uint8_t	uTimeOfInertialDataSequenceCounter_ { 0U }
	Sent time of inertial data message count.
uint8_t	uTimeOfNavigationDataSequenceCounter_ { 0U }
	Sent time of navigaiton data message count.
uint8_t	uTimeOfLatestPulseSequenceCounter_ { 0U }
	Sent time of the latest pulse message count.

Detailed Description

A class for building messages according to BAHRS serial protocol.

Member Function Documentation

BuildAccuracyDataMessage()

CSerialProtocol::SAccuracyDataMessage CSerialMessageBuilder::BuildAccuracyDataMessage

(

const SSafeAttitudeData &

korVehicleAttitude

)

Build navigation data accuracy message.

Parameters

korVehicleAttitude

Reference to vehicle attitude data.

Returns

Accuracy data message.

BuildHardwareVersionMessage()

CSerialProtocol::SHardwareVersionMessage CSerialMessageBuilder::BuildHardwareVersionMessage

(

)

Build the hardware version message.

Returns

The hardware version message struct.

BuildInertialDataMessage()

CSerialProtocol::SInertialDataMessage CSerialMessageBuilder::BuildInertialDataMessage

(

const SOutputImuData &

korImuData

)

Build inertial data message from IMU measurements.

Parameters

korImuData

Reference to IMU data.

Returns

Inertial data message struct.

BuildNavigationDataMessage()

CSerialProtocol::SNavigationDataMessage CSerialMessageBuilder::BuildNavigationDataMessage	(	const SSafeVerticalChannelData &	korVerticalChannelData,
		const SSafeAttitudeData &	korVehicleAttitude,
		const SMagneticHeading &	korMagneticHeading
	)

Build navigation data message.

Parameters

korVerticalChannelData	Reference to vertical channel data.
korVehicleAttitude	Reference to vehicle attitude data.
korMagneticHeading	Reference to the estimated magnetic heading data compensated for installation alignment

Returns

Navigation data message struct.

BuildSoftwareVersionMessage()

CSerialProtocol::SSoftwareVersionMessage CSerialMessageBuilder::BuildSoftwareVersionMessage

(

)

Build the software version message.

Returns

The software version message struct.

BuildTimeOfInertialDataMessage()

CSerialProtocol::STimeOfInertialDataMessage CSerialMessageBuilder::BuildTimeOfInertialDataMessage

(

const SOutputImuData &

korImuData

)

Build the "Time of inertial data message" from IMU measurements.

Parameters

korImuData

Reference to IMU measurement.

Returns

"Time of inertial data message" struct.

BuildTimeOfLatestSyncPulseMessage()

CSerialProtocol::STimeOfLatestSyncPulseMessage CSerialMessageBuilder::BuildTimeOfLatestSyncPulseMessage

(

uint64_t

uTimestamp

)

Build time of the latest sync pulse message.

Parameters

uTimestamp

Measured time of the latest sync pulse.

Returns

The time of the latest sync pulse message.

BuildTimeOfNavigationDataMessage()

CSerialProtocol::STimeOfNavigationDataMessage CSerialMessageBuilder::BuildTimeOfNavigationDataMessage

(

const SSafeAttitudeData &

korVehicleAttitude

)

Build time of navigation data message.

Parameters

korVehicleAttitude

Reference to vehicle attitude data.

Returns

Time of navigation data message.

CalculateCrc()

uint32_t CSerialMessageBuilder::CalculateCrc ( uint32_t *  pData, uint32_t  uNumberOfWords_  )

static

Calculate CRC.

Parameters

pData	Pointer to 32-bit data words aarray.
uNumberOfWords_	Number of words in the array.

Returns

32-bit CRC (CRC-32/MPEG2)

Member Data Documentation

uAccuracyDataSequenceCounter_

uint8_t CSerialMessageBuilder::uAccuracyDataSequenceCounter_ { 0U }

private

Sent accuracy message count.

uInertialDataSequenceCounter_

uint8_t CSerialMessageBuilder::uInertialDataSequenceCounter_ { 0U }

private

Sent inertial data message count.

uNavigationDataSequenceCounter_

uint8_t CSerialMessageBuilder::uNavigationDataSequenceCounter_ { 0U }

private

Navigation inertial data message count.

uTimeOfInertialDataSequenceCounter_

uint8_t CSerialMessageBuilder::uTimeOfInertialDataSequenceCounter_ { 0U }

private

Sent time of inertial data message count.

uTimeOfLatestPulseSequenceCounter_

uint8_t CSerialMessageBuilder::uTimeOfLatestPulseSequenceCounter_ { 0U }

private

Sent time of the latest pulse message count.

uTimeOfNavigationDataSequenceCounter_

uint8_t CSerialMessageBuilder::uTimeOfNavigationDataSequenceCounter_ { 0U }

private

Sent time of navigaiton data message count.

---

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

• CSerialMessageBuilder.h
• CSerialMessageBuilder.cpp