The class that describes and implements the BAHRS serial protocol. More...

Classes
struct	SAccuracyData
	Accuracy message payload. More...

struct	SAccuracyDataMessage
	Navigation data accuracy message. More...

struct	SHardwareVersionData
	Payload of the "Hardware version" message. More...

struct	SHardwareVersionMessage

struct	SInertialData
	Inertial data message payload. More...

struct	SInertialDataMessage
	Inertial data message. More...

struct	SMessageHeader
	Message header struct. More...

struct	SNavigationData
	Navigation data message payload. More...

struct	SNavigationDataMessage
	Navigation data message. More...

struct	SPacketNVMPage
	Diagnostic message: One NVM page ( both: RX & TX ) More...

struct	SPacketReadNVMPage
	Diagnostic Mode Messages. More...

struct	SPacketReceiveConfirmation
	Diagnostic message: confirmation of request processing by the device. More...

struct	SRunnableCallEventData
	Debug information on runnable call. More...

struct	SRunnableCallEventDebugMessage
	A debug message with runnable call data. More...

struct	SSoftwareVersionData
	Payload of the "software version" message. More...

struct	SSoftwareVersionMessage
	Software version message. More...

struct	STimeOfInertialData
	Payload of the time of inertial data message. More...

struct	STimeOfInertialDataMessage
	Time of inertial data message. More...

struct	STimeOfLatestSyncPulse
	Payload of the "time of the latest pulse" message. More...

struct	STimeOfLatestSyncPulseMessage
	Time of the latest sync pulse message. More...

struct	STimeOfNavigationData
	Payload of the "time of navigation data" message. More...

struct	STimeOfNavigationDataMessage
	Time of navigation data message. More...

struct	SWriteToPortEventPartialData
	Partial data of the "write to port event". The struct does not include a variable size array of data written to a port. More...

Public Types
enum class	EMessageIds : uint8_t { eInvalid = 0x00 , eInertialData = 0x01 , eNavigationData = 0x02 , eAccuracy = 0x03 , eTimeOfNavigationData = 0x04 , eTimeOfInertialData = 0x05 , eTimeOfSyncPulse = 0x06 , eSoftwareVersion = 0x0F , eHardwareVersion = 0x1F , eDebugEventWriteToPort = 0xC0 , eDebugEventRunnableCall = 0xC1 , eTypeOpenDiagnostic = 0xF0 , eTypeCloseDiagnostic = 0xF1 , eTypeReadNVMPage = 0xF2 , eTypeNVMPageData = 0xF3 , eTypeAccept = 0xFF }

enum class	ESignalHealthInfo : uint8_t { eUnavailable = 0U , eSafe , eIntegrityRisk }

using	CrcType_t = uint32_t

Public Member Functions
	CSerialProtocol ()=default

	~CSerialProtocol ()=default

Static Public Attributes
static constexpr uint8_t	uMarker1_ { 0x4E }
	Sync byte 1, symbol 'N'.

static constexpr uint8_t	uMarker2_ { 0x45 }
	Sync char 2, symbol 'E'.

static constexpr uint16_t	uVersion_ { 3U }
	Protocol version.

static constexpr float	skfMaxHeight_ { 10000.0F }

static constexpr float	skfMinHeight_ { -1000.0F }

static constexpr float	skfMaxVelocityDown_ { 300.0F }

static constexpr float	skfMinVelocityDown_ { -300.0F }

static constexpr float	skfMaxAngularRate_ { 300.0F * (CMathConstants::skfPi_ / 180.0F) }
	+-300 [deg/s] in [rad/s]

static constexpr float	skfMaxSpecificForce_ { CGeoConstants::skfGravity * 5.0F }
	+-5 [g] in [m/s^2]

static constexpr float	skfSpecificForceScale_ { skfMaxSpecificForce_ / static_cast<float>(std::numeric_limits<int16_t>::max()) }
	Integer to float, +-5g range.

static constexpr float	skfAngularRateScale_ { skfMaxAngularRate_ / static_cast<float>(std::numeric_limits<int16_t>::max()) }
	Integer to float, +-300 deg/s range.

static constexpr float	skfHeightScale_ { 0.16784924F }
	Integer to float, -1000 to 10000 m range.

static constexpr float	skfHeighOffset_ { 1000.0F }
	An offset to convert unsigned integer to float.

static constexpr float	skfVelocityDownScale_ { 9.155413e-3F }
	Integer to float, -300 to 300 m/s range.

static constexpr float	skfAngleScale_ { 9.587526e-5F }
	Integer to float, -pi to pi or 0 to 2 pi range.

Detailed Description

The class that describes and implements the BAHRS serial protocol.

Member Typedef Documentation

◆ CrcType_t

using CSerialProtocol::CrcType_t = uint32_t

Member Enumeration Documentation

◆ EMessageIds

enum class CSerialProtocol::EMessageIds : uint8_t

strong

Enumerator
eInvalid	Invalid.
eInertialData	Inertial data message.
eNavigationData	Navigation data message.
eAccuracy	Attitude accuracy information.
eTimeOfNavigationData	"Time of navigation data" message
eTimeOfInertialData	"Time of inertial data" message
eTimeOfSyncPulse	"Time of the latest sync pulse" message
eSoftwareVersion	"Software version" message
eHardwareVersion	"Hardware version" message
eDebugEventWriteToPort	Debug information: SWC port data.
eDebugEventRunnableCall	Debug information: SWC API call.
eTypeOpenDiagnostic	Request to enter diagnostics mode.
eTypeCloseDiagnostic	Request to exit diagnostics mode.
eTypeReadNVMPage	Request to read NVM page.
eTypeNVMPageData	A message with NVM page data.
eTypeAccept	Acknowledgment of diagnostics message reception.

◆ ESignalHealthInfo

enum class CSerialProtocol::ESignalHealthInfo : uint8_t

strong

Enumerator
eUnavailable
eSafe
eIntegrityRisk

Constructor & Destructor Documentation

◆ CSerialProtocol()

CSerialProtocol::CSerialProtocol ( )

default

◆ ~CSerialProtocol()

CSerialProtocol::~CSerialProtocol ( )

default

Member Data Documentation

◆ skfAngleScale_

constexpr float CSerialProtocol::skfAngleScale_ { 9.587526e-5F }

staticconstexpr

Integer to float, -pi to pi or 0 to 2 pi range.

◆ skfAngularRateScale_

constexpr float CSerialProtocol::skfAngularRateScale_ { skfMaxAngularRate_ / static_cast<float>(std::numeric_limits<int16_t>::max()) }

staticconstexpr

Integer to float, +-300 deg/s range.

◆ skfHeighOffset_

constexpr float CSerialProtocol::skfHeighOffset_ { 1000.0F }

staticconstexpr

An offset to convert unsigned integer to float.

◆ skfHeightScale_

constexpr float CSerialProtocol::skfHeightScale_ { 0.16784924F }

staticconstexpr

Integer to float, -1000 to 10000 m range.

◆ skfMaxAngularRate_

constexpr float CSerialProtocol::skfMaxAngularRate_ { 300.0F * (CMathConstants::skfPi_ / 180.0F) }

staticconstexpr

+-300 [deg/s] in [rad/s]

◆ skfMaxHeight_

constexpr float CSerialProtocol::skfMaxHeight_ { 10000.0F }

staticconstexpr

◆ skfMaxSpecificForce_

constexpr float CSerialProtocol::skfMaxSpecificForce_ { CGeoConstants::skfGravity * 5.0F }

staticconstexpr

+-5 [g] in [m/s^2]

◆ skfMaxVelocityDown_

constexpr float CSerialProtocol::skfMaxVelocityDown_ { 300.0F }

staticconstexpr

◆ skfMinHeight_

constexpr float CSerialProtocol::skfMinHeight_ { -1000.0F }

staticconstexpr

◆ skfMinVelocityDown_

constexpr float CSerialProtocol::skfMinVelocityDown_ { -300.0F }

staticconstexpr

◆ skfSpecificForceScale_

constexpr float CSerialProtocol::skfSpecificForceScale_ { skfMaxSpecificForce_ / static_cast<float>(std::numeric_limits<int16_t>::max()) }

staticconstexpr

Integer to float, +-5g range.

◆ skfVelocityDownScale_

constexpr float CSerialProtocol::skfVelocityDownScale_ { 9.155413e-3F }

staticconstexpr

Integer to float, -300 to 300 m/s range.

◆ uMarker1_

constexpr uint8_t CSerialProtocol::uMarker1_ { 0x4E }

staticconstexpr

Sync byte 1, symbol 'N'.

◆ uMarker2_

constexpr uint8_t CSerialProtocol::uMarker2_ { 0x45 }

staticconstexpr

Sync char 2, symbol 'E'.

◆ uVersion_

constexpr uint16_t CSerialProtocol::uVersion_ { 3U }

staticconstexpr

Protocol version.

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

CSerialProtocol.h

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ CrcType_t

Member Enumeration Documentation

◆ EMessageIds

◆ ESignalHealthInfo

Constructor & Destructor Documentation

◆ CSerialProtocol()

◆ ~CSerialProtocol()

Member Data Documentation

◆ skfAngleScale_

◆ skfAngularRateScale_

◆ skfHeighOffset_

◆ skfHeightScale_

◆ skfMaxAngularRate_

◆ skfMaxHeight_

◆ skfMaxSpecificForce_

◆ skfMaxVelocityDown_

◆ skfMinHeight_

◆ skfMinVelocityDown_

◆ skfSpecificForceScale_

◆ skfVelocityDownScale_

◆ uMarker1_

◆ uMarker2_

◆ uVersion_