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	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 , eDebugEventWriteToPort = 0xC0 , eDebugEventRunnableCall = 0xC1 , eTypeOpenDiagnostic = 0xF0 , eTypeCloseDiagnostic = 0xF1 , eTypeReadNVMPage = 0xF2 , eTypeNVMPageData = 0xF3 , eTypeAccept = 0xFF }

typedef uint32_t	CrcType_t

Public Member Functions
	CSerialProtocol ()=default

	~CSerialProtocol ()=default

SInertialDataMessage	BuildInertialDataMessage (const SOutputImuData &korImuData)
	Build inertial data message from IMU measurements.

STimeOfInertialDataMessage	BuildTimeOfInertialDataMessage (const SOutputImuData &korImuData)
	Build the "Time of inertial data message" from IMU measurements.

SNavigationDataMessage	BuildNavigationDataMessage (const SVerticalChannelData &korVerticalChannelData, const SAttitudeData &korVehicleAttitude, const SMagneticHeading &korMagneticHeading)
	Build navigation data message.

STimeOfNavigationDataMessage	BuildTimeOfNavigationDataMessage (const SAttitudeData &korVehicleAttitude)
	Build time of navigation data message.

SAccuracyDataMessage	BuildAccuracyDataMessage (const SAttitudeData &korVehicleAttitude)
	Build navigation data accuracy message.

STimeOfLatestSyncPulseMessage	BuildTimeOfLatestSyncPulseMessage (uint64_t uTimestamp)
	Build time of the latest sync pulse message.

SSoftwareVersionMessage	BuildSoftwareVersionMessage ()
	Build the software version message.

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

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_ { 2U }
	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() - 1) }
	Integer to float, +-5g range.

static constexpr float	skfAngularRateScale_ { skfMaxAngularRate_ / static_cast<float>(std::numeric_limits<int16_t>::max() - 1) }
	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

typedef uint32_t CSerialProtocol::CrcType_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
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.

Constructor & Destructor Documentation

◆ CSerialProtocol()

CSerialProtocol::CSerialProtocol ( )

default

◆ ~CSerialProtocol()

CSerialProtocol::~CSerialProtocol ( )

default

Member Function Documentation

◆ BuildAccuracyDataMessage()

CSerialProtocol::SAccuracyDataMessage CSerialProtocol::BuildAccuracyDataMessage ( const SAttitudeData & korVehicleAttitude )

Build navigation data accuracy message.

Parameters

korVehicleAttitude Reference to vehicle attitude data.

Returns: Accuracy data message.

◆ BuildInertialDataMessage()

CSerialProtocol::SInertialDataMessage CSerialProtocol::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 CSerialProtocol::BuildNavigationDataMessage	(	const SVerticalChannelData &	korVerticalChannelData,
		const SAttitudeData &	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 CSerialProtocol::BuildSoftwareVersionMessage ( )

Build the software version message.

Returns: The software version message struct.

◆ BuildTimeOfInertialDataMessage()

CSerialProtocol::STimeOfInertialDataMessage CSerialProtocol::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 CSerialProtocol::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 CSerialProtocol::BuildTimeOfNavigationDataMessage ( const SAttitudeData & korVehicleAttitude )

Build time of navigation data message.

Parameters

korVehicleAttitude Reference to vehicle attitude data.

Returns: Time of navigation data message.

◆ CalculateCrc()

uint32_t CSerialProtocol::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

◆ 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() - 1) }

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() - 1) }

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_ { 2U }

staticconstexpr

Protocol version.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ CrcType_t

Member Enumeration Documentation

◆ EMessageIds

Constructor & Destructor Documentation

◆ CSerialProtocol()

◆ ~CSerialProtocol()

Member Function Documentation

◆ BuildAccuracyDataMessage()

◆ BuildInertialDataMessage()

◆ BuildNavigationDataMessage()

◆ BuildSoftwareVersionMessage()

◆ BuildTimeOfInertialDataMessage()

◆ BuildTimeOfLatestSyncPulseMessage()

◆ BuildTimeOfNavigationDataMessage()

◆ CalculateCrc()

Member Data Documentation

◆ skfAngleScale_

◆ skfAngularRateScale_

◆ skfHeighOffset_

◆ skfHeightScale_

◆ skfMaxAngularRate_

◆ skfMaxHeight_

◆ skfMaxSpecificForce_

◆ skfMaxVelocityDown_

◆ skfMinHeight_

◆ skfMinVelocityDown_

◆ skfSpecificForceScale_

◆ skfVelocityDownScale_

◆ uMarker1_

◆ uMarker2_

◆ uVersion_