VN100Serial.h

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/* Copyright (c) 2021 Skyward Experimental Rocketry
 * Author: Matteo Pignataro, Fabrizio Monti
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <sensors/Sensor.h>
#include <sensors/Vectornav/VNCommonSerial.h>
 
#include "VN100SerialData.h"
 
namespace Boardcore
{
 
class VN100Serial : public Sensor<VN100SerialData>, public VNCommonSerial
{
public:
    VN100Serial(USART& usart, int baudrate, CRCOptions crc,
                std::chrono::milliseconds timeout);
 
    bool init() override;
 
    bool selfTest() override;
 
protected:
    VN100SerialData sampleImpl() override;
 
private:
    struct __attribute__((packed)) BinaryData
    {
        uint8_t group;
        uint16_t group1;
        float quaternionX;
        float quaternionY;
        float quaternionZ;
        float quaternionW;
        float angularX;
        float angularY;
        float angularZ;
        float accelerationX;
        float accelerationY;
        float accelerationZ;
        float magneticFieldX;
        float magneticFieldY;
        float magneticFieldZ;
        float temperature;
        float pressure;
        uint16_t crc;
    };
 
    void buildBinaryData(const BinaryData& binData, VN100SerialData& data,
                         const uint64_t sampleTimestamp);
 
    bool setBinaryOutput();
 
    const char* askSampleCommand = "";
};
}  // namespace Boardcore