Driver class for VN300 IMU. More...

#include <VN300.h>

Inheritance diagram for Boardcore::VN300:

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Collaboration diagram for Boardcore::VN300:

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Public Member Functions
	VN300 (USART &usart, int userBaudRate, VN300Defs::SampleOptions sampleOption, CRCOptions crc, std::chrono::milliseconds timeout, VN300Defs::AntennaPosition antPosA={0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, VN300Defs::AntennaPosition antPosB={1.0, 0.0, 0.0, 0.0, 0.0, 0.0}, Eigen::Matrix3f rotMat=Eigen::Matrix3f::Identity())
	Constructor.

bool	init () override
	Initialize the sensor.

bool	selfTest () override
	Check if the sensor is working.

Public Member Functions inherited from Boardcore::Sensor< VN300Data >
	Sensor ()

	Sensor (Sensor &&other)

virtual	~Sensor ()

void	sample () override
	Sample the sensor.

virtual VN300Data	getLastSample ()

Public Member Functions inherited from Boardcore::AbstractSensor
virtual	~AbstractSensor ()

SensorErrors	getLastError ()
	Get last error for debugging purposes. Avoid silent fails.

Public Member Functions inherited from Boardcore::VNCommonSerial
	VNCommonSerial (USART &usart, int baudrate, const char *sensorName, CRCOptions crc, const std::chrono::milliseconds timeout)
	Constructor.

	~VNCommonSerial ()

bool	closeAndReset ()
	Method to reset the sensor to default values and to close the connection. Used if you need to close and re initialize the sensor.

bool	startHSIEstimator (uint8_t convergeRate)
	Start the real-time hard/soft iron calibration. The algorithm will continue until stopHSIEstimator() is called.

bool	stopHSIEstimator ()
	Real-time hard/soft iron calibration algorithm is turned off.

std::string	getHSIEstimatorValues ()

bool	setMagnetometerCompensation (const Eigen::Matrix3f &c, const Eigen::Vector3f &b)
	Set custom compensation parameters for the magnetometer.

bool	setAccelerometerCompensation (const Eigen::Matrix3f &c, const Eigen::Vector3f &b)
	Set custom compensation parameters for the accelerometer.

bool	setGyroscopeCompensation (const Eigen::Matrix3f &c, const Eigen::Vector3f &b)
	Set custom compensation parameters for the gyroscope.

bool	saveConfiguration ()
	Write the current register settings into non-volatile memory. Once the settings are stored in non-volatile (Flash) memory, the VN module can be power cycled or reset, and the register will be reloaded from non-volatile memory.

bool	restoreFactorySettings ()
	Restore the VN module’s factory default settings and reset the module.

Protected Member Functions
VN300Data	sampleImpl () override
	Sample action implementation.

Protected Member Functions inherited from Boardcore::VNCommonSerial
uint8_t	calculateChecksum8 (const uint8_t *message, int length)
	Calculate the 8bit checksum on the given array.

uint16_t	calculateChecksum16 (const uint8_t *message, int length)
	Calculate the 16bit array on the given array.

bool	verifyChecksum (char *command, int maxLength)
	Method to verify the crc validity of a command.

bool	disableAsyncMessages (bool waitResponse)
	Disables the async messages that the sensor is default configured to send at 40Hz on startup.

bool	setCrc (bool waitResponse=true)
	Sets the user selected crc method.

void	configDefaultSerialPort ()
	Configures the default serial communication.

bool	configUserSerialPort ()
	Configures the user defined serial communication.

bool	verifyModelNumber (const char *expectedModelNumber)
	Verify the model number of the sensor.

template<typename T >
bool	getBinaryOutput (T &binaryData, const char *const sampleCommand)
	Utility function used to retrieve the binary output from the sensor.

uint8_t	checkErrorVN (const char *message)
	Check if the message received from the sensor contains an error.

bool	sendStringCommand (std::string command)
	Sends the command to the sensor with the correct checksum added so '*' symbol is not needed at the end of the string as well as the '$' at the beginning of the command. This function takes into account the time needed for the command to reach the sensor. DO NOT USE THIS FUNCTION IF LOW EXECUTION TIME IS NEEDED (for example when sending the sample command).

bool	recvStringCommand (char *command, int maxLength)
	Receives a command from the sensor but swaps the first with a \0 to close the message.

bool	writeRegister (const std::string &command)
	Utility function used to set a register on the sensor. This function relies on sendStringCommand: DO NOT USE THIS FUNCTION IF LOW EXECUTION TIME IS NEEDED.

Additional Inherited Members
Public Types inherited from Boardcore::Sensor< VN300Data >
using	DataType

Public Types inherited from Boardcore::VNCommonSerial
enum class	CRCOptions : uint8_t { CRC_NO = 0x00 , CRC_ENABLE_8 = 0x08 , CRC_ENABLE_16 = 0x10 }

Protected Attributes inherited from Boardcore::Sensor< VN300Data >
DataType	lastSample

miosix::FastMutex	mutex

Protected Attributes inherited from Boardcore::AbstractSensor
SensorErrors	lastError = SensorErrors::NO_ERRORS

Protected Attributes inherited from Boardcore::VNCommonSerial
USART &	usart
	Serial interface that is needed to communicate with the sensor via ASCII codes.

int	baudRate

CRCOptions	crc

PrintLogger	logger

std::array< char, recvStringMaxDimension >	recvString
	Buffer used to store the string received from the sensor.

uint8_t	recvStringLength = 0
	Actual strlen() of the recvString.

bool	isInit = false

Static Protected Attributes inherited from Boardcore::VNCommonSerial
static const int	DEFAULT_BAUDRATE = 115200
	Default baudrate value for the usart communication.

static const uint8_t	recvStringMaxDimension = 200
	Maximum size of the receiving string.

Detailed Description

Driver class for VN300 IMU.

Definition at line 37 of file VN300.h.

Constructor & Destructor Documentation

◆ VN300()

Boardcore::VN300::VN300	(	USART &	usart,
		int	userBaudRate,
		VN300Defs::SampleOptions	sampleOption,
		CRCOptions	crc,
		std::chrono::milliseconds	timeout,
		VN300Defs::AntennaPosition	antPosA = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
		VN300Defs::AntennaPosition	antPosB = {1.0, 0.0, 0.0, 0.0, 0.0, 0.0},
		Eigen::Matrix3f	rotMat = Eigen::Matrix3f::Identity() )

Constructor.

Parameters

usart	Serial bus used for the sensor.
BaudRate	different from the sensor's default [9600, 19200, 38400, 57600, 115200, 128000, 230400, 460800, 921600].
sampleOption	The data packet we want to sample.
crc	Checksum option.
timeout	The maximum time that will be waited when reading from the sensor.
antPosA	Antenna position A.
antPosB	Antenna position B.
rotMat	Rotation matrix.

Definition at line 31 of file VN300.cpp.

Member Function Documentation

◆ init()

bool Boardcore::VN300::init ( )

overridevirtual

Initialize the sensor.

Returns: boolean value indicating whether the operation succeded or not

Implements Boardcore::AbstractSensor.

Definition at line 43 of file VN300.cpp.

◆ sampleImpl()

VN300Data Boardcore::VN300::sampleImpl ( )

overrideprotectedvirtual

Sample action implementation.

Implements Boardcore::Sensor< VN300Data >.

Definition at line 146 of file VN300.cpp.

◆ selfTest()

bool Boardcore::VN300::selfTest ( )

overridevirtual

Check if the sensor is working.

Returns: boolean indicating whether the sensor is correctly working or not

Implements Boardcore::AbstractSensor.

Definition at line 144 of file VN300.cpp.

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

src/shared/sensors/Vectornav/VN300/VN300.h
src/shared/sensors/Vectornav/VN300/VN300.cpp

Public Member Functions

Protected Member Functions