imu_advanced_navigation_anpp::protocol Namespace Reference

Classes
struct	Acceleration
struct	Acknowledge
struct	Alignment
struct	AngularAcceleration
struct	AngularVelocity
struct	BaudRates
struct	BodyAcceleration
struct	BodyVelocity
struct	BootMode
struct	ColdStartReset
struct	DetailedSatellites
struct	DeviceInformation
struct	EulerOrientationStandardDeviation
struct	FilterOptions
struct	GeodeticPosition
struct	GeodeticPositionStandardDeviation
struct	Header
struct	HotStartReset
struct	LocalMagneticField
struct	MagneticCalibrationConfiguration
struct	MagneticCalibrationStatus
struct	MagneticCalibrationValues
struct	NEDVelocity
struct	NEDVelocityStandardDeviation
struct	NorthSeekingInitializationStatus
struct	PacketPeriods
struct	PacketTimerPeriod
struct	QuaternionOrientation
struct	RawGNSS
struct	RawSensors
struct	Request
struct	RestoreFactorySettings
struct	SatelliteInfo
struct	Satellites
struct	Status
struct	SystemState
struct	UnixTime

Enumerations
enum	BOOT_MODES { BOOT_TO_BOOTLOADER, BOOT_TO_PROGRAM }
enum	RAW_GNSS_STATUS {   RAW_GNSS_FIX_STATUS_MASK = 0x07, RAW_GNSS_NO_FIX = 0x00, RAW_GNSS_2D = 0x01, RAW_GNSS_3D = 0x02,   RAW_GNSS_SBAS = 0x03, RAW_GNSS_DGPS = 0x04, RAW_GNSS_OMNISTAR = 0x05, RAW_GNSS_RTK_FLOAT = 0x06,   RAW_GNSS_RTK_FIXED = 0x07, RAW_GNSS_HAS_DOPPLER_VELOCITY = 0x08, RAW_GNSS_HAS_TIME = 0x10, RAW_GNSS_EXTERNAL = 0x20,   RAW_GNSS_HAS_TILT = 0x40, RAW_GNSS_HAS_HEADING = 0x80, RAW_GNSS_HAS_FLOATING_AMBIGUITY_HEADING = 0x100 }
enum	SATELLITE_SYSTEM {   SATELLITE_SYSTEM_UNKNOWN, SATELLITE_SYSTEM_GPS, SATELLITE_SYSTEM_GLONASS, SATELLITE_SYSTEM_BEIDOU,   SATELLITE_SYSTEM_GALILEO, SATELLITE_SYSTEM_SBAS, SATELLITE_SYSTEM_QZSS, SATELLITE_SYSTEM_STARFIRE,   SATELLITE_SYSTEM_OMNISTAR }
enum	SATELLITE_FREQUENCIES {   SATELLITE_FREQUENCY_L1CA = 0x01, SATELLITE_FREQUENCY_L1C = 0x02, SATELLITE_FREQUENCY_L1P = 0x04, SATELLITE_FREQUENCY_L1M = 0x08,   SATELLITE_FREQUENCY_L2C = 0x10, SATELLITE_FREQUENCY_L2P = 0x20, SATELLITE_FREQUENCY_L2M = 0x40, SATELLITE_FREQUENCY_L5 = 0x80 }
enum	MAGNETIC_CALIBRATION_ACTIONS { MAGNETIC_CALIBRATION_CANCEL, MAGNETIC_CALIBRATION_START_2D, MAGNETIC_CALIBRATION_START_3D, MAGNETIC_CALIBRATION_RESET }

Functions
template<typename T , typename InputIterator >
T	read16 (InputIterator it)
template<typename T , typename InputIterator >
T	read32 (InputIterator it)
template<typename T , typename InputIterator >
T	read64 (InputIterator it)
template<typename T , typename Out >
void	write16 (Out out, T sample)
template<typename T , typename Out >
void	write32 (Out out, T sample)
template<typename T , typename Out >
void	write64 (Out out, T sample)
struct imu_advanced_navigation_anpp::protocol::Header	__attribute__ ((packed))
uint16_t	crc (uint8_t const *begin, uint8_t const *end)
template<typename Packet , typename Driver >
Header	writePacket (Driver &driver, Packet const &packet)
template<typename Packet , typename Driver >
Packet	waitForPacket (Driver &driver, base::Time const &_timeout)
template<typename Driver >
ACK_RESULTS	waitForAck (Driver &driver, Header const &header, base::Time const &_timeout)
template<typename Driver >
void	validateAck (Driver &driver, Header const &header, base::Time const &_timeout)
template<typename Packet , typename Driver >
Packet	query (Driver &driver)
template<typename Driver >
Header	writePacketPeriod (Driver &driver, uint8_t packet_id, int period, bool clear_existing)

Variables
enum imu_advanced_navigation_anpp::protocol::BOOT_MODES	__attribute__

Detailed Description

Implementation of the ANPP protocol itself

A iodrivers_base driver that uses this protocol is provided as Driver

The general structure is that there is one struct per packet. Thse structs represent the fixed-size part of the packet - some packets have variable sizes. Structs that are meant to be sent to the device have a marshal() method that returns the packet payload as a set of bytes. Structs that are meant to be received have an unmarshal() static method that return the struct from the payload data.

Enumeration Type Documentation

BOOT_MODES

enum imu_advanced_navigation_anpp::protocol::BOOT_MODES

Boot modes

Enumerator
BOOT_TO_BOOTLOADER
BOOT_TO_PROGRAM

MAGNETIC_CALIBRATION_ACTIONS

enum imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_ACTIONS

Enumerator
MAGNETIC_CALIBRATION_CANCEL
MAGNETIC_CALIBRATION_START_2D
MAGNETIC_CALIBRATION_START_3D
MAGNETIC_CALIBRATION_RESET

RAW_GNSS_STATUS

enum imu_advanced_navigation_anpp::protocol::RAW_GNSS_STATUS

Enumerator
RAW_GNSS_FIX_STATUS_MASK
RAW_GNSS_NO_FIX
RAW_GNSS_2D
RAW_GNSS_3D
RAW_GNSS_SBAS
RAW_GNSS_DGPS
RAW_GNSS_OMNISTAR
RAW_GNSS_RTK_FLOAT
RAW_GNSS_RTK_FIXED
RAW_GNSS_HAS_DOPPLER_VELOCITY
RAW_GNSS_HAS_TIME
RAW_GNSS_EXTERNAL
RAW_GNSS_HAS_TILT
RAW_GNSS_HAS_HEADING
RAW_GNSS_HAS_FLOATING_AMBIGUITY_HEADING

SATELLITE_FREQUENCIES

enum imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCIES

Bitfield values to represent supported frequencies

Enumerator
SATELLITE_FREQUENCY_L1CA
SATELLITE_FREQUENCY_L1C
SATELLITE_FREQUENCY_L1P
SATELLITE_FREQUENCY_L1M
SATELLITE_FREQUENCY_L2C
SATELLITE_FREQUENCY_L2P
SATELLITE_FREQUENCY_L2M
SATELLITE_FREQUENCY_L5

SATELLITE_SYSTEM

enum imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM

Enumerator
SATELLITE_SYSTEM_UNKNOWN
SATELLITE_SYSTEM_GPS
SATELLITE_SYSTEM_GLONASS
SATELLITE_SYSTEM_BEIDOU
SATELLITE_SYSTEM_GALILEO
SATELLITE_SYSTEM_SBAS
SATELLITE_SYSTEM_QZSS
SATELLITE_SYSTEM_STARFIRE
SATELLITE_SYSTEM_OMNISTAR

Function Documentation

__attribute__()

struct imu_advanced_navigation_anpp::protocol::Header imu_advanced_navigation_anpp::protocol::__attribute__

(

(packed)

)

crc()

uint16_t imu_advanced_navigation_anpp::protocol::crc	(	uint8_t const *	begin,
		uint8_t const *	end
	)

Compute the CRC as expected by the protocol

query()

template<typename Packet , typename Driver >

Packet imu_advanced_navigation_anpp::protocol::query ( Driver &  driver )

inline

read16()

template<typename T , typename InputIterator >

T imu_advanced_navigation_anpp::protocol::read16 ( InputIterator  it )

inline

Helper function to read a 64 bit value from a byte stream

read32()

template<typename T , typename InputIterator >

T imu_advanced_navigation_anpp::protocol::read32 ( InputIterator  it )

inline

Helper function to read a 64 bit value from a byte stream

read64()

template<typename T , typename InputIterator >

T imu_advanced_navigation_anpp::protocol::read64 ( InputIterator  it )

inline

Helper function to read a 32 bit value from a byte stream

validateAck()

template<typename Driver >

void imu_advanced_navigation_anpp::protocol::validateAck ( Driver &  driver, Header const &  header, base::Time const &  _timeout  )

inline

waitForAck()

template<typename Driver >

ACK_RESULTS imu_advanced_navigation_anpp::protocol::waitForAck ( Driver &  driver, Header const &  header, base::Time const &  _timeout  )

inline

waitForPacket()

template<typename Packet , typename Driver >

Packet imu_advanced_navigation_anpp::protocol::waitForPacket ( Driver &  driver, base::Time const &  _timeout  )

inline

write16()

template<typename T , typename Out >

void imu_advanced_navigation_anpp::protocol::write16 ( Out  out, T  sample  )

inline

Helper function to write a 16 bit value into a byte stream

write32()

template<typename T , typename Out >

void imu_advanced_navigation_anpp::protocol::write32 ( Out  out, T  sample  )

inline

Helper function to read a 64 bit value from a byte stream

write64()

template<typename T , typename Out >

void imu_advanced_navigation_anpp::protocol::write64 ( Out  out, T  sample  )

inline

Helper function to read a 32 bit value from a byte stream

writePacket()

template<typename Packet , typename Driver >

Header imu_advanced_navigation_anpp::protocol::writePacket ( Driver &  driver, Packet const &  packet  )

inline

writePacketPeriod()

template<typename Driver >

Header imu_advanced_navigation_anpp::protocol::writePacketPeriod ( Driver &  driver, uint8_t  packet_id, int  period, bool  clear_existing  )

inline

Variable Documentation

__attribute__

struct imu_advanced_navigation_anpp::protocol::MagneticCalibrationStatus imu_advanced_navigation_anpp::protocol::__attribute__