kvh::KvhDeviceConfig Class Reference

#include <kvh_geo_fog_3d_device_configuration.hpp>

Static Public Member Functions
static int	CalculateRequiredBaud (KvhPacketRequest &)
static int	CreateFilterOptionsPacket (filter_options_packet_t &, bool _permanent=true, uint8_t _vehicle_type=vehicle_type_car, bool _internal_gnss_enabled=true, bool _atmospheric_altitude_enabled=true, bool _velocity_heading_enabled=true, bool _reversing_detection_enabled=true, bool _motion_analysis_enabled=true)
static int	CreateOdometerOptionsPacket (odometer_configuration_packet_t &, bool _permanent=true, float _odom_pulse_to_meters=0.000583, bool _odom_auto_cal=true)
static int	CreatePacketPeriodsPacket (KvhPacketRequest &_packetsRequested, packet_periods_packet_t &_packetPeriods)
static int	FindCurrentBaudRate (std::string, int)
	This function tries each possible setting of baudrates until it either finds one that is receiving packets from the kvh, or runs out of possibilities. More...
static int	SetBaudRate (std::string _port, int _curBaudRate, int _primaryBaudRate, int _gpioBaudRate=115200, int _auxBaudRate=115200)
	This function can be used to set the buad rate independent of the other functions of the driver. In most cases baud will need to be set once at the beginning, and then left alone unless more packets are added. More...

Detailed Description

Definition at line 47 of file kvh_geo_fog_3d_device_configuration.hpp.

Member Function Documentation

CalculateRequiredBaud()

int kvh::KvhDeviceConfig::CalculateRequiredBaud ( KvhPacketRequest &  _packetsRequested )

static

kvh::KvhPacketRequest packetRequest = {
   // Create packet timer
}
kvh::KvhDeviceConfig::CalculateRequiredBaud(packetRequest);

Parameters

_packetsRequested

[in] The list of selected packet id's and their associated frequencies

CALCULATING BAUDRATE Formula: Data throughput = (packet_length + 5 (for fixed packet overhead)) * rate Minimum baud = data throughput * 11

Attention

The maximum allowable hz is 1000, any input above that will return an error code

Returns

int The required baud rate for the packets requested. >= 0 = Success, calculated baud rate -1 = Unsupported packet entered -2 = Duplicate packat id's -3 = Packet frequency exceeds max hz

Definition at line 321 of file device_configuration.cpp.

CreateFilterOptionsPacket()

int kvh::KvhDeviceConfig::CreateFilterOptionsPacket ( filter_options_packet_t &  _filterOptions, bool  _permanent = true, uint8_t  _vehicle_type = vehicle_type_car, bool  _internal_gnss_enabled = true, bool  _atmospheric_altitude_enabled = true, bool  _velocity_heading_enabled = true, bool  _reversing_detection_enabled = true, bool  _motion_analysis_enabled = true  )

static

filter_options_packet_t filterOptions;
if (kvh::KvhDeviceConfig::CreateFilterOptionsPacket(filterOptions, ... // Additional options) != 0)
   // Error
// Use filter options

Parameters

[out]	_filterOptions	The created filter options packet
[in]	_permanent	Whether the options should persist through reset. Default true
[in]	_vehicle_type	Determines the type of the vehicle. Used in internal kalman filter. Default: vehicle_type_car, range 0-13
[in]	_internal_gnss_enabled	Whether gnss capabilities are enabled. Default true
[in]	_atmospheric_altitude_enabled	Whether atmospheric altitude capabilitites are enabled. Default true
[in]	_velocity_heading_enabled	Whether velocity heading is enabled. Default true
[in]	_reversing_detection_enabled	Whether detecting reverse motion is enabled. Default true
[in]	_motion_analysis_enabled	Whether motion analysis is enabled. Default true

Returns

int 0 = Success -1 = Vehicle type out of range

Definition at line 138 of file device_configuration.cpp.

CreateOdometerOptionsPacket()

int kvh::KvhDeviceConfig::CreateOdometerOptionsPacket ( odometer_configuration_packet_t &  _odometerOptions, bool  _permanent = true, float  _odom_pulse_to_meters = 0.000583, bool  _odom_auto_cal = true  )

static

odometer_configuration_packet_t odometerOptions;
if (kvh::KvhDeviceConfig::CreateOdometerOptionsPacket(odometerOptions, ... // Additional options) != 0)
   // Error
// Use filter options

Parameters

[out]	_odometerOptions	The created odometer options packet
[in]	_permanent	Whether the options should persist through reset. Default true
[in]	_odom_pulse_to_meters	The number of meters traveled per pulse
[in]	_odom_auto_cal	If the KVH should automatically calibrate the odometer

Returns

int 0 = Success -2 = Vehicle type out of range

Definition at line 176 of file device_configuration.cpp.

CreatePacketPeriodsPacket()

int kvh::KvhDeviceConfig::CreatePacketPeriodsPacket ( KvhPacketRequest &  _packetsRequested, packet_periods_packet_t &  _packetPeriods  )

static

kvh::KvhPacketRequest packRequest = {
   // Fill in packets
}
packet_periods_packet_t periodsPacket;
if (kvh::KvhDeviceConfig::CreatePacketPeriodsPacket(packRequest, periodsPacket) != 0)
   // Error
// Use packet periods packet

Parameters

[in]	_packetsRequested	Vector of the packets requested and their associated frequencies
[out]	_packetPeriods	A correctly constructed packet periods packet

Returns

int 0 = Success >0 = Number of unsupported or duplicated packets <0 = Error: Too many packets requested

PACKET RATE -> PACKET PERIOD Formula for how packet frequency relates to packet period: Packet Rate = 1000000/(Packet Period * Packet Timer Period)Hz - From Manual

Packet Timer Period can also be set, but we will use its default of 1000us for now So, given packet rate, the packet period we need to input is

1000000/(Packet Rate * 1000) = Packet Period 1000/Packet Rate = Packet Period

Definition at line 75 of file device_configuration.cpp.

FindCurrentBaudRate()

int kvh::KvhDeviceConfig::FindCurrentBaudRate ( std::string  _port, int  _startingBaud  )

static

This function tries each possible setting of baudrates until it either finds one that is receiving packets from the kvh, or runs out of possibilities.

std::string port{'/dev/ttyUSB1'};
int curBaud = FindCurrentBaudRate(port);

Parameters

[in]

_port

The port on the computer the kvh is connected to (e.g. '/dev/ttyUSB0')

Returns

int The current baudrate of the kvh if found, -1 otherwise

Definition at line 250 of file device_configuration.cpp.

SetBaudRate()

int kvh::KvhDeviceConfig::SetBaudRate ( std::string  _port, int  _curBaudRate, int  _primaryBaudRate, int  _gpioBaudRate = 115200, int  _auxBaudRate = 115200  )

static

This function can be used to set the buad rate independent of the other functions of the driver. In most cases baud will need to be set once at the beginning, and then left alone unless more packets are added.

std::string port{'/dev/USB0'};
int curBaud = 115200;
int prevBaud = 9600;
kvh::KvhDeviceConfig::SetBaudRate(port, curBaud, prevBaud);

Parameters

[in]	_port	The port connected to the kvh (Ex. /dev/ttyS0)
[in]	_curBaudRate	The current baud rate, required to connect and change baud rate
[in]	_primaryBaudRate	The rate to use for the primary RS-422 communications
[in]	_gpioBaudRate	The rate to use for the GPIO pins
[in]	_auxBaudRate	The rate to use for the Auxiliary RS-232 port

Todo:

Add way to set gpio and auxiliary baud rates to their current values

Figure out how this function may be tested better

Returns

int -1 = Failure to open port -2 = Failure to set baud rate

Definition at line 208 of file device_configuration.cpp.

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

• kvh_geo_fog_3d_device_configuration.hpp
• device_configuration.cpp