From afb34b9082817dcb0ffc757ab652bec3d4191c46 Mon Sep 17 00:00:00 2001
From: Lorenzo Cucchi <lorenzo.cucchi@skywarder.eu>
Date: Fri, 23 Jun 2023 23:06:20 +0200
Subject: [PATCH] [VN300] added findBaudrate and asyncPause function
---
src/shared/sensors/VN300/VN300.cpp | 197 ++++++++++++++++++++++-------
src/shared/sensors/VN300/VN300.h | 25 +++-
2 files changed, 178 insertions(+), 44 deletions(-)
diff --git a/src/shared/sensors/VN300/VN300.cpp b/src/shared/sensors/VN300/VN300.cpp
index 881aad08a..ca802bd5e 100644
--- a/src/shared/sensors/VN300/VN300.cpp
+++ b/src/shared/sensors/VN300/VN300.cpp
@@ -72,12 +72,30 @@ bool VN300::init()
return false;
}
- if (!configDefaultSerialPort())
+ if (!findBaudrate())
{
- LOG_ERR(logger, "Unable to config the default VN300 serial port");
+ LOG_ERR(logger, "Unable to find the VN300 baudrate");
return false;
}
+ if (!asyncPause())
+ {
+ LOG_ERR(logger, "Unable to pause the async messages");
+ return false;
+ }
+
+ // if (!configDefaultSerialPort())
+ //{
+ // LOG_ERR(logger, "Unable to config the default VN300 serial port");
+ // return false;
+ // }
+
+ // if (!resetFactorySettings())
+ //{
+ // LOG_ERR(logger, "Unable to reset the VN300 to factory settings");
+ // return false;
+ // }
+
if (!setCrc(false))
{
LOG_ERR(logger, "Unable to set the VN300 user selected CRC");
@@ -90,6 +108,18 @@ bool VN300::init()
return false;
}
+ if (!setAntennaA(antPosA))
+ {
+ LOG_ERR(logger, "Unable to set antenna A position");
+ return false;
+ }
+
+ if (!setCompassBaseline(antPosB))
+ {
+ LOG_ERR(logger, "Unable to set compass baseline");
+ return false;
+ }
+
if (!setReferenceFrame(rotMat))
{
LOG_ERR(logger, "Unable to set reference frame rotation");
@@ -122,18 +152,6 @@ bool VN300::init()
return false;
}
- if (!setAntennaA(antPosA))
- {
- LOG_ERR(logger, "Unable to set antenna A position");
- return false;
- }
-
- if (!setCompassBaseline(antPosB))
- {
- LOG_ERR(logger, "Unable to set compass baseline");
- return false;
- }
-
// Set the isInit flag true
isInit = true;
@@ -240,7 +258,7 @@ bool VN300::writeSettingsCommand()
return false;
}
- miosix::Thread::sleep(1000);
+ miosix::Thread::sleep(500);
return true;
}
@@ -283,12 +301,11 @@ VN300Data VN300::sampleData()
usart.writeString(preSampleImuString->c_str());
// Wait some time
- // TODO dimension the time
- miosix::Thread::sleep(1);
if (!recvStringCommand(recvString, recvStringMaxDimension))
{
// If something goes wrong i return the last sampled data
+ assert(false);
return lastSample;
}
@@ -296,6 +313,7 @@ VN300Data VN300::sampleData()
{
LOG_WARN(logger, "VN300 sampling message invalid checksum");
// If something goes wrong i return the last sampled data
+ assert(false);
return lastSample;
}
@@ -308,18 +326,17 @@ VN300Data VN300::sampleData()
usart.writeString(preSampleINSlla->c_str());
// Wait some time
- // TODO dimension the time
- miosix::Thread::sleep(1);
if (!recvStringCommand(recvString, recvStringMaxDimension))
{
+ LOG_WARN(logger, "Unable to sample due to serial communication error");
return lastSample;
}
if (!verifyChecksum(recvString, recvStringLength))
{
LOG_WARN(logger, "VN300 sampling message invalid checksum");
-
+ assert(false);
return lastSample;
}
@@ -328,6 +345,17 @@ VN300Data VN300::sampleData()
return VN300Data(quat, mag, acc, gyro, ins);
}
+bool VN300::asyncPause()
+{
+ std::string command = "$VNASY,0*XX\n\0";
+
+ usart.writeString(command.c_str());
+
+ miosix::Thread::sleep(1000);
+
+ return true;
+}
+
bool VN300::disableAsyncMessages(bool waitResponse)
{
// Command string
@@ -361,6 +389,34 @@ bool VN300::configDefaultSerialPort()
return true;
}
+bool VN300::findBaudrate()
+{
+ for (uint32_t i = 0; i < BaudrateList.size(); i++)
+ {
+ // I set the baudrate
+ usart.setBaudrate(BaudrateList[i]);
+ printf("Baudrate: %d\n", BaudrateList[i]);
+ char initChar;
+ uint64_t in_time = miosix::getTick();
+ while (miosix::getTick() - in_time < 30)
+ {
+ usart.writeString("$VNRRG,01*XX\n");
+ // Read the first char
+ if (usart.read(&initChar, 1))
+ {
+ // If it is a '$' i break
+ if (initChar == '$')
+ {
+ return true;
+ }
+ }
+ }
+ }
+
+ // If i'm here, i didn't find the correct baudrate
+ return false;
+}
+
/**
* Even if the user configured baudrate is the default, I want to reset the
* buffer to clean the junk.
@@ -370,7 +426,7 @@ bool VN300::configUserSerialPort()
std::string command;
// I format the command to change baud rate
- command = fmt::format("{}{}", "VNWRG,5,2", baudRate);
+ command = fmt::format("{}{}", "VNWRG,5,", baudRate);
// I can send the command
if (!sendStringCommand(command))
@@ -378,10 +434,44 @@ bool VN300::configUserSerialPort()
return false;
}
- // I can open the serial with user's baud rate
- usart.setBaudrate(baudRate);
+ if (!recvStringCommand(recvString, recvStringMaxDimension))
+ {
+ LOG_WARN(logger, "Unable to sample due to serial communication error");
+ return false;
+ }
+
+ if (checkErrorVN(recvString))
+ {
+ LOG_WARN(logger, "Unable to change serial port baudrate");
+ return false;
+ }
+ else
+ {
+ // I can open the serial with user's baud rate
+ usart.setBaudrate(baudRate);
+ }
+
+ return true;
+}
+
+bool VN300::resetFactorySettings()
+{
+ // Command string
+ std::string command =
+ "VNRFS"; // Put 0 in register number 0 (Factory Settings)
+
+ // Send the command
+ if (!sendStringCommand(command))
+ {
+ return false;
+ }
+
+ // if (!recvStringCommand(recvString, recvStringMaxDimension))
+ //{
+ // LOG_WARN(logger, "Unable to sample due to serial communication
+ // error"); return false;
+ // }
- // Check correct serial init
return true;
}
@@ -481,7 +571,7 @@ bool VN300::setReferenceFrame(Eigen::Matrix3f rotMat)
std::string command;
command =
- fmt::format("{}{},{},{},{},{},{},{},{},{}", "VNWRG, 26", rotMat(0, 0),
+ fmt::format("{}{},{},{},{},{},{},{},{},{}", "VNWRG,26,", rotMat(0, 0),
rotMat(0, 1), rotMat(0, 2), rotMat(1, 0), rotMat(1, 1),
rotMat(1, 2), rotMat(2, 0), rotMat(2, 1), rotMat(2, 2));
@@ -662,7 +752,7 @@ Ins_Lla VN300::sampleIns()
char *nextNumber;
Ins_Lla data;
- // Look for the eleventh ',' in the string
+ // Look for the second ',' in the string
// I can avoid the string control because it has already been done in
// sampleImpl
for (int i = 0; i < 2; i++)
@@ -676,18 +766,19 @@ Ins_Lla VN300::sampleIns()
// Parse the data
data.insTimestamp = TimestampTimer::getTimestamp();
- data.time_gps = strtod(recvString + indexStart + 1, &nextNumber);
- data.week = strtod(nextNumber + 1, &nextNumber);
- data.status = strtod(nextNumber + 1, &nextNumber);
- data.yaw = strtof(nextNumber + 1, &nextNumber);
- data.pitch = strtof(nextNumber + 1, &nextNumber);
- data.roll = strtof(nextNumber + 1, &nextNumber);
- data.latitude = strtof(nextNumber + 1, &nextNumber);
- data.longitude = strtof(nextNumber + 1, &nextNumber);
- data.altitude = strtof(nextNumber + 1, &nextNumber);
- data.nedVelX = strtof(nextNumber + 1, &nextNumber);
- data.nedVelY = strtof(nextNumber + 1, &nextNumber);
- data.nedVelZ = strtof(nextNumber + 1, NULL);
+ data.time_gps = strtod(recvString + indexStart, &nextNumber);
+ data.week = static_cast<uint16_t>(strtol(nextNumber + 1, &nextNumber, 16));
+ data.status =
+ static_cast<uint16_t>(strtol(nextNumber + 1, &nextNumber, 16));
+ data.yaw = strtof(nextNumber + 1, &nextNumber);
+ data.pitch = strtof(nextNumber + 1, &nextNumber);
+ data.roll = strtof(nextNumber + 1, &nextNumber);
+ data.latitude = strtof(nextNumber + 1, &nextNumber);
+ data.longitude = strtof(nextNumber + 1, &nextNumber);
+ data.altitude = strtof(nextNumber + 1, &nextNumber);
+ data.nedVelX = strtof(nextNumber + 1, &nextNumber);
+ data.nedVelY = strtof(nextNumber + 1, &nextNumber);
+ data.nedVelZ = strtof(nextNumber + 1, NULL);
return data;
}
@@ -726,18 +817,33 @@ bool VN300::sendStringCommand(std::string command)
// I send the final command
usart.writeString(command.c_str());
- // Wait some time
- // TODO dimension the time
- // miosix::Thread::sleep(1);
-
return true;
}
bool VN300::recvStringCommand(char *command, int maxLength)
{
+ uint64_t end_time = 0;
+ uint64_t in_time = TimestampTimer::getTimestamp();
+ char initChar;
+ for (;;)
+ {
+ // Read the first char
+ if (!usart.readBlocking(&initChar, 1))
+ {
+ return false;
+ }
+ // If it is a '$' i break
+ if (initChar == '$')
+ {
+ break;
+ }
+ }
+ command[0] = '$';
+
int i = 0;
// Read the buffer
- if (!usart.readBlocking(command, maxLength))
+
+ if (!usart.readBlocking(command + 1, maxLength - 1))
{
return false;
}
@@ -746,6 +852,8 @@ bool VN300::recvStringCommand(char *command, int maxLength)
while (i < maxLength && command[i] != '\n')
{
i++;
+ // assert for testing purposes
+ assert(i < maxLength);
}
// Terminate the string
@@ -754,6 +862,9 @@ bool VN300::recvStringCommand(char *command, int maxLength)
// Assing the length
recvStringLength = i - 1;
+ end_time = TimestampTimer::getTimestamp() - in_time;
+ printf("Time to read: %lld\n", end_time);
+
return true;
}
diff --git a/src/shared/sensors/VN300/VN300.h b/src/shared/sensors/VN300/VN300.h
index af43c56f7..3ba621dfd 100644
--- a/src/shared/sensors/VN300/VN300.h
+++ b/src/shared/sensors/VN300/VN300.h
@@ -79,6 +79,8 @@ public:
CRC_ENABLE_16 = 0x10
};
+ std::array<uint32_t, 9> BaudrateList = {9600, 19200, 38400, 57600, 115200, 128000, 230400, 460800, 921600};
+
/**
* @brief Constructor.
*
@@ -90,7 +92,7 @@ public:
* @param antPos antenna A position
*/
VN300(USART &usart, int baudrate, CRCOptions crc = CRCOptions::CRC_ENABLE_8,
- uint16_t samplePeriod = 1,
+ uint16_t samplePeriod = 20,
AntennaPosition antPosA = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
AntennaPosition antPosB = {1.0, 0.0, 0.0, 0.0, 0.0, 0.0},
Eigen::Matrix3f rotMat = Eigen::Matrix3f::Identity());
@@ -138,6 +140,20 @@ private:
* @return VN300Data The sampled data
*/
VN300Data sampleData();
+
+ /**
+ * @brief Method to find the baudrate of the sensor at startup
+ *
+ * @return True if operation succeeded.
+ */
+ bool findBaudrate();
+
+ /**
+ * @brief pause asynchronous messages
+ *
+ * @return True if operation succeeded.
+ */
+ bool asyncPause();
/**
* @brief Disables the async messages that the VN300 is default configured
@@ -163,6 +179,13 @@ private:
*/
bool configUserSerialPort();
+ /**
+ * @brief reset to factory settings.
+ *
+ * @return True if operation succeeded.
+ */
+ bool resetFactorySettings();
+
/**
* @brief Sets the user selected crc method.
*
--
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