Version bump to 0.9.17-alpha

	- types.h partially documented
	- Added native support for RTC origin setup
	- Tested convenience delays for RTC origin setup

Author: twdragon

include/witmotion/types.h

@@ -55,6 +55,11 @@ enum witmotion_packet_id
     pidGPSAccuracy = 0x5A ///< GPS: visible satellites + variance vector [East-North-Up] (16-bit binary normalized quasi-floats)
 };
 
+/*!
+  \brief Packet ID set to retrieve descriptions via \ref witmotion_packet_descriptions.
+
+  Contains values referenced in \ref witmotion_packet_id enumeration to explicitly determine a set of currently supported packet IDs. The packet IDs not referenced here sould not be considered supported.
+*/
 static const std::set<size_t> witmotion_registered_ids = {
     0x50,
     0x51,
@@ -69,6 +74,11 @@ static const std::set<size_t> witmotion_registered_ids = {
     0x5A
 };
 
+/*!
+  \brief Packet ID string set to store built-in descriptions for \ref message_enumerator.
+
+  Contains values referenced in \ref witmotion_packet_id enumeration with corresponding description strings used by \ref message_enumerator application.
+*/
 static const std::map<uint8_t, std::string> witmotion_packet_descriptions = {
     {0x50, "Real Time Clock"},
     {0x51, "Accelerations"},
@@ -103,7 +113,8 @@ struct witmotion_datapacket
 /*!
  * \brief List of configuration slots (registers) available for the library.
  *
- * List of configuration slots (registers) available for the library. The actual availability depends from the actual sensor and installation circuit. Please refer to the official documentation for detailed explanation.
+ * List of configuration slots (registers) available for the library. The actual availability depends from the actual sensor and installation circuit.
+ * Please refer to the official documentation for detailed explanation. **NOTE**: values which are currently untested/unsupported by the certain sensors or known malfunction producers are marked here as following:
 */
 enum witmotion_config_register_id
 {
@@ -116,18 +127,51 @@ enum witmotion_config_register_id
       - `0x03` - Altitude reset (only for barometric altimeter)
     */
     ridCalibrate = 0x01,
+    /*!
+      Regulates sensor output. The value stored in \ref witmotion_config_packet.`raw` determines packet ID selection to output from low to high bits by offset. `0` means disabling of the selected data packet output.
+
+      |`raw[0]` offset|Packet type|`raw[1]` offset| Packet type|
+      |:-------------:|----------:|:-------------:|-----------:|
+      |0|\ref pidRTC|0|\ref pidGPSGroundSpeed|
+      |1|\ref pidAcceleration|1|\ref pidOrientation|
+      |2|\ref pidAngularVelocity|2|\ref pidGPSAccuracy|
+      |3|\ref pidAngles|3|Reserved|
+      |4|\ref pidMagnetometer|4|Reserved|
+      |5|\ref pidDataPortStatus|5|Reserved|
+      |6|\ref pidAltimeter|6|Reserved|
+      |7|\ref pidGPSCoordinates|7|Reserved|
+    */
     ridOutputValueSet = 0x02,
+    /*!
+      Regulates output frequency. **NOTE**: the maximum available frequency is determined internally by the available bandwidth obtained from \ref ridPortBaudRate.
+      The actual value stored in \ref witmotion_config_packet.`raw[0]` can be determined from the following table. \ref witmotion_config_packet.`raw[1]` is set to `0x00`. Also the table contains argument value for \ref witmotion_output_frequency helper function which is used by the controller applications.
+
+      |**Frequency, Hz**|0 (shutdown)|0 (single measurement)|0.1   |0.5   |1     |2     |5     |10    |20    |50    |100   |125   |200   |
+      |:----------------|:----------:|:--------------------:|:----:|:----:|:----:|:----:|:----:|:----:|:----:|:----:|:----:|:----:|:----:|
+      |**Value**        |`0x0D`      |`0x0C`                |`0x01`|`0x02`|`0x03`|`0x04`|`0x05`|`0x06`|`0x07`|`0x08`|`0x09`|`0x0A`|`0x0B`|
+      |**Argument**     | 0          | -1                   | -10  | -2   | 1    | 2    | 5    | 10   | 20   | 50   | 100  | 125  | 200  |
+    */
     ridOutputFrequency = 0x03,
+    /*!
+      Regulates port baud rate. **NOTE**: the sensor has no possibility of hardware flow control and it cannot report to the system what baud rate should be explicitly used!
+      The actual value stored in \ref witmotion_config_packet.`raw[0]` can be determined from the following table. \ref witmotion_config_packet.`raw[1]` is set to `0x00`.
+      The \ref witmotion_baud_rate helper function argument is accepted as `QSerialPort::BaudRate` enumeration member, so only the speed inticated in that enumeration are explicitly supported.
+      |**Rate, baud**|1200/1400|4800  |9600  |19200 |38400 |57600 |115200|
+      |:-------------|:-------:|:----:|:----:|:----:|:----:|:----:|:----:|
+      |**Value**     |`0x00`   |`0x01`|`0x02`|`0x03`|`0x04`|`0x05`|`0x06`|
+
+      This parameter also implicitly sets \ref ridOutputFrequency to the maximal feasible value for the available bandwidth.
+    */
     ridPortBaudRate = 0x04,
-    ridAccelerationBiasX = 0x05,
-    ridAccelerationBiasY = 0x06,
-    ridAccelerationBiasZ = 0x07,
-    ridAngularVelocityBiasX = 0x08,
-    ridAngularVelocityBiasY = 0x09,
-    ridAngularVelocityBiasZ = 0x0A,
-    ridMagnetometerBiasX = 0x0B,
-    ridMagnetometerBiasY = 0x0C,
-    ridMagnetometerBiasZ = 0x0D,
+    ridAccelerationBiasX = 0x05, ///< Sets acceleration zero point bias for X axis
+    ridAccelerationBiasY = 0x06, ///< Sets acceleration zero point bias for Y axis
+    ridAccelerationBiasZ = 0x07, ///< Sets acceleration zero point bias for Z axis
+    ridAngularVelocityBiasX = 0x08, ///< Sets angular velocity zero point bias for X axis \note PROOFLESS
+    ridAngularVelocityBiasY = 0x09, ///< Sets angular velocity zero point bias for Y axis \note PROOFLESS
+    ridAngularVelocityBiasZ = 0x0A, ///< Sets angular velocity zero point bias for Z axis \note PROOFLESS
+    ridMagnetometerBiasX = 0x0B, ///< Sets magnetometer zero point bias for X axis \note PROOFLESS
+    ridMagnetometerBiasY = 0x0C, ///< Sets magnetometer zero point bias for Y axis \note PROOFLESS
+    ridMagnetometerBiasZ = 0x0D, ///< Sets magnetometer zero point bias for Z axis \note PROOFLESS
     ridPortModeD0 = 0x0E,
     ridPortModeD1 = 0x0F,
     ridPortModeD2 = 0x10,

include/witmotion/wt901-uart.h

@@ -3,6 +3,7 @@
 
 #include <QSerialPort>
 #include <QSerialPortInfo>
+#include <QDateTime>
 
 #include <iostream>
 #include <string>
@@ -50,6 +51,7 @@ class QWitmotionWT901Sensor: public QAbstractWitmotionSensorController
                                      float y,
                                      float z);
     virtual void SetI2CAddress(const uint8_t address);
+    virtual void SetRTC(const QDateTime datetime);
     virtual void ConfirmConfiguration();
     QWitmotionWT901Sensor(const QString device,
                           const QSerialPort::BaudRate rate,

src/jy901-control.cpp

@@ -120,6 +120,11 @@ int main(int argc, char** args)
                                         "HEX",
                                         "50");
     parser.addOption(I2CAddressOption);
+    QCommandLineOption RTCSetupOption("set-clock",
+                                      "Set realtime clock to ISO 8601 datetime [yyyy-MM-dd HH:mm:ss.mss] or NOW",
+                                      "DATE TIME",
+                                      "NOW");
+    parser.addOption(RTCSetupOption);
 
     parser.process(app);
 
@@ -458,7 +463,8 @@ int main(int argc, char** args)
             parser.isSet(AxisTransitionOption) ||
             parser.isSet(LEDOption) ||
             parser.isSet(DisableMeasurementOption) ||
-            parser.isSet(AccelerationBiasOption))
+            parser.isSet(AccelerationBiasOption) ||
+            parser.isSet(RTCSetupOption))
     {
         std::cout << "Non-blocking configuration, please wait..." << std::endl;
         sensor.UnlockConfiguration();
@@ -592,6 +598,17 @@ int main(int argc, char** args)
             else
                 std::cout << "ERROR: Cannot parse value list for acceleration biases. Please use <X:Y:Z> formulation" << std::endl;
         }
+        if(parser.isSet(RTCSetupOption))
+        {
+            if(parser.value(RTCSetupOption).toUpper() == "NOW")
+                sensor.SetRTC(QDateTime::currentDateTime());
+            else
+            {
+                QDateTime datetime = QDateTime::fromString(parser.value(RTCSetupOption), Qt::ISODateWithMs);
+                sensor.SetRTC(datetime);
+                sleep(1);
+            }
+        }
         sensor.ConfirmConfiguration();
         std::cout << "Reconfiguration completed, proceeding to normal operation" << std::endl << std::endl;
     }

src/wt901-control.cpp

@@ -119,6 +119,11 @@ int main(int argc, char** args)
                                         "HEX",
                                         "50");
     parser.addOption(I2CAddressOption);
+    QCommandLineOption RTCSetupOption("set-clock",
+                                      "Set realtime clock to ISO 8601 datetime [yyyy-MM-dd HH:mm:ss.mss] or NOW",
+                                      "DATE TIME",
+                                      "NOW");
+    parser.addOption(RTCSetupOption);
 
     parser.process(app);
 
@@ -441,7 +446,8 @@ int main(int argc, char** args)
             parser.isSet(AxisTransitionOption) ||
             parser.isSet(LEDOption) ||
             parser.isSet(DisableMeasurementOption) ||
-            parser.isSet(AccelerationBiasOption))
+            parser.isSet(AccelerationBiasOption) ||
+            parser.isSet(RTCSetupOption))
     {
         std::cout << "Non-blocking configuration, please wait..." << std::endl;
         sensor.UnlockConfiguration();
@@ -571,6 +577,17 @@ int main(int argc, char** args)
             else
                 std::cout << "ERROR: Cannot parse value list for acceleration biases. Please use <X:Y:Z> formulation" << std::endl;
         }
+        if(parser.isSet(RTCSetupOption))
+        {
+            if(parser.value(RTCSetupOption).toUpper() == "NOW")
+                sensor.SetRTC(QDateTime::currentDateTime());
+            else
+            {
+                QDateTime datetime = QDateTime::fromString(parser.value(RTCSetupOption), Qt::ISODateWithMs);
+                sensor.SetRTC(datetime);
+                sleep(1);
+            }
+        }
         sensor.ConfirmConfiguration();
         std::cout << "Reconfiguration completed, proceeding to normal operation" << std::endl << std::endl;
     }

src/wt901-uart.cpp

@@ -248,9 +248,7 @@ void QWitmotionWT901Sensor::SetAccelerationBias(float x, float y, float z)
 void QWitmotionWT901Sensor::SetI2CAddress(const uint8_t address)
 {
     if(address > 0x7F)
-    {
         emit ErrorOccurred("I2C address is hexadecimal int, 7 bits long. Dropping request");
-    }
     else
     {
         witmotion_config_packet config_packet;
@@ -265,6 +263,40 @@ void QWitmotionWT901Sensor::SetI2CAddress(const uint8_t address)
     }
 }
 
+void QWitmotionWT901Sensor::SetRTC(const QDateTime datetime)
+{
+    if(!datetime.isValid())
+        emit ErrorOccurred("Invalid date string specified. Dropping request");
+    else
+    {
+        witmotion_config_packet config_packet;
+        config_packet.header_byte = WITMOTION_CONFIG_HEADER;
+        config_packet.key_byte = WITMOTION_CONFIG_KEY;
+        ttyout << "Setting up RTC date/time origin" << ENDL;
+        config_packet.address_byte = ridTimeMilliseconds;
+        uint16_t msec = static_cast<uint16_t>(datetime.time().msec());
+        std::copy(&msec, &msec + 1, config_packet.setting.raw);
+        emit SendConfig(config_packet);
+        usleep(100000);
+        config_packet.address_byte = ridTimeMinuteSecond;
+        config_packet.setting.raw[0] = static_cast<uint8_t>(datetime.time().minute());
+        config_packet.setting.raw[1] = static_cast<uint8_t>(datetime.time().second());
+        emit SendConfig(config_packet);
+        sleep(1);
+        config_packet.address_byte = ridTimeDayHour;
+        config_packet.setting.raw[0] = static_cast<uint8_t>(datetime.date().day());
+        config_packet.setting.raw[1] = static_cast<uint8_t>(datetime.time().hour());
+        emit SendConfig(config_packet);
+        sleep(1);
+        config_packet.address_byte = ridTimeYearMonth;
+        config_packet.setting.raw[0] = static_cast<uint8_t>(datetime.date().year() - 2000);
+        config_packet.setting.raw[1] = static_cast<uint8_t>(datetime.date().month());
+        emit SendConfig(config_packet);
+        sleep(1);
+    }
+
+}
+
 QWitmotionWT901Sensor::QWitmotionWT901Sensor(const QString device,
                                              const QSerialPort::BaudRate rate,
                                              const uint32_t polling_period):

version

@@ -1 +1 @@
-0.8.22-alpha
+0.9.17-alpha