initial vectornav documentation

lib/interfaces/include/SABInterface.h

@@ -9,7 +9,7 @@
 #include "AnalogSensorsInterface.h"
 
 /**
- * The SAB Interface receieves CAN messages containing load cell and potentionmeter readings.
+ * The SAB Interface receieves CAN messages containing load cell and potentilmeter readings.
  * Through this interface values are parsed, updated, and converted to real units.
  */
 class SABInterface
@@ -25,7 +25,7 @@ class SABInterface
     AnalogChannel pot4;
 
     /**
-     * Constructor that defines conversion for both load cells and potentionmeter data
+     * Constructor that defines conversion for both load cells and potentiometer data
      * Defined offset and scale values from MCU_rev15_defs are used to convert from raw data to correct units (pounds)
      */
     SABInterface(

lib/interfaces/include/VectornavInterface.h

@@ -1,8 +1,13 @@
 #ifndef VECTORNAVINTERFACE
 #define VECTORNAVINTERFACE
+
+/* Library */
 #include "FlexCAN_T4.h"
 #include "hytech.h"
 
+/**
+ * Struct that holds gps, velocity/accel, and gyro data
+ */
 struct vector_nav {
         float velocity_x;
         float velocity_y; 
@@ -18,44 +23,117 @@ struct vector_nav {
         double longitude;
         double ecef_coords[3]; // x,y,z
         uint64_t gps_time; // gps time
-        uint8_t vn_status; // status
-        xyz_vec<float> angular_rates; 
+        uint8_t vn_status; // Vectornav status
+        xyz_vec<float> angular_rates; //TODO WHAT IS THIS
     };
 
+
+/**
+ * Generic data type for CAN message queue
+ */
+template <typename message_queue>
+
 /**
  * Interface for the VectorNAV. The VectorNAV is our GPS/IMU and it gives
  * extremely precise position and orientation data for the car.
  */
-template <typename message_queue>
 class VNInterface
 {
 private:
-    /* Watchdog last kicked time */
+    /**
+     * Circular buffer for CAN message queue. 
+     */
     message_queue *msg_queue_;
+
+    /**
+     * CAN ID
+     * Value is accessible with a getter but doesn't seem to be used
+     */
     uint32_t can_id_;
+
+    /**
+     * Instance of vector_nav struct that holds data parsed from CAN message
+     */
     vector_nav vn_data;
 
 public:
+    /**
+     * Constructor that sets msg_queue_ buffer to pointer to actual CAN output 
+     */
     VNInterface(message_queue *msg_output_queue) {
         msg_queue_ = msg_output_queue;
     };
 
-    // retrieve methods
+    /** 
+     * Functions to process received CAN message
+     * Updates appropriate vn_data fields with data unpacked and converted according to formulas in hytech.h
+     */
+
+    /**
+     * Updates velocity x, y, and z values. 
+     */
     void retrieve_velocity_CAN(CAN_message_t &recvd_msg);
 
+    /**
+     * Updates linear_accel x, y and z values.
+     */
     void retrieve_linear_accel_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates values for 3D uncompensated linear acceleration
+     * Stored in an array rather than individual x, y, z values
+     */
     void retrieve_uncompLinear_accel_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates yaw, pitch, and roll values
+     */
     void retrieve_ypr_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates lattitude and longitude values
+     */
     void retrieve_lat_lon_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates time value (units?) from GPS
+     */
     void retrieve_gps_time_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates vn_status
+     * TODO - what type of values are these
+     */
     void retrieve_vn_status_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates position x/y coordinates
+     * ECEF = Earth-centered Earth-fixed coordinates
+     */
     void retrieve_vn_ecef_pos_xy_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates position z coordinate
+     * ECEF = Earth-centered Earth-fixed coordinates
+     * Stored in same array as x/y
+     */
     void retrieve_vn_ecef_pos_z_CAN(CAN_message_t &recvd_msg);
+
+    /**
+     * Updates x, y, and z angular velocity rate 
+     */
     void receive_ang_rates_CAN(CAN_message_t &recvd_msg);
-    // getters
+
+    /**
+     * Getter for vn_data struct
+     */
     vector_nav get_vn_struct();
 
+    /**
+     * Getter for CAN ID
+     * Not actually used atm?
+     */
     uint32_t get_id() { return can_id_;};
 };
 #include "VectornavInterface.tpp"
-#endif /* __WATCHDOG_INTERFACE_H__ */
+#endif /* __VECTORNAV_INTERFACE_H__ */