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Device Configuration Settings Control

Messages/types for configuring device parameters (lever arms, orientation, wheel speed settings, etc.). More...

Topics Index​

 @ref SatelliteType Bitmask Support

These values can be used to specify a bitmask for controlling enabled GNSS constellations. More...

 @ref FrequencyBand Bitmask Support

These values can be used to specify a bitmask for controlling enabled GNSS frequency bands. More...

Classes Index​

structCoarseOrientation

The orientation of a device with respect to the vehicle body axes. More...

structConfigResponseMessage

Response to a GetConfigMessage request (MessageType::CONFIG_RESPONSE, version 1). More...

structGetConfigMessage

Query the value of a user configuration parameter (MessageType::GET_CONFIG, version 1.1). More...

structHardwareTickConfig

Hardware wheel tick encoder configuration settings. More...

structIonosphereConfig

Ionospheric delay model configuration. More...

structPoint3f

A 3-dimensional vector (used for lever arms, etc.). More...

structSaveConfigMessage

Save or reload configuration settings (MessageType::SAVE_CONFIG, version 1). More...

structSetConfigMessage

Set a user configuration parameter (MessageType::SET_CONFIG, version 1). More...

structTroposphereConfig

Tropospheric delay model configuration. More...

structVehicleDetails

Information about the vehicle including model and dimensions. More...

structWheelConfig

Software vehicle/wheel speed measurement configuration settings. More...

Enumerations Index​

enum classAppliedSpeedType : uint8_t { ... }

The type of vehicle/wheel speed measurements to be applied. More...

enum classConfigType : uint16_t { ... }

An identifier for the contents of a parameter configuration message. More...

enum classConfigurationSource : uint8_t { ... }

The type of a device's configuration settings. More...

enum classIonoDelayModel : uint8_t { ... }

The ionospheric delay model to use. More...

enum classSaveAction : uint8_t { ... }

The type configuration save operation to be performed. More...

enum classSteeringType : uint8_t { ... }

Indication of which of the vehicle's wheels are steered. More...

enum classTickDirection : uint8_t { ... }

The way to interpret an incoming voltage signal, used to indicate direction of a hardware wheel tick pulse, if available. More...

enum classTickMode : uint8_t { ... }

The signal edge to use when capturing a wheel tick voltage signal. More...

enum classTropoDelayModel : uint8_t { ... }

The tropospheric delay model to use. More...

enum classVehicleModel : uint16_t { ... }

The make and model of the vehicle. More...

enum classWheelSensorType : uint8_t { ... }

The type of vehicle/wheel speed measurements produced by the vehicle. More...

Operators Index​

p1_ostream &operator<< (p1_ostream &stream, AppliedSpeedType applied_speed_type)

AppliedSpeedType stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, ConfigType type)

ConfigType stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, ConfigurationSource source)

ConfigurationSource stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, IonoDelayModel iono_delay_model)

IonoDelayModel stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, SaveAction action)

SaveAction stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, SteeringType steering_type)

SteeringType stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, TickDirection tick_direction)

TickDirection stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, TickMode tick_mode)

TickMode stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, TropoDelayModel tropo_delay_model)

TropoDelayModel stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, VehicleModel vehicle_model)

VehicleModel stream operator. More...

p1_ostream &operator<< (p1_ostream &stream, WheelSensorType wheel_sensor_type)

WheelSensorType stream operator. More...

Functions Index​

P1_CONSTEXPR_FUNC const char *to_string (AppliedSpeedType applied_speed_type)

Get a human-friendly string name for the specified AppliedSpeedType. More...

P1_CONSTEXPR_FUNC const char *to_string (ConfigType type)

Get a human-friendly string name for the specified ConfigType. More...

P1_CONSTEXPR_FUNC const char *to_string (ConfigurationSource source)

Get a human-friendly string name for the specified ConfigurationSource. More...

P1_CONSTEXPR_FUNC const char *to_string (SaveAction action)

Get a human-friendly string name for the specified SaveAction. More...

P1_CONSTEXPR_FUNC const char *to_string (SteeringType steering_type)

Get a human-friendly string name for the specified SteeringType. More...

P1_CONSTEXPR_FUNC const char *to_string (VehicleModel vehicle_model)

Get a human-friendly string name for the specified VehicleModel. More...

P1_CONSTEXPR_FUNC const char *to_string (WheelSensorType wheel_sensor_type)

Get a human-friendly string name for the specified WheelSensorType. More...

Description​

Messages/types for configuring device parameters (lever arms, orientation, wheel speed settings, etc.).

See also Device Configuration Import/Export.

Enumerations​

AppliedSpeedType​

enum class point_one::fusion_engine::messages::AppliedSpeedType : uint8_t
 strong

The type of vehicle/wheel speed measurements to be applied.

Enumeration values
NONESpeed data not applied to the system (= 0)
REAR_WHEELSRear wheel speed data to be applied to the system (recommended) (= 1)
FRONT_WHEELSFront wheel speed data to be applied to the system (= 2)
FRONT_AND_REAR_WHEELSFront and rear wheel speed data to be applied to the system (= 3)
VEHICLE_BODYIndividual vehicle speed to be applied to the system (= 4)

Definition at line 889 of file configuration.h.

889enum class AppliedSpeedType : uint8_t {
890 /** Speed data not applied to the system. */
891 NONE = 0,
892 /** Rear wheel speed data to be applied to the system (recommended). */
893 REAR_WHEELS = 1,
894 /** Front wheel speed data to be applied to the system. */
895 FRONT_WHEELS = 2,
896 /** Front and rear wheel speed data to be applied to the system. */
897 FRONT_AND_REAR_WHEELS = 3,
898 /** Individual vehicle speed to be applied to the system. */
899 VEHICLE_BODY = 4,
900};

ConfigType​

enum class point_one::fusion_engine::messages::ConfigType : uint16_t
 strong

An identifier for the contents of a parameter configuration message.

Enumeration values
INVALID (= 0)
DEVICE_LEVER_ARMThe location of the device IMU with respect to the vehicle body frame, resolved in the vehicle body frame (in meters) (= 16)
DEVICE_COARSE_ORIENTATIONThe orientation of the device IMU with respect to the vehicle body axes (= 17)
GNSS_LEVER_ARMThe location of the primary GNSS antenna with respect to the vehicle body frame, resolved in the vehicle body frame (in meters) (= 18)
OUTPUT_LEVER_ARMThe offset of the desired output location with respect to the vehicle body frame, resolved in the vehicle body frame (in meters) (= 19)
VEHICLE_DETAILSInformation about the vehicle including model and dimensions (= 20)
WHEEL_CONFIGInformation pertaining to wheel speed/rotation measurements when wheel data is transmitted via software (= 21)
HARDWARE_TICK_CONFIGIndicates the mode and direction used when capturing vehicle wheel tick data from a voltage pulse on an I/O pin (= 22)
DEPRECATED_HEADING_BIASUsed to set horizontal (yaw) & vertical (pitch) biases (in degrees) on a dual-antenna heading platform configuration (deprecated) (= 23)
GNSS_AUX_LEVER_ARMThe location of the secondary GNSS antenna with respect to the vehicle body frame on a dual-antenna platform, resolved in the vehicle body frame (in meters) (= 24)
ENABLED_GNSS_SYSTEMSA bitmask indicating which GNSS constellations are enabled (= 50)
ENABLED_GNSS_FREQUENCY_BANDSA bitmask indicating which GNSS frequency bands are enabled (= 51)
LEAP_SECONDSpecify a UTC leap second count override value to use for all UTC time conversions (= 52)
GPS_WEEK_ROLLOVERSpecify a GPS legacy week rollover count override to use when converting all legacy 10-bit GPS week numbers (= 53)
IONOSPHERE_CONFIGIonospheric delay model configuration (= 54)
TROPOSPHERE_CONFIGTropospheric delay model configuration (= 55)
INTERFACE_CONFIGChange a configuration setting for a specified output interface (= 200)
UART1_BAUDConfigure the UART1 serial baud rate (in bits/second) (= 256)
UART2_BAUDConfigure the UART2 serial baud rate (in bits/second) (= 257)
UART1_OUTPUT_DIAGNOSTICS_MESSAGESEnable/disable output of diagnostic data on UART1 (= 258)
UART2_OUTPUT_DIAGNOSTICS_MESSAGESEnable/disable output of diagnostic data on UART2 (= 259)
ENABLE_WATCHDOG_TIMEREnable watchdog timer to restart device after fatal errors (= 300)
USER_DEVICE_IDA string for identifying a device (= 301)
PROFILING_MASKA bitmask indicating which profiling features are enabled (= 310)
LBAND_PARAMETERSConfiguration of L-band Demodulator Parameters (= 1024)

See also SetConfigMessage.

Definition at line 37 of file configuration.h.

37enum class ConfigType : uint16_t {
38 INVALID = 0,
39
40 /**
41 * The location of the device IMU with respect to the vehicle body frame,
42 * resolved in the vehicle body frame (in meters).
43 *
44 * Payload format: @ref Point3f
45 */
46 DEVICE_LEVER_ARM = 16,
47
48 /**
49 * The orientation of the device IMU with respect to the vehicle body axes.
50 *
51 * Payload format: @ref CoarseOrientation
52 */
53 DEVICE_COARSE_ORIENTATION = 17,
54
55 /**
56 * The location of the primary GNSS antenna with respect to the vehicle body
57 * frame, resolved in the vehicle body frame (in meters).
58 *
59 * Payload format: @ref Point3f
60 */
61 GNSS_LEVER_ARM = 18,
62
63 /**
64 * The offset of the desired output location with respect to the vehicle
65 * body frame, resolved in the vehicle body frame (in meters).
66 *
67 * Payload format: @ref Point3f
68 */
69 OUTPUT_LEVER_ARM = 19,
70
71 /**
72 * Information about the vehicle including model and dimensions.
73 *
74 * Payload format: @ref VehicleDetails
75 */
76 VEHICLE_DETAILS = 20,
77
78 /**
79 * Information pertaining to wheel speed/rotation measurements when wheel data
80 * is transmitted via software.
81 *
82 * @note
83 * For hardware wheel tick voltage capture, use @ref
84 * ConfigType::HARDWARE_TICK_CONFIG instead.
85 *
86 * Payload format: @ref WheelConfig
87 */
88 WHEEL_CONFIG = 21,
89
90 /**
91 * Indicates the mode and direction used when capturing vehicle wheel tick
92 * data from a voltage pulse on an I/O pin.
93 *
94 * @note
95 * For software wheel tick capture (wheel ticks sent as FusionEngine messages
96 * or on a CAN bus), use @ref ConfigType::WHEEL_CONFIG instead.
97 *
98 * Payload format: @ref HardwareTickConfig
99 */
100 HARDWARE_TICK_CONFIG = 22,
101
102 /**
103 * Used to set horizontal (yaw) & vertical (pitch) biases (in degrees) on
104 * a dual-antenna heading platform configuration (deprecated).
105 *
106 * @deprecated
107 * Use @ref ConfigType::GNSS_AUX_LEVER_ARM instead.
108 */
109 DEPRECATED_HEADING_BIAS = 23,
110
111 /**
112 * The location of the secondary GNSS antenna with respect to the vehicle body
113 * frame on a dual-antenna platform, resolved in the vehicle body frame (in
114 * meters).
115 *
116 * For dual-antenna systems, the secondary or auxiliary antenna is used to
117 * measure vehicle yaw and pitch.
118 *
119 * Payload format: @ref Point3f
120 */
121 GNSS_AUX_LEVER_ARM = 24,
122
123 /**
124 * A bitmask indicating which GNSS constellations are enabled.
125 *
126 * Payload format: `uint32_t` (see @ref sat_type_masks)
127 */
128 ENABLED_GNSS_SYSTEMS = 50,
129
130 /**
131 * A bitmask indicating which GNSS frequency bands are enabled.
132 *
133 * Payload format: `uint32_t` (see @ref freq_band_masks)
134 */
135 ENABLED_GNSS_FREQUENCY_BANDS = 51,
136
137 /**
138 * Specify a UTC leap second count override value to use for all UTC time
139 * conversions. Setting this value will disable all internal leap second
140 * sources, including data received from the GNSS almanac decoded from
141 * available signals.
142 *
143 * Set to -1 to disable leap second override and re-enable internal leap
144 * second handling.
145 *
146 * Payload format: `int32_t`
147 */
148 LEAP_SECOND = 52,
149
150 /**
151 * Specify a GPS legacy week rollover count override to use when converting
152 * all legacy 10-bit GPS week numbers. Setting this value will disable all
153 * internal week rollover sources, including data received from modern GPS
154 * navigation messages (CNAV, CNAV2) or non-GPS constellations.
155 *
156 * Set to -1 to disable week rollover override and re-enable internal
157 * handling.
158 *
159 * Payload format: `int32_t`
160 */
161 GPS_WEEK_ROLLOVER = 53,
162
163 /**
164 * Ionospheric delay model configuration.
165 *
166 * Payload format: @ref IonosphereConfig
167 */
168 IONOSPHERE_CONFIG = 54,
169
170 /**
171 * Tropospheric delay model configuration.
172 *
173 * Payload format: @ref TroposphereConfig
174 */
175 TROPOSPHERE_CONFIG = 55,
176
177 /**
178 * Change a configuration setting for a specified output interface.
179 *
180 * Payload format: `InterfaceConfigSubmessage`
181 */
182 INTERFACE_CONFIG = 200,
183
184 /**
185 * Configure the UART1 serial baud rate (in bits/second).
186 *
187 * @deprecated
188 * The @ref ConfigType::INTERFACE_CONFIG type combined with @ref
189 * InterfaceConfigType::BAUD_RATE in the @ref InterfaceConfigSubmessage should
190 * be used to configure this value going forward.
191 *
192 * Payload format: `uint32_t`
193 */
194 UART1_BAUD = 256,
195
196 /**
197 * Configure the UART2 serial baud rate (in bits/second).
198 *
199 * @deprecated
200 * The @ref ConfigType::INTERFACE_CONFIG type combined with @ref
201 * InterfaceConfigType::BAUD_RATE in the @ref InterfaceConfigSubmessage should
202 * be used to configure this value going forward.
203 *
204 * Payload format: `uint32_t`
205 */
206 UART2_BAUD = 257,
207
208 /**
209 * Enable/disable output of diagnostic data on UART1.
210 *
211 * @deprecated
212 * The @ref ConfigType::INTERFACE_CONFIG type combined with @ref
213 * InterfaceConfigType::OUTPUT_DIAGNOSTICS_MESSAGES in the @ref
214 * InterfaceConfigSubmessage should be used to configure this value going
215 * forward.
216 *
217 * @note
218 * Enabling this setting will override the message rate/off settings for some
219 * FusionEngine messages.
220 *
221 * Payload format: `bool`
222 */
223 UART1_OUTPUT_DIAGNOSTICS_MESSAGES = 258,
224
225 /**
226 * Enable/disable output of diagnostic data on UART2.
227 *
228 * @deprecated
229 * The @ref ConfigType::INTERFACE_CONFIG type combined with @ref
230 * InterfaceConfigType::OUTPUT_DIAGNOSTICS_MESSAGES in the @ref
231 * InterfaceConfigSubmessage should be used to configure this value going
232 * forward.
233 *
234 * @note
235 * Enabling this setting will override the message rate/off settings for some
236 * FusionEngine messages.
237 *
238 * Payload format: `bool`
239 */
240 UART2_OUTPUT_DIAGNOSTICS_MESSAGES = 259,
241
242 /**
243 * Enable watchdog timer to restart device after fatal errors.
244 *
245 * Payload format: `bool`
246 */
247 ENABLE_WATCHDOG_TIMER = 300,
248
249 /**
250 * A string for identifying a device.
251 *
252 * This is a string of ASCII characters padded to 32 bytes with `NULL`.
253 *
254 * Payload format: `char[32]`
255 */
256 USER_DEVICE_ID = 301,
257
258 /**
259 * A bitmask indicating which profiling features are enabled.
260 *
261 * Payload format: `uint8_t` (`0` for disabled and `0xFF` for all features
262 * enabled. Individual bits are device specific.)
263 */
264 PROFILING_MASK = 310,
265
266 /**
267 * Configuration of L-band Demodulator Parameters.
268 *
269 * @note
270 * This setting is only available on devices with an L-band receiver.
271 *
272 * Payload format: @ref LBandConfig
273 */
274 LBAND_PARAMETERS = 1024,
275};

ConfigurationSource​

enum class point_one::fusion_engine::messages::ConfigurationSource : uint8_t
 strong

The type of a device's configuration settings.

Enumeration values
ACTIVEActive configuration currently in use by the device (= 0)
SAVEDSettings currently saved to persistent storage (= 1)
DEFAULTRead only device defaults (= 2)

Definition at line 378 of file configuration.h.

378enum class ConfigurationSource : uint8_t {
379 ACTIVE = 0, ///< Active configuration currently in use by the device.
380 SAVED = 1, ///< Settings currently saved to persistent storage.
381 /**
382 * Read only device defaults. Attempting to write to this source will fail
383 * with a @ref Response::VALUE_ERROR.
384 */
385 DEFAULT = 2,
386};

IonoDelayModel​

enum class point_one::fusion_engine::messages::IonoDelayModel : uint8_t
 strong

The ionospheric delay model to use.

Enumeration values
AUTOSelect the best available ionospheric delay model (= 0)
OFFIonospheric delay model disabled (= 1)
KLOBUCHARUse the Klobuchar ionospheric model (= 2)
SBASUse the SBAS ionospheric model (= 3)

Definition at line 1243 of file configuration.h.

1243enum class IonoDelayModel : uint8_t {
1244 /** Select the best available ionospheric delay model. */
1245 AUTO = 0,
1246 /** Ionospheric delay model disabled. */
1247 OFF = 1,
1248 /** Use the Klobuchar ionospheric model. */
1249 KLOBUCHAR = 2,
1250 /** Use the SBAS ionospheric model. */
1251 SBAS = 3,
1252};

SaveAction​

enum class point_one::fusion_engine::messages::SaveAction : uint8_t
 strong

The type configuration save operation to be performed.

Enumeration values
SAVESave all active parameters to persistent storage (= 0)
REVERT_TO_SAVEDRevert the active configuration to previously saved values (= 1)
REVERT_TO_DEFAULTReset the active and saved configuration to default values (= 2)

Definition at line 425 of file configuration.h.

425enum class SaveAction : uint8_t {
426 /** Save all active parameters to persistent storage. */
427 SAVE = 0,
428 /** Revert the active configuration to previously saved values. */
429 REVERT_TO_SAVED = 1,
430 /** Reset the active _and_ saved configuration to default values. */
431 REVERT_TO_DEFAULT = 2,
432};

SteeringType​

enum class point_one::fusion_engine::messages::SteeringType : uint8_t
 strong

Indication of which of the vehicle's wheels are steered.

Enumeration values
UNKNOWNSteered wheels unknown (= 0)
FRONTFront wheels are steered (= 1)
FRONT_AND_REARFront and rear wheels are steered (= 2)

Definition at line 943 of file configuration.h.

943enum class SteeringType : uint8_t {
944 /** Steered wheels unknown. */
945 UNKNOWN = 0,
946 /** Front wheels are steered. */
947 FRONT = 1,
948 /** Front and rear wheels are steered. */
949 FRONT_AND_REAR = 2,
950};

TickDirection​

enum class point_one::fusion_engine::messages::TickDirection : uint8_t
 strong

The way to interpret an incoming voltage signal, used to indicate direction of a hardware wheel tick pulse, if available.

Enumeration values
OFFWheel tick direction not provided (= 0)
FORWARD_ACTIVE_HIGHAssume vehicle is moving forward when direction signal voltage is high, and backward when direction signal is low (= 1)
FORWARD_ACTIVE_LOWAssume vehicle is moving forward when direction signal voltage is low, and backward when direction signal is high (= 2)

Definition at line 1148 of file configuration.h.

1148enum class TickDirection : uint8_t {
1149 /** Wheel tick direction not provided. */
1150 OFF = 0,
1151 /**
1152 * Assume vehicle is moving forward when direction signal voltage is high, and
1153 * backward when direction signal is low.
1154 */
1155 FORWARD_ACTIVE_HIGH = 1,
1156 /**
1157 * Assume vehicle is moving forward when direction signal voltage is low, and
1158 * backward when direction signal is high.
1159 */
1160 FORWARD_ACTIVE_LOW = 2,
1161};

TickMode​

enum class point_one::fusion_engine::messages::TickMode : uint8_t
 strong

The signal edge to use when capturing a wheel tick voltage signal.

Enumeration values
OFFWheel tick capture disabled (= 0)
RISING_EDGECapture a wheel tick on the rising edge of the incoming pulse (= 1)
FALLING_EDGECapture a wheel tick on the falling edge of the incoming pulse (= 2)

Definition at line 1112 of file configuration.h.

1112enum class TickMode : uint8_t {
1113 /** Wheel tick capture disabled. */
1114 OFF = 0,
1115 /** Capture a wheel tick on the rising edge of the incoming pulse. */
1116 RISING_EDGE = 1,
1117 /** Capture a wheel tick on the falling edge of the incoming pulse. */
1118 FALLING_EDGE = 2,
1119};

TropoDelayModel​

enum class point_one::fusion_engine::messages::TropoDelayModel : uint8_t
 strong

The tropospheric delay model to use.

Enumeration values
AUTOSelect the best available tropospheric delay model (= 0)
OFFTropospheric delay model disabled (= 1)
SAASTAMOINENUse the Saastamoinen tropospheric model (= 2)

Definition at line 1294 of file configuration.h.

1294enum class TropoDelayModel : uint8_t {
1295 /** Select the best available tropospheric delay model. */
1296 AUTO = 0,
1297 /** Tropospheric delay model disabled. */
1298 OFF = 1,
1299 /** Use the Saastamoinen tropospheric model. */
1300 SAASTAMOINEN = 2,
1301};

VehicleModel​

enum class point_one::fusion_engine::messages::VehicleModel : uint16_t
 strong

The make and model of the vehicle.

Enumeration values
UNKNOWN_VEHICLE (= 0)
DATASPEED_CD4 (= 1)
J1939 (= 2)
LEXUS_CT200H (= 20)
LEXUS_RX450H (= 21)
KIA_SORENTO (= 40)
KIA_SPORTAGE (= 41)
AUDI_Q7 (= 60)
AUDI_A8L (= 61)
TESLA_MODEL_X (= 80)
TESLA_MODEL_3 (= 81)
HYUNDAI_ELANTRA (= 100)
PEUGEOT_206 (= 120)
MAN_TGX (= 140)
FACTION (= 160)
FACTION_V2 (= 161)
LINCOLN_MKZ (= 180)
BMW_7 (= 200)
BMW_MOTORRAD (= 201)
VW_4 (= 220)
RIVIAN (= 240)
FLEXRAY_DEVICE_AUDI_ETRON (= 260)
ISUZU_F_SERIES (= 280)

Definition at line 682 of file configuration.h.

682enum class VehicleModel : uint16_t {
683 UNKNOWN_VEHICLE = 0,
684 DATASPEED_CD4 = 1,
685 // In general, all J1939 vehicles support a subset of the J1939 standard and
686 // may be set to vehicle model `J1939`. Their 29-bit CAN IDs may differ
687 // based on how the platform assigns message priorities and source
688 // addresses, but the underlying program group number (PGN) and message
689 // contents will be consistent.
690 //
691 // For most vehicles, it is not necessary to specify and particular make and
692 // model.
693 J1939 = 2,
694
695 LEXUS_CT200H = 20,
696 LEXUS_RX450H = 21,
697
698 KIA_SORENTO = 40,
699 KIA_SPORTAGE = 41,
700
701 AUDI_Q7 = 60,
702 AUDI_A8L = 61,
703
704 TESLA_MODEL_X = 80,
705 TESLA_MODEL_3 = 81,
706
707 HYUNDAI_ELANTRA = 100,
708
709 PEUGEOT_206 = 120,
710
711 MAN_TGX = 140,
712
713 FACTION = 160,
714 FACTION_V2 = 161,
715
716 LINCOLN_MKZ = 180,
717
718 BMW_7 = 200,
719 BMW_MOTORRAD = 201,
720
721 VW_4 = 220,
722
723 RIVIAN = 240,
724
725 FLEXRAY_DEVICE_AUDI_ETRON = 260,
726
727 ISUZU_F_SERIES = 280,
728};

WheelSensorType​

enum class point_one::fusion_engine::messages::WheelSensorType : uint8_t
 strong

The type of vehicle/wheel speed measurements produced by the vehicle.

Enumeration values
NONEWheel/vehicle speed data not available (= 0)
TICKSIndividual rotational angle measurements for multiple wheels, reported as accumulated encoder ticks (= 2)
WHEEL_SPEEDIndividual speed measurements for multiple wheels, reported in meters/second (= 3)
VEHICLE_SPEEDA single value indicating the vehicle speed (in meters/second) (= 4)
VEHICLE_TICKSA single wheel rotational angle, reported as accumulated encoder ticks (= 5)

Definition at line 822 of file configuration.h.

822enum class WheelSensorType : uint8_t {
823 /** Wheel/vehicle speed data not available. */
824 NONE = 0,
825 // RESERVED = 1,
826 /**
827 * Individual rotational angle measurements for multiple wheels, reported as
828 * accumulated encoder ticks. See @ref WheelTickInput.
829 * */
830 TICKS = 2,
831 /**
832 * Individual speed measurements for multiple wheels, reported in
833 * meters/second. See @ref WheelSpeedInput.
834 */
835 WHEEL_SPEED = 3,
836 /**
837 * A single value indicating the vehicle speed (in meters/second). See @ref
838 * VehicleSpeedInput.
839 */
840 VEHICLE_SPEED = 4,
841 /**
842 * A single wheel rotational angle, reported as accumulated encoder ticks. See
843 * @ref VehicleSpeedInput.
844 */
845 VEHICLE_TICKS = 5,
846};

Operators​

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, AppliedSpeedType applied_speed_type)
 inline

AppliedSpeedType stream operator.

Definition at line 932 of file configuration.h.

932inline p1_ostream& operator<<(p1_ostream& stream,
933 AppliedSpeedType applied_speed_type) {
934 stream << to_string(applied_speed_type) << " (" << (int)applied_speed_type
935 << ")";
936 return stream;
937}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, ConfigType type)
 inline

ConfigType stream operator.

Definition at line 369 of file configuration.h.

369inline p1_ostream& operator<<(p1_ostream& stream, ConfigType type) {
370 stream << to_string(type) << " (" << (int)type << ")";
371 return stream;
372}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, ConfigurationSource source)
 inline

ConfigurationSource stream operator.

Definition at line 416 of file configuration.h.

416inline p1_ostream& operator<<(p1_ostream& stream, ConfigurationSource source) {
417 stream << to_string(source) << " (" << (int)source << ")";
418 return stream;
419}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, IonoDelayModel iono_delay_model)
 inline

IonoDelayModel stream operator.

Definition at line 1273 of file configuration.h.

1273inline p1_ostream& operator<<(p1_ostream& stream,
1274 IonoDelayModel iono_delay_model) {
1275 stream << to_string(iono_delay_model) << " (" << (int)iono_delay_model << ")";
1276 return stream;
1277}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, SaveAction action)
 inline

SaveAction stream operator.

Definition at line 461 of file configuration.h.

461inline p1_ostream& operator<<(p1_ostream& stream, SaveAction action) {
462 stream << to_string(action) << " (" << (int)action << ")";
463 return stream;
464}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, SteeringType steering_type)
 inline

SteeringType stream operator.

Definition at line 977 of file configuration.h.

977inline p1_ostream& operator<<(p1_ostream& stream, SteeringType steering_type) {
978 stream << to_string(steering_type) << " (" << (int)steering_type << ")";
979 return stream;
980}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, TickDirection tick_direction)
 inline

TickDirection stream operator.

Definition at line 1180 of file configuration.h.

1180inline p1_ostream& operator<<(p1_ostream& stream,
1181 TickDirection tick_direction) {
1182 stream << to_string(tick_direction) << " (" << (int)tick_direction << ")";
1183 return stream;
1184}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, TickMode tick_mode)
 inline

TickMode stream operator.

Definition at line 1138 of file configuration.h.

1138inline p1_ostream& operator<<(p1_ostream& stream, TickMode tick_mode) {
1139 stream << to_string(tick_mode) << " (" << (int)tick_mode << ")";
1140 return stream;
1141}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, TropoDelayModel tropo_delay_model)
 inline

TropoDelayModel stream operator.

Definition at line 1320 of file configuration.h.

1320inline p1_ostream& operator<<(p1_ostream& stream,
1321 TropoDelayModel tropo_delay_model) {
1322 stream << to_string(tropo_delay_model) << " (" << (int)tropo_delay_model
1323 << ")";
1324 return stream;
1325}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, VehicleModel vehicle_model)
 inline

VehicleModel stream operator.

Definition at line 795 of file configuration.h.

795inline p1_ostream& operator<<(p1_ostream& stream, VehicleModel vehicle_model) {
796 stream << to_string(vehicle_model) << " (" << (int)vehicle_model << ")";
797 return stream;
798}

operator<<()​

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, WheelSensorType wheel_sensor_type)
 inline

WheelSensorType stream operator.

Definition at line 878 of file configuration.h.

878inline p1_ostream& operator<<(p1_ostream& stream,
879 WheelSensorType wheel_sensor_type) {
880 stream << to_string(wheel_sensor_type) << " (" << (int)wheel_sensor_type
881 << ")";
882 return stream;
883}

Functions​

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (AppliedSpeedType applied_speed_type)

Get a human-friendly string name for the specified AppliedSpeedType.

Parameters
applied_speed_type

The desired applied speed type.

Returns

The corresponding string name.

Definition at line 911 of file configuration.h.

911P1_CONSTEXPR_FUNC const char* to_string(AppliedSpeedType applied_speed_type) {
912 switch (applied_speed_type) {
913 case AppliedSpeedType::NONE:
914 return "None";
915 case AppliedSpeedType::REAR_WHEELS:
916 return "Rear Wheels";
917 case AppliedSpeedType::FRONT_WHEELS:
918 return "Front Wheels";
919 case AppliedSpeedType::FRONT_AND_REAR_WHEELS:
920 return "Front and Rear Wheels";
921 case AppliedSpeedType::VEHICLE_BODY:
922 return "Vehicle Body";
923 }
924
925 return "Unrecognized";
926}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (ConfigType type)

Get a human-friendly string name for the specified ConfigType.

Parameters
type

The desired configuration parameter type.

Returns

The corresponding string name.

Definition at line 285 of file configuration.h.

285P1_CONSTEXPR_FUNC const char* to_string(ConfigType type) {
286 switch (type) {
287 case ConfigType::INVALID:
288 return "Invalid";
289
290 case ConfigType::DEVICE_LEVER_ARM:
291 return "Device Lever Arm";
292
293 case ConfigType::DEVICE_COARSE_ORIENTATION:
294 return "Device Coarse Orientation";
295
296 case ConfigType::GNSS_LEVER_ARM:
297 return "GNSS Lever Arm";
298
299 case ConfigType::OUTPUT_LEVER_ARM:
300 return "Output Lever Arm";
301
302 case ConfigType::VEHICLE_DETAILS:
303 return "Vehicle Details";
304
305 case ConfigType::WHEEL_CONFIG:
306 return "Wheel Config";
307
308 case ConfigType::HARDWARE_TICK_CONFIG:
309 return "Hardware Tick Config";
310
311 case ConfigType::DEPRECATED_HEADING_BIAS:
312 return "Heading Bias";
313
314 case ConfigType::GNSS_AUX_LEVER_ARM:
315 return "GNSS Aux Lever Arm";
316
317 case ConfigType::ENABLED_GNSS_SYSTEMS:
318 return "Enabled GNSS Systems";
319
320 case ConfigType::ENABLED_GNSS_FREQUENCY_BANDS:
321 return "Enabled GNSS Frequency Bands";
322
323 case ConfigType::LEAP_SECOND:
324 return "Leap Second";
325
326 case ConfigType::GPS_WEEK_ROLLOVER:
327 return "GPS Week Rollover";
328
329 case ConfigType::IONOSPHERE_CONFIG:
330 return "Ionosphere Config";
331
332 case ConfigType::TROPOSPHERE_CONFIG:
333 return "Troposphere Config";
334
335 case ConfigType::UART1_BAUD:
336 return "UART1 Baud Rate";
337
338 case ConfigType::UART2_BAUD:
339 return "UART2 Baud Rate";
340
341 case ConfigType::UART1_OUTPUT_DIAGNOSTICS_MESSAGES:
342 return "UART1 Diagnostic Messages Enabled";
343
344 case ConfigType::UART2_OUTPUT_DIAGNOSTICS_MESSAGES:
345 return "UART2 Diagnostic Messages Enabled";
346
347 case ConfigType::ENABLE_WATCHDOG_TIMER:
348 return "Watchdog Timer Enabled";
349
350 case ConfigType::USER_DEVICE_ID:
351 return "User Device ID";
352
353 case ConfigType::PROFILING_MASK:
354 return "Profiling Features Enabled";
355
356 case ConfigType::INTERFACE_CONFIG:
357 return "Interface Submessage";
358
359 case ConfigType::LBAND_PARAMETERS:
360 return "LBand Parameters";
361 }
362 return "Unrecognized Configuration";
363}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (ConfigurationSource source)

Get a human-friendly string name for the specified ConfigurationSource.

Parameters
source

The desired configuration source.

Returns

The corresponding string name.

Definition at line 397 of file configuration.h.

397P1_CONSTEXPR_FUNC const char* to_string(ConfigurationSource source) {
398 switch (source) {
399 case ConfigurationSource::ACTIVE:
400 return "Active";
401
402 case ConfigurationSource::SAVED:
403 return "Saved";
404
405 case ConfigurationSource::DEFAULT:
406 return "Default";
407 }
408
409 return "Unrecognized Source";
410}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (SaveAction action)

Get a human-friendly string name for the specified SaveAction.

Parameters
action

The desired save operation.

Returns

The corresponding string name.

Definition at line 442 of file configuration.h.

442P1_CONSTEXPR_FUNC const char* to_string(SaveAction action) {
443 switch (action) {
444 case SaveAction::SAVE:
445 return "Save";
446
447 case SaveAction::REVERT_TO_SAVED:
448 return "Revert To Saved";
449
450 case SaveAction::REVERT_TO_DEFAULT:
451 return "Revert To Default";
452 }
453
454 return "Unrecognized";
455}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (SteeringType steering_type)

Get a human-friendly string name for the specified SteeringType.

Parameters
steering_type

The desired steering type.

Returns

The corresponding string name.

Definition at line 960 of file configuration.h.

960P1_CONSTEXPR_FUNC const char* to_string(SteeringType steering_type) {
961 switch (steering_type) {
962 case SteeringType::UNKNOWN:
963 return "Unknown Steering";
964 case SteeringType::FRONT:
965 return "Front Steering";
966 case SteeringType::FRONT_AND_REAR:
967 return "Front and Rear Steering";
968 }
969
970 return "Unrecognized";
971}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (VehicleModel vehicle_model)

Get a human-friendly string name for the specified VehicleModel.

Parameters
vehicle_model

The desired vehicle model.

Returns

The corresponding string name.

Definition at line 738 of file configuration.h.

738P1_CONSTEXPR_FUNC const char* to_string(VehicleModel vehicle_model) {
739 switch (vehicle_model) {
740 case VehicleModel::UNKNOWN_VEHICLE:
741 return "UNKNOWN";
742 case VehicleModel::DATASPEED_CD4:
743 return "DATASPEED_CD4";
744 case VehicleModel::J1939:
745 return "J1939";
746 case VehicleModel::LEXUS_CT200H:
747 return "LEXUS_CT200H";
748 case VehicleModel::LEXUS_RX450H:
749 return "LEXUS_RX450H";
750 case VehicleModel::KIA_SORENTO:
751 return "KIA_SORENTO";
752 case VehicleModel::KIA_SPORTAGE:
753 return "KIA_SPORTAGE";
754 case VehicleModel::AUDI_Q7:
755 return "AUDI_Q7";
756 case VehicleModel::AUDI_A8L:
757 return "AUDI_A8L";
758 case VehicleModel::TESLA_MODEL_X:
759 return "TESLA_MODEL_X";
760 case VehicleModel::TESLA_MODEL_3:
761 return "TESLA_MODEL_3";
762 case VehicleModel::HYUNDAI_ELANTRA:
763 return "HYUNDAI_ELANTRA";
764 case VehicleModel::PEUGEOT_206:
765 return "PEUGEOT_206";
766 case VehicleModel::MAN_TGX:
767 return "MAN_TGX";
768 case VehicleModel::FACTION:
769 return "FACTION";
770 case VehicleModel::FACTION_V2:
771 return "FACTION_V2";
772 case VehicleModel::LINCOLN_MKZ:
773 return "LINCOLN_MKZ";
774 case VehicleModel::BMW_7:
775 return "BMW_7";
776 case VehicleModel::BMW_MOTORRAD:
777 return "BMW_MOTORRAD";
778 case VehicleModel::VW_4:
779 return "VW_4";
780 case VehicleModel::RIVIAN:
781 return "RIVIAN";
782 case VehicleModel::FLEXRAY_DEVICE_AUDI_ETRON:
783 return "FLEXRAY_DEVICE_AUDI_ETRON";
784 case VehicleModel::ISUZU_F_SERIES:
785 return "ISUZU_F_SERIES";
786 }
787
788 return "UNRECOGNIZED";
789}

to_string()​

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (WheelSensorType wheel_sensor_type)

Get a human-friendly string name for the specified WheelSensorType.

Parameters
wheel_sensor_type

The desired wheel sensor type.

Returns

The corresponding string name.

Definition at line 857 of file configuration.h.

857P1_CONSTEXPR_FUNC const char* to_string(WheelSensorType wheel_sensor_type) {
858 switch (wheel_sensor_type) {
859 case WheelSensorType::NONE:
860 return "None";
861 case WheelSensorType::TICKS:
862 return "Ticks";
863 case WheelSensorType::WHEEL_SPEED:
864 return "Wheel Speed";
865 case WheelSensorType::VEHICLE_SPEED:
866 return "Vehicle Speed";
867 case WheelSensorType::VEHICLE_TICKS:
868 return "Vehicle Ticks";
869 }
870
871 return "None";
872}

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