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BlueAndi · Dec 15, 2023 · e3761b5 · e3761b5
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diff --git a/.vscode/templates.code-snippets b/.vscode/templates.code-snippets
diff --git a/doc/architecture/SENSORFUSION.md b/doc/architecture/SENSORFUSION.md
@@ -1,72 +1,72 @@
-# Radon Ulzer - SENSORFUSION <!-- omit in toc -->
-
-* [General](#general)
-  * [SerialMuxProt Channels](#serialmuxprot-channels)
-    * [Tx channel "LINE\_SENS"](#tx-channel-sensor_data)
-* [SW Architecture](#sw-architecture)
-  * [Logical View](#logical-view)
-    * [Application](#application)
-* [Abbreviations](#abbreviations)
-* [Issues, Ideas And Bugs](#issues-ideas-and-bugs)
-* [License](#license)
-* [Contribution](#contribution)
-
-# General
-
-The robot sends sensor data (Odometry data and IMU data) via SerialMuxProt. 
-
-On target the physical communication uses the serial.
-
-On simulation the physical communication uses a socket connection.
-
-## SerialMuxProt Channels
-
-
-### Tx channel "SENSOR_DATA"
-This channel is used to send raw sensor data used for Sensor Fusion on the ZumoComSystem.
-
-* The datatypes can be found in SerialMuxChannel.h.
-* Order:
-  * Acceleration in X (raw sensor value in digits)
-  * Acceleration in Y (raw sensor value in digits)
-  * turnRateZ around Z (raw sensor value in digits)
-  * Magnetometer value in X (raw sensor value in digits)
-  * Magnetometer value in Y (raw sensor value in digits)
-  * Angle calculated by Odometry (in mrad)
-  * Position in X calculated by Odometry (in mm)
-  * Position in Y calculated by Odometry (in mm)
-* Endianess: Big endian
-
-# SW Architecture
-The following part contains the specific details of the SensorFusion application.
-
-## Logical View
-
-### Application
-The application uses the same [State Machine](https://github.com/BlueAndi/RadonUlzer/blob/main/doc/architecture/LINEFOLLOWER.md) as the Line Follower Application.
-
-### HAL
-Some changes have been made to the HAL.
-![HALSensorFusion](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/base/doc/architecture/uml/LogicalView/SensorFusion/HAL_SensorFusion.puml)
-
-ButtonB, ButtonC, the ProximitySensor and the Buzzer have been removed. 
-An IMU has been added:
-![HALIMU](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/base/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml)
-
-# Abbreviations
-
-| Abbreviation | Description |
-| - | - |
-| HAL | Hardware Abstraction Layer |
-| IMU | Inertial Measurement Unit |
-
-# Issues, Ideas And Bugs
-If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
-
-# License
-The whole source code is published under the [MIT license](http://choosealicense.com/licenses/mit/).
-Consider the different licenses of the used third party libraries too!
-
-# Contribution
-Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any
-additional terms or conditions.
+# Radon Ulzer - SENSORFUSION <!-- omit in toc -->
+
+* [General](#general)
+  * [SerialMuxProt Channels](#serialmuxprot-channels)
+    * [Tx channel "LINE\_SENS"](#tx-channel-sensor_data)
+* [SW Architecture](#sw-architecture)
+  * [Logical View](#logical-view)
+    * [Application](#application)
+* [Abbreviations](#abbreviations)
+* [Issues, Ideas And Bugs](#issues-ideas-and-bugs)
+* [License](#license)
+* [Contribution](#contribution)
+
+# General
+
+The robot sends sensor data (Odometry data and IMU data) via SerialMuxProt. 
+
+On target the physical communication uses the serial.
+
+On simulation the physical communication uses a socket connection.
+
+## SerialMuxProt Channels
+
+
+### Tx channel "SENSOR_DATA"
+This channel is used to send raw sensor data used for Sensor Fusion on the ZumoComSystem.
+
+* The datatypes can be found in SerialMuxChannel.h.
+* Order:
+  * Acceleration in X (raw sensor value in digits)
+  * Acceleration in Y (raw sensor value in digits)
+  * turnRateZ around Z (raw sensor value in digits)
+  * Magnetometer value in X (raw sensor value in digits)
+  * Magnetometer value in Y (raw sensor value in digits)
+  * Angle calculated by Odometry (in mrad)
+  * Position in X calculated by Odometry (in mm)
+  * Position in Y calculated by Odometry (in mm)
+* Endianess: Big endian
+
+# SW Architecture
+The following part contains the specific details of the SensorFusion application.
+
+## Logical View
+
+### Application
+The application uses the same [State Machine](https://github.com/BlueAndi/RadonUlzer/blob/main/doc/architecture/LINEFOLLOWER.md) as the Line Follower Application.
+
+### HAL
+Some changes have been made to the HAL.
+![HALSensorFusion](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/base/doc/architecture/uml/LogicalView/SensorFusion/HAL_SensorFusion.puml)
+
+ButtonB, ButtonC, the ProximitySensor and the Buzzer have been removed. 
+An IMU has been added:
+![HALIMU](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/base/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml)
+
+# Abbreviations
+
+| Abbreviation | Description |
+| - | - |
+| HAL | Hardware Abstraction Layer |
+| IMU | Inertial Measurement Unit |
+
+# Issues, Ideas And Bugs
+If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
+
+# License
+The whole source code is published under the [MIT license](http://choosealicense.com/licenses/mit/).
+Consider the different licenses of the used third party libraries too!
+
+# Contribution
+Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any
+additional terms or conditions.
diff --git a/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml b/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml
@@ -1,119 +1,119 @@
-@startuml
-
-title RadonUlzer - Hardware Abstraction Layer
-
-package "HAL" as hal {
-
-    package "HAL Interfaces" as halInterfaces {
-        interface "IIMU" as iIMU {
-            + {abstract} init() : bool
-            + {abstract} readAccelerometer() : void
-            + {abstract} readGyro() : void
-            + {abstract} readMagnetometer() : void
-            + {abstract} accelerometerDataReady() : bool
-            + {abstract} gyroDataReady() : bool
-            + {abstract} magnetometerDataReady() : bool
-            + {abstract} getAccelerationValues(IMUData* accelerationValues) : void
-            + {abstract} getTurnRates(IMUData* turnRates) : void
-            + {abstract} getMagnetometerValues(IMUData* magnetometerValues) : void
-
-        }
-        struct IMUData {
-            + valueX: int16_t
-            + valueY: int16_t
-            + valueZ: int16_t
-        }
-    }
-
-    package "HAL Simulation" as simulation {
-        class "IMU" as ImuSim {
-            -  m_accelerationValues : IMUData
-            -  m_gyroValues : IMUData
-            -  m_magnetometerValues : IMUData
-        }
-        class "Board" as BoardSim {
-            - m_imu : IMU
-            + getIMU() : IMU&
-            + init() : void
-        }
-    }
-
-    package "HAL Target" as target {
-        class "IMU" as ImuTarget {
-            -  m_accelerationValues : IMUData
-            -  m_gyroValues : IMUData
-            -  m_magnetometerValues : IMUData
-        }
-        class "Board" as BoardTarget{
-            - m_imu : IMU
-            + getIMU() : IMU&
-            + init() : void
-        }
-    }
-
-    iIMU ..> IMUData: <<use>>
-    iIMU <|... ImuSim: <<realize>>
-    ImuTarget *- BoardTarget
-    ImuSim *- BoardSim
-
-    iIMU <|... ImuTarget: <<realize>>
-}
-package "Webots library"  as webotsLib {
-    class Accelerometer {
-        + getValues() : double *
-        + enable(int samplingPeriod) : void
-    }
-    class Gyro {
-        + getValues() : double *
-        + enable(int samplingPeriod) : void
-    }
-    class Compass {
-        + getValues() : double *
-        + enable(int samplingPeriod) : void
-    }
-}
-
-package "Zumo32U4 library"  as zumo32u4Lib {
-
-    class Zumo32U4IMU {
-        -  a[3] : vector<int16_t> 
-        -  g[3] : vector<int16_t> 
-        -  m[3] : vector<int16_t> 
-        +  init() : bool
-        +  readAcc() : void
-        +  readGyro() : void
-        +  readMag() : void
-        +  accDataReady() : bool
-        +  gyroDataReady() : bool
-        +  magDataReady() : bool
-    }
-}
-
-note bottom of zumo32u4Lib
-    Provided by Pololu.
-    https://pololu.github.io/zumo-32u4-arduino-library/index.html
-end note
-
-note bottom of webotsLib
-    Provided by Cyberbotics.
-    https://cyberbotics.com/doc/reference/thanks?version=R2023b
-end note
-
-ImuTarget *--> Zumo32U4IMU
-
-ImuSim *--> Accelerometer
-ImuSim *--> Gyro
-ImuSim *--> Compass
-
-note right of iIMU
-    IMU stands for Inertial Measurement Unit.
-end note
-
-note left of hal
-    This diagram shows the added IMU component.
-    Classes like the LineSensors or Encoders
-    are missing.
-end note
-
-
+@startuml
+
+title RadonUlzer - Hardware Abstraction Layer
+
+package "HAL" as hal {
+
+    package "HAL Interfaces" as halInterfaces {
+        interface "IIMU" as iIMU {
+            + {abstract} init() : bool
+            + {abstract} readAccelerometer() : void
+            + {abstract} readGyro() : void
+            + {abstract} readMagnetometer() : void
+            + {abstract} accelerometerDataReady() : bool
+            + {abstract} gyroDataReady() : bool
+            + {abstract} magnetometerDataReady() : bool
+            + {abstract} getAccelerationValues(IMUData* accelerationValues) : void
+            + {abstract} getTurnRates(IMUData* turnRates) : void
+            + {abstract} getMagnetometerValues(IMUData* magnetometerValues) : void
+
+        }
+        struct IMUData {
+            + valueX: int16_t
+            + valueY: int16_t
+            + valueZ: int16_t
+        }
+    }
+
+    package "HAL Simulation" as simulation {
+        class "IMU" as ImuSim {
+            -  m_accelerationValues : IMUData
+            -  m_gyroValues : IMUData
+            -  m_magnetometerValues : IMUData
+        }
+        class "Board" as BoardSim {
+            - m_imu : IMU
+            + getIMU() : IMU&
+            + init() : void
+        }
+    }
+
+    package "HAL Target" as target {
+        class "IMU" as ImuTarget {
+            -  m_accelerationValues : IMUData
+            -  m_gyroValues : IMUData
+            -  m_magnetometerValues : IMUData
+        }
+        class "Board" as BoardTarget{
+            - m_imu : IMU
+            + getIMU() : IMU&
+            + init() : void
+        }
+    }
+
+    iIMU ..> IMUData: <<use>>
+    iIMU <|... ImuSim: <<realize>>
+    ImuTarget *- BoardTarget
+    ImuSim *- BoardSim
+
+    iIMU <|... ImuTarget: <<realize>>
+}
+package "Webots library"  as webotsLib {
+    class Accelerometer {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+    class Gyro {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+    class Compass {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+}
+
+package "Zumo32U4 library"  as zumo32u4Lib {
+
+    class Zumo32U4IMU {
+        -  a[3] : vector<int16_t> 
+        -  g[3] : vector<int16_t> 
+        -  m[3] : vector<int16_t> 
+        +  init() : bool
+        +  readAcc() : void
+        +  readGyro() : void
+        +  readMag() : void
+        +  accDataReady() : bool
+        +  gyroDataReady() : bool
+        +  magDataReady() : bool
+    }
+}
+
+note bottom of zumo32u4Lib
+    Provided by Pololu.
+    https://pololu.github.io/zumo-32u4-arduino-library/index.html
+end note
+
+note bottom of webotsLib
+    Provided by Cyberbotics.
+    https://cyberbotics.com/doc/reference/thanks?version=R2023b
+end note
+
+ImuTarget *--> Zumo32U4IMU
+
+ImuSim *--> Accelerometer
+ImuSim *--> Gyro
+ImuSim *--> Compass
+
+note right of iIMU
+    IMU stands for Inertial Measurement Unit.
+end note
+
+note left of hal
+    This diagram shows the added IMU component.
+    Classes like the LineSensors or Encoders
+    are missing.
+end note
+
+
 @enduml