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lib/Sensors/sensorData.h

@@ -1,7 +1,7 @@
 /**
  * @file sensorData.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains the SensorData class
  * @version 0.1
  * @date 2023-09-02
  *
@@ -26,8 +26,12 @@
 #include "ntripClient.h"
 
 #include "point.h"
-class Sensors;
 
+/**
+ * @brief A class to manage all sensors
+ *
+ * Each sensor have separately to be enabled
+ */
 class SensorData : public Component
 {
 public:
@@ -35,26 +39,89 @@ public:
     ~SensorData();
 
     void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
+
+    /**
+     * @brief Enable the gnss module over spi
+     *
+     * @param spiPort
+     * @param csPin
+     */
     void enableGnss(SPIClass *spiPort, uint8_t csPin);
+
+    /**
+     * @brief Enable the gnss module over i2c
+     */
     void enableGnss();
+
     void enableRealCompass();
     void enableCalcCompass();
-    void enableGyroskop();
+    void enableGyroscope();
 
-    // Interface Const kram
+    // Interface Const
+    /**
+     * @brief Get the azimuth measured by the compass module
+     *
+     * @return int16_t
+     */
     int16_t getRealAzimuth() const { return this->realAzimuth; }
+
+    /**
+     * @brief Get the azimuth calculated by CalcAzimuth
+     *
+     * Consider to call getCalcAzimuthState() to check, if the data is valid.
+     *
+     * @return int16_t
+     */
     int16_t getCalcAzimuth() const { return this->calcAzimuth; }
+
+    /**
+     * @brief Get the CalcAzimuth::State object
+     *
+     * Needed to check the quality of calculated azimuth
+     *
+     * @return CalcAzimuth::State
+     */
     CalcAzimuth::State getCalcAzimuthState() const;
 
     Point getCurrentPos() const { return this->currentPosition; }
     const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
     NTRIPClientStates getNtripState() const;
+
+    /**
+     * @brief Get the data from the gyroscope
+     *
+     * The returned float pointer is an array of 3 floats
+     * - Yaw
+     * - Pitch
+     * - Roll
+     *
+     * @return const float*
+     */
     const float *getGyroData() const { return this->yawPitchRoll; }
 
+    /**
+     * @brief Get the CalcCompass object
+     * @return CalcAzimuth*
+     */
     CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
+
+    /**
+     * @brief Get the RealCompass object
+     * @return QMC5883LCompass*
+     */
     QMC5883LCompass *getRealCompass() const { return this->realCompass; }
+
+    /**
+     * @brief Get the NTRIPClient object
+     * @return NTRIPClient*
+     */
     NTRIPClient *getNtripClient() const { return this->ntripClient; }
-    MPU6050 *getGyroskop() const { return this->gyroskop; }
+
+    /**
+     * @brief Get the Gyroscope object
+     * @return MPU6050*
+     */
+    MPU6050 *getGyroscope() const { return this->gyroscope; }
 
     // static
     /**
@@ -77,7 +144,7 @@ private:
     CalcAzimuth *calcCompass = nullptr;
     SFE_UBLOX_GNSS *gnss = nullptr;
     NTRIPClient *ntripClient = nullptr;
-    MPU6050 *gyroskop = nullptr;
+    MPU6050 *gyroscope = nullptr;
 
     UBX_NAV_PVT_data_t *gnssData = nullptr;
     Point currentPosition;