imu_3dm_gx4::Imu::Packet Struct Reference

#include <imu.hpp>

Public Member Functions
int	ackErrorCodeFor (const Packet &command) const
	Extract the ACK code from this packet. More...
void	calcChecksum ()
	Calculate the packet checksum. Sets the checksum variable. More...
bool	isFilterData () const
	True if this packet corresponds to a filter data message. More...
bool	isIMUData () const
	True if this packet corresponds to an imu data message. More...
	Packet (uint8_t desc=0)
	Constructor. More...
std::string	toString () const
	Make a 'human-readable' version of the packet. More...

Public Attributes
union {
struct {
uint8_t   syncLSB
uint8_t   syncMSB
}
uint16_t   sync
};
union {
struct {
uint8_t   checkLSB
uint8_t   checkMSB
}
uint16_t   checksum
};
uint8_t	descriptor
uint8_t	length
uint8_t	payload [255]

Static Public Attributes
static constexpr uint8_t	kHeaderLength = 4
static constexpr uint8_t	kSyncLSB = 0x65
static constexpr uint8_t	kSyncMSB = 0x75

Detailed Description

Definition at line 45 of file imu.hpp.

Constructor & Destructor Documentation

Imu::Packet::Packet

(

uint8_t

desc = 0

)

Constructor.

Parameters

desc	Major descriptor of this command.
len	Length of the packet payload.

Definition at line 316 of file imu.cpp.

Member Function Documentation

int Imu::Packet::ackErrorCodeFor

(

const Packet &

command

)

const

Extract the ACK code from this packet.

Parameters

commmand

Command packet to which this ACK should correspond.

Returns

-1 if the packets do not correspond or this is not an ACK. The error code is returned otherwise.

Definition at line 265 of file imu.cpp.

void Imu::Packet::calcChecksum

(

)

Calculate the packet checksum. Sets the checksum variable.

Definition at line 291 of file imu.cpp.

bool Imu::Packet::isFilterData

(

)

const

True if this packet corresponds to a filter data message.

Definition at line 261 of file imu.cpp.

bool Imu::Packet::isIMUData

(

)

const

True if this packet corresponds to an imu data message.

Definition at line 257 of file imu.cpp.

std::string Imu::Packet::toString

(

)

const

Make a 'human-readable' version of the packet.

Returns

std::string

Definition at line 322 of file imu.cpp.

Member Data Documentation

union { ... }

union { ... }

uint8_t imu_3dm_gx4::Imu::Packet::checkLSB

Definition at line 66 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::checkMSB

Definition at line 65 of file imu.hpp.

uint16_t imu_3dm_gx4::Imu::Packet::checksum

Packet checksum

Definition at line 68 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::descriptor

Type of packet

Definition at line 58 of file imu.hpp.

constexpr uint8_t imu_3dm_gx4::Imu::Packet::kHeaderLength = 4

static

Definition at line 46 of file imu.hpp.

constexpr uint8_t imu_3dm_gx4::Imu::Packet::kSyncLSB = 0x65

static

Definition at line 48 of file imu.hpp.

constexpr uint8_t imu_3dm_gx4::Imu::Packet::kSyncMSB = 0x75

static

Definition at line 47 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::length

Length of the packet in bytes

Definition at line 59 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::payload[255]

Payload of packet

Definition at line 61 of file imu.hpp.

uint16_t imu_3dm_gx4::Imu::Packet::sync

Identifer of packet

Definition at line 55 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::syncLSB

Definition at line 53 of file imu.hpp.

uint8_t imu_3dm_gx4::Imu::Packet::syncMSB

Definition at line 52 of file imu.hpp.

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The documentation for this struct was generated from the following files:

• imu.hpp
• imu.cpp