ublox Namespace Reference

Classes
class	Message
	Keeps track of which class and message IDs can be decoded by a given message type. More...
struct	Options
	Options for the Reader and Writer for encoding and decoding messages. More...
class	Reader
	Decodes byte messages into u-blox ROS messages. More...
struct	Serializer
	Encodes and decodes messages. More...
class	Writer
	Encodes a u-blox ROS message as a byte array. More...

Functions
static uint16_t	calculateChecksum (const uint8_t *data, uint32_t size, uint16_t &checksum)
	calculate the checksum of a u-blox_message. More...
static void	calculateChecksum (const uint8_t *data, uint32_t size, uint8_t &ck_a, uint8_t &ck_b)
	calculate the checksum of a u-blox_message More...

Variables
static const uint8_t	DEFAULT_SYNC_A = 0xB5
	u-blox message Sync A char More...
static const uint8_t	DEFAULT_SYNC_B = 0x62
	u-blox message Sync B char More...
static const uint8_t	kChecksumLength = 2
	Number of checksum bytes in the u-blox message. More...
static const uint8_t	kHeaderLength = 6
	Number of bytes in a message header (Sync chars + class ID + message ID) More...
static const uint32_t	kMaxPayloadLength = 8184
	Maximum payload length. More...

Detailed Description

This file defines the Serializer template class which encodes and decodes specific message types. The Reader class decodes messages and from a buffer and the Writer class encodes messages and writes them to a buffer. It also declares macros for declaring Messages. The Message class maps ROS messages types to class and message ID(s).

This namespace is for u-blox message serialization.

Function Documentation

calculateChecksum() [1/2]

static uint16_t ublox::calculateChecksum ( const uint8_t *  data, uint32_t  size, uint16_t &  checksum  )

inlinestatic

calculate the checksum of a u-blox_message.

Parameters

data	the start of the u-blox message
data	the size of the u-blox message
checksum	the checksum output

Returns

the checksum

Definition at line 62 of file checksum.h.

calculateChecksum() [2/2]

static void ublox::calculateChecksum ( const uint8_t *  data, uint32_t  size, uint8_t &  ck_a, uint8_t &  ck_b  )

inlinestatic

calculate the checksum of a u-blox_message

Parameters

data	the start of the u-blox message
data	the size of the u-blox message
ck_a	the checksum a output
ck_b	the checksum b output

Definition at line 43 of file checksum.h.

Variable Documentation

DEFAULT_SYNC_A

const uint8_t ublox::DEFAULT_SYNC_A = 0xB5

static

u-blox message Sync A char

Definition at line 57 of file serialization.h.

DEFAULT_SYNC_B

const uint8_t ublox::DEFAULT_SYNC_B = 0x62

static

u-blox message Sync B char

Definition at line 59 of file serialization.h.

kChecksumLength

const uint8_t ublox::kChecksumLength = 2

static

Number of checksum bytes in the u-blox message.

Definition at line 65 of file serialization.h.

kHeaderLength

const uint8_t ublox::kHeaderLength = 6

static

Number of bytes in a message header (Sync chars + class ID + message ID)

Definition at line 63 of file serialization.h.

kMaxPayloadLength

const uint32_t ublox::kMaxPayloadLength = 8184

static

Maximum payload length.

Definition at line 61 of file serialization.h.