imu_advanced_navigation_anpp::protocol::Header Struct Reference

#include <Protocol.hpp>

Public Member Functions
	Header ()
	Header (uint8_t packet_id, uint8_t const *begin, uint8_t const *end)
size_t	getPacketLength () const
bool	isValid () const
bool	isPacketValid (uint8_t const *begin, uint8_t const *end) const
uint8_t	computeHeaderChecksum () const

Public Attributes
uint8_t	header_checksum
uint8_t	packet_id
uint8_t	payload_length
uint8_t	payload_checksum_lsb
uint8_t	payload_checksum_msb

Static Public Attributes
static constexpr int	SIZE = 5

Detailed Description

Generic packet header

The data in the packet is stored in little endian byte order

Constructor & Destructor Documentation

Header() [1/2]

Header::Header

(

)

Construct an uninitialized header

The header and payload checksums won't validate

Header() [2/2]

Header::Header	(	uint8_t	packet_id,
		uint8_t const *	begin,
		uint8_t const *	end
	)

Initialize a header by filling all the fields based on data in the packet

Member Function Documentation

computeHeaderChecksum()

uint8_t Header::computeHeaderChecksum

(

)

const

Compute the checksum of the header

getPacketLength()

size_t Header::getPacketLength

(

)

const

The length of the whole packet (header + payload)

isPacketValid()

bool Header::isPacketValid	(	uint8_t const *	begin,
		uint8_t const *	end
	)		const

Check if the data in the header validates the packet data

isValid()

bool Header::isValid

(

)

const

Check if the data in the header validates the header checksum

Member Data Documentation

header_checksum

uint8_t imu_advanced_navigation_anpp::protocol::Header::header_checksum

Longitudinal redundancy check for the header

LRC = ((packet_id + packet_length + crc[0] + crc[1])^0xFF) + 1

packet_id

uint8_t imu_advanced_navigation_anpp::protocol::Header::packet_id

payload_checksum_lsb

uint8_t imu_advanced_navigation_anpp::protocol::Header::payload_checksum_lsb

Least significant byte of a crc-CCITT with starting value 0xFFFF calculated over the packet data only

payload_checksum_msb

uint8_t imu_advanced_navigation_anpp::protocol::Header::payload_checksum_msb

Most significant byte of a crc-CCITT with starting value 0xFFFF calculated over the packet data only

payload_length

uint8_t imu_advanced_navigation_anpp::protocol::Header::payload_length

SIZE

constexpr int imu_advanced_navigation_anpp::protocol::Header::SIZE = 5

static

---

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

• /build/rock-master-18.09-drivers-imu-advanced-navigation-anpp-0.20180904/src/Protocol.hpp
• /build/rock-master-18.09-drivers-imu-advanced-navigation-anpp-0.20180904/src/Protocol.cpp