Class IMUProtocol

  • Direct Known Subclasses:
    AHRSProtocol

    public class IMUProtocol
    extends java.lang.Object
    • Field Detail

      • MSGID_QUATERNION_UPDATE

        public static final byte MSGID_QUATERNION_UPDATE
        See Also:
        Constant Field Values
      • STREAM_CMD_STREAM_TYPE_YPR

        public static final int STREAM_CMD_STREAM_TYPE_YPR
        See Also:
        Constant Field Values
      • STREAM_CMD_STREAM_TYPE_QUATERNION

        public static final int STREAM_CMD_STREAM_TYPE_QUATERNION
        See Also:
        Constant Field Values
      • STREAM_CMD_STREAM_TYPE_GYRO

        public static final int STREAM_CMD_STREAM_TYPE_GYRO
        See Also:
        Constant Field Values
      • MSG_ID_STREAM_RESPONSE

        public static final byte MSG_ID_STREAM_RESPONSE
        See Also:
        Constant Field Values
      • STREAM_MSG_TERMINATION_CHAR

        public static final byte STREAM_MSG_TERMINATION_CHAR
        See Also:
        Constant Field Values
      • NAV6_FLAG_MASK_CALIBRATION_STATE

        public static final short NAV6_FLAG_MASK_CALIBRATION_STATE
        See Also:
        Constant Field Values
      • NAV6_CALIBRATION_STATE_WAIT

        public static final short NAV6_CALIBRATION_STATE_WAIT
        See Also:
        Constant Field Values
      • NAV6_CALIBRATION_STATE_ACCUMULATE

        public static final short NAV6_CALIBRATION_STATE_ACCUMULATE
        See Also:
        Constant Field Values
      • NAV6_CALIBRATION_STATE_COMPLETE

        public static final short NAV6_CALIBRATION_STATE_COMPLETE
        See Also:
        Constant Field Values
      • IMU_PROTOCOL_MAX_MESSAGE_LENGTH

        public static final int IMU_PROTOCOL_MAX_MESSAGE_LENGTH
        See Also:
        Constant Field Values
      • hexArray

        protected static final byte[] hexArray
    • Constructor Detail

      • IMUProtocol

        public IMUProtocol()
    • Method Detail

      • encodeStreamCommand

        public static int encodeStreamCommand​(byte[] protocol_buffer,
                                              byte stream_type,
                                              byte update_rate_hz)
      • decodeStreamResponse

        public static int decodeStreamResponse​(byte[] buffer,
                                               int offset,
                                               int length,
                                               IMUProtocol.StreamResponse r)
      • decodeStreamCommand

        public static int decodeStreamCommand​(byte[] buffer,
                                              int offset,
                                              int length,
                                              IMUProtocol.StreamCommand c)
      • decodeYPRUpdate

        public static int decodeYPRUpdate​(byte[] buffer,
                                          int offset,
                                          int length,
                                          IMUProtocol.YPRUpdate u)
      • decodeQuaternionUpdate

        public static int decodeQuaternionUpdate​(byte[] buffer,
                                                 int offset,
                                                 int length,
                                                 IMUProtocol.QuaternionUpdate u)
      • decodeGyroUpdate

        public static int decodeGyroUpdate​(byte[] buffer,
                                           int offset,
                                           int length,
                                           IMUProtocol.GyroUpdate u)
      • encodeTermination

        public static void encodeTermination​(byte[] buffer,
                                             int total_length,
                                             int content_length)
      • byteToHex

        public static void byteToHex​(byte thebyte,
                                     byte[] dest,
                                     int offset)
      • decodeProtocolUint16

        public static short decodeProtocolUint16​(byte[] uint16_string,
                                                 int offset)
      • decodeProtocolUnsignedHundredthsFloat

        public static float decodeProtocolUnsignedHundredthsFloat​(byte[] uint8_unsigned_hundredths_float,
                                                                  int offset)
      • verifyChecksum

        public static boolean verifyChecksum​(byte[] buffer,
                                             int offset,
                                             int content_length)
      • decodeUint8

        public static byte decodeUint8​(byte[] checksum,
                                       int offset)
      • decodeProtocolFloat

        public static float decodeProtocolFloat​(byte[] buffer,
                                                int offset)