Package com.kauailabs.navx

Class IMUProtocol

java.lang.Object

com.kauailabs.navx.IMUProtocol

Direct Known Subclasses:

AHRSProtocol

public class IMUProtocol
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	IMUProtocol.GyroUpdate
static class	IMUProtocol.QuaternionUpdate
static class	IMUProtocol.StreamCommand
static class	IMUProtocol.StreamResponse
static class	IMUProtocol.YPRUpdate

Field Summary

Fields

Modifier and Type	Field	Description
protected static byte[]	hexArray
static int	IMU_PROTOCOL_MAX_MESSAGE_LENGTH
static byte	MSG_ID_STREAM_RESPONSE
static byte	MSGID_GYRO_UPDATE
static byte	MSGID_QUATERNION_UPDATE
static byte	MSGID_STREAM_CMD
static byte	MSGID_YPR_UPDATE
static short	NAV6_CALIBRATION_STATE_ACCUMULATE
static short	NAV6_CALIBRATION_STATE_COMPLETE
static short	NAV6_CALIBRATION_STATE_WAIT
static short	NAV6_FLAG_MASK_CALIBRATION_STATE
static byte	PACKET_START_CHAR
static int	STREAM_CMD_STREAM_TYPE_GYRO
static int	STREAM_CMD_STREAM_TYPE_QUATERNION
static int	STREAM_CMD_STREAM_TYPE_YPR
static byte	STREAM_MSG_TERMINATION_CHAR

Constructor Summary

Constructors

Constructor	Description
IMUProtocol()

Method Summary

Modifier and Type	Method	Description
static void	byteToHex(byte thebyte, byte[] dest, int offset)
static int	decodeGyroUpdate(byte[] buffer, int offset, int length, IMUProtocol.GyroUpdate u)
static float	decodeProtocolFloat(byte[] buffer, int offset)
static short	decodeProtocolUint16(byte[] uint16_string, int offset)
static float	decodeProtocolUnsignedHundredthsFloat(byte[] uint8_unsigned_hundredths_float, int offset)
static int	decodeQuaternionUpdate(byte[] buffer, int offset, int length, IMUProtocol.QuaternionUpdate u)
static int	decodeStreamCommand(byte[] buffer, int offset, int length, IMUProtocol.StreamCommand c)
static int	decodeStreamResponse(byte[] buffer, int offset, int length, IMUProtocol.StreamResponse r)
static byte	decodeUint8(byte[] checksum, int offset)
static int	decodeYPRUpdate(byte[] buffer, int offset, int length, IMUProtocol.YPRUpdate u)
static int	encodeStreamCommand(byte[] protocol_buffer, byte stream_type, byte update_rate_hz)
static void	encodeTermination(byte[] buffer, int total_length, int content_length)
static boolean	verifyChecksum(byte[] buffer, int offset, int content_length)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PACKET_START_CHAR

public static final byte PACKET_START_CHAR

See Also:

Constant Field Values

MSGID_YPR_UPDATE

public static final byte MSGID_YPR_UPDATE

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Constant Field Values

MSGID_QUATERNION_UPDATE

public static final byte MSGID_QUATERNION_UPDATE

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Constant Field Values

MSGID_GYRO_UPDATE

public static final byte MSGID_GYRO_UPDATE

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Constant Field Values

MSGID_STREAM_CMD

public static final byte MSGID_STREAM_CMD

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Constant Field Values

STREAM_CMD_STREAM_TYPE_YPR

public static final int STREAM_CMD_STREAM_TYPE_YPR

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Constant Field Values

STREAM_CMD_STREAM_TYPE_QUATERNION

public static final int STREAM_CMD_STREAM_TYPE_QUATERNION

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Constant Field Values

STREAM_CMD_STREAM_TYPE_GYRO

public static final int STREAM_CMD_STREAM_TYPE_GYRO

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Constant Field Values

MSG_ID_STREAM_RESPONSE

public static final byte MSG_ID_STREAM_RESPONSE

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Constant Field Values

STREAM_MSG_TERMINATION_CHAR

public static final byte STREAM_MSG_TERMINATION_CHAR

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Constant Field Values

NAV6_FLAG_MASK_CALIBRATION_STATE

public static final short NAV6_FLAG_MASK_CALIBRATION_STATE

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Constant Field Values

NAV6_CALIBRATION_STATE_WAIT

public static final short NAV6_CALIBRATION_STATE_WAIT

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Constant Field Values

NAV6_CALIBRATION_STATE_ACCUMULATE

public static final short NAV6_CALIBRATION_STATE_ACCUMULATE

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Constant Field Values

NAV6_CALIBRATION_STATE_COMPLETE

public static final short NAV6_CALIBRATION_STATE_COMPLETE

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Constant Field Values

IMU_PROTOCOL_MAX_MESSAGE_LENGTH

public static final int IMU_PROTOCOL_MAX_MESSAGE_LENGTH

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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)