Vectornav VN-100, Руководство пользователя

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UM001 39
Example Code
// 2D array to determine the payload length for a binary output packet. The first
// index of the array is the group number, and the second index
// is the group field index. Both indices are assumed to be zero based.
const unsigned char groupLen[7][16] =
{
{8, 8, 8, 12, 16, 12, 24, 12, 12, 24, 20, 28, 2, 4, 8, 0}, //Group 1
{8, 8, 8, 2, 8, 8, 8, 4, 4, 1, 1, 0, 0, 0, 0, 0}, //Group 2
{2, 12, 12, 12, 4, 4, 16, 12, 12, 12, 12, 2, 40, 0, 0, 0}, //Group 3
{8, 8, 2, 1, 1, 24, 24, 12, 12, 12, 4, 4, 2, 28, 2, 12}, //Group 4
{2, 12, 16, 36, 12, 12, 12, 12, 12, 12, 28, 24, 0, 0, 0, 0}, //Group 5
{2, 24, 24, 12, 12, 12, 12, 12, 12, 4, 4, 68, 64, 0, 0, 0}, //Group 6
{8, 8, 2, 1, 1, 24, 24, 12, 12, 12, 4, 4, 2, 28, 2, 12}, //Group 7
};
4.3.7 Example Cases
To help you better understand how the binary protocol works, the next two sections provide an overview
of how the binary output packets are formed for two separate example cases.
Example Case 1
For example 1 we will assume that only binary group 1 is active, and only the yaw, pitch, and roll output
is active within this binary group. In this case the header will have the following form.
Header Payload CRC
Field Sync Group Group 1
Fields
YawPitchRoll CRC
Byte Offset 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Byte Value
(Hex)
FA 01 08 00 93 50 2E 42 83 3E F1 3F 48 B5 04 BB 92 88
Type u8 u8 u16 float float float u16
Value 0xFA 1 8 0x422E5093
+43.578686 (Yaw)
0x3FF13E83
+1.8847202 (Pitch)
0xBB04B548
-2.0249654e-3 (Roll)
0x9288