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VectorNav C++ Library
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This group of methods allow parsing of ASCII response data packets from VectorNav's sensors. More...
Functions | |
void | vn::protocol::uart::Packet::parseBinaryOutput (uint16_t *asyncMode, uint16_t *rateDivisor, uint16_t *outputGroup, uint16_t *commonField, uint16_t *timeField, uint16_t *imuField, uint16_t *gpsField, uint16_t *attitudeField, uint16_t *insField) |
Parses a response from reading any of the Binary Output registers. More... | |
void | vn::protocol::uart::Packet::parseUserTag (char *tag) |
Parses a response from reading the User Tag register. More... | |
void | vn::protocol::uart::Packet::parseModelNumber (char *productName) |
Parses a response from reading the Model Number register. More... | |
void | vn::protocol::uart::Packet::parseHardwareRevision (uint32_t *revision) |
Parses a response from reading the Hardware Revision register. More... | |
void | vn::protocol::uart::Packet::parseSerialNumber (uint32_t *serialNum) |
Parses a response from reading the Serial Number register. More... | |
void | vn::protocol::uart::Packet::parseFirmwareVersion (char *firmwareVersion) |
Parses a response from reading the Firmware Version register. More... | |
void | vn::protocol::uart::Packet::parseSerialBaudRate (uint32_t *baudrate) |
Parses a response from reading the Serial Baud Rate register. More... | |
void | vn::protocol::uart::Packet::parseAsyncDataOutputType (uint32_t *ador) |
Parses a response from reading the Async Data Output Type register. More... | |
void | vn::protocol::uart::Packet::parseAsyncDataOutputFrequency (uint32_t *adof) |
Parses a response from reading the Async Data Output Frequency register. More... | |
void | vn::protocol::uart::Packet::parseYawPitchRoll (vn::math::vec3f *yawPitchRoll) |
Parses a response from reading the Yaw Pitch Roll register. More... | |
void | vn::protocol::uart::Packet::parseAttitudeQuaternion (vn::math::vec4f *quat) |
Parses a response from reading the Attitude Quaternion register. More... | |
void | vn::protocol::uart::Packet::parseQuaternionMagneticAccelerationAndAngularRates (vn::math::vec4f *quat, vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
Parses a response from reading the Quaternion, Magnetic, Acceleration and Angular Rates register. More... | |
void | vn::protocol::uart::Packet::parseMagneticMeasurements (vn::math::vec3f *mag) |
Parses a response from reading the Magnetic Measurements register. More... | |
void | vn::protocol::uart::Packet::parseAccelerationMeasurements (vn::math::vec3f *accel) |
Parses a response from reading the Acceleration Measurements register. More... | |
void | vn::protocol::uart::Packet::parseAngularRateMeasurements (vn::math::vec3f *gyro) |
Parses a response from reading the Angular Rate Measurements register. More... | |
void | vn::protocol::uart::Packet::parseMagneticAccelerationAndAngularRates (vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
Parses a response from reading the Magnetic, Acceleration and Angular Rates register. More... | |
void | vn::protocol::uart::Packet::parseMagneticAndGravityReferenceVectors (vn::math::vec3f *magRef, vn::math::vec3f *accRef) |
Parses a response from reading the Magnetic and Gravity Reference Vectors register. More... | |
void | vn::protocol::uart::Packet::parseFilterMeasurementsVarianceParameters (float *angularWalkVariance, vn::math::vec3f *angularRateVariance, vn::math::vec3f *magneticVariance, vn::math::vec3f *accelerationVariance) |
Parses a response from reading the Filter Measurements Variance Parameters register. More... | |
void | vn::protocol::uart::Packet::parseMagnetometerCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
Parses a response from reading the Magnetometer Compensation register. More... | |
void | vn::protocol::uart::Packet::parseFilterActiveTuningParameters (float *magneticDisturbanceGain, float *accelerationDisturbanceGain, float *magneticDisturbanceMemory, float *accelerationDisturbanceMemory) |
Parses a response from reading the Filter Active Tuning Parameters register. More... | |
void | vn::protocol::uart::Packet::parseAccelerationCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
Parses a response from reading the Acceleration Compensation register. More... | |
void | vn::protocol::uart::Packet::parseReferenceFrameRotation (vn::math::mat3f *c) |
Parses a response from reading the Reference Frame Rotation register. More... | |
void | vn::protocol::uart::Packet::parseYawPitchRollMagneticAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
Parses a response from reading the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. More... | |
void | vn::protocol::uart::Packet::parseCommunicationProtocolControl (uint8_t *serialCount, uint8_t *serialStatus, uint8_t *spiCount, uint8_t *spiStatus, uint8_t *serialChecksum, uint8_t *spiChecksum, uint8_t *errorMode) |
Parses a response from reading the Communication Protocol Control register. More... | |
void | vn::protocol::uart::Packet::parseSynchronizationControl (uint8_t *syncInMode, uint8_t *syncInEdge, uint16_t *syncInSkipFactor, uint8_t *syncOutMode, uint8_t *syncOutPolarity, uint16_t *syncOutSkipFactor, uint32_t *syncOutPulseWidth) |
Parses a response from reading the Synchronization Control register. More... | |
void | vn::protocol::uart::Packet::parseSynchronizationStatus (uint32_t *syncInCount, uint32_t *syncInTime, uint32_t *syncOutCount) |
Parses a response from reading the Synchronization Status register. More... | |
void | vn::protocol::uart::Packet::parseFilterBasicControl (uint8_t *magMode, uint8_t *extMagMode, uint8_t *extAccMode, uint8_t *extGyroMode, vn::math::vec3f *gyroLimit) |
Parses a response from reading the Filter Basic Control register. More... | |
void | vn::protocol::uart::Packet::parseVpeBasicControl (uint8_t *enable, uint8_t *headingMode, uint8_t *filteringMode, uint8_t *tuningMode) |
Parses a response from reading the VPE Basic Control register. More... | |
void | vn::protocol::uart::Packet::parseVpeMagnetometerBasicTuning (vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning, vn::math::vec3f *adaptiveFiltering) |
Parses a response from reading the VPE Magnetometer Basic Tuning register. More... | |
void | vn::protocol::uart::Packet::parseVpeMagnetometerAdvancedTuning (vn::math::vec3f *minFiltering, vn::math::vec3f *maxFiltering, float *maxAdaptRate, float *disturbanceWindow, float *maxTuning) |
Parses a response from reading the VPE Magnetometer Advanced Tuning register. More... | |
void | vn::protocol::uart::Packet::parseVpeAccelerometerBasicTuning (vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning, vn::math::vec3f *adaptiveFiltering) |
Parses a response from reading the VPE Accelerometer Basic Tuning register. More... | |
void | vn::protocol::uart::Packet::parseVpeAccelerometerAdvancedTuning (vn::math::vec3f *minFiltering, vn::math::vec3f *maxFiltering, float *maxAdaptRate, float *disturbanceWindow, float *maxTuning) |
Parses a response from reading the VPE Accelerometer Advanced Tuning register. More... | |
void | vn::protocol::uart::Packet::parseVpeGyroBasicTuning (vn::math::vec3f *angularWalkVariance, vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning) |
Parses a response from reading the VPE Gyro Basic Tuning register. More... | |
void | vn::protocol::uart::Packet::parseFilterStartupGyroBias (vn::math::vec3f *bias) |
Parses a response from reading the Filter Startup Gyro Bias register. More... | |
void | vn::protocol::uart::Packet::parseMagnetometerCalibrationControl (uint8_t *hsiMode, uint8_t *hsiOutput, uint8_t *convergeRate) |
Parses a response from reading the Magnetometer Calibration Control register. More... | |
void | vn::protocol::uart::Packet::parseCalculatedMagnetometerCalibration (vn::math::mat3f *c, vn::math::vec3f *b) |
Parses a response from reading the Calculated Magnetometer Calibration register. More... | |
void | vn::protocol::uart::Packet::parseIndoorHeadingModeControl (float *maxRateError) |
Parses a response from reading the Indoor Heading Mode Control register. More... | |
void | vn::protocol::uart::Packet::parseVelocityCompensationMeasurement (vn::math::vec3f *velocity) |
Parses a response from reading the Velocity Compensation Measurement register. More... | |
void | vn::protocol::uart::Packet::parseVelocityCompensationControl (uint8_t *mode, float *velocityTuning, float *rateTuning) |
Parses a response from reading the Velocity Compensation Control register. More... | |
void | vn::protocol::uart::Packet::parseVelocityCompensationStatus (float *x, float *xDot, vn::math::vec3f *accelOffset, vn::math::vec3f *omega) |
Parses a response from reading the Velocity Compensation Status register. More... | |
void | vn::protocol::uart::Packet::parseImuMeasurements (vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro, float *temp, float *pressure) |
Parses a response from reading the IMU Measurements register. More... | |
void | vn::protocol::uart::Packet::parseGpsConfiguration (uint8_t *mode, uint8_t *ppsSource) |
Parses a response from reading the GPS Configuration register. More... | |
void | vn::protocol::uart::Packet::parseGpsAntennaOffset (vn::math::vec3f *position) |
Parses a response from reading the GPS Antenna Offset register. More... | |
void | vn::protocol::uart::Packet::parseGpsSolutionLla (double *time, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *lla, vn::math::vec3f *nedVel, vn::math::vec3f *nedAcc, float *speedAcc, float *timeAcc) |
Parses a response from reading the GPS Solution - LLA register. More... | |
void | vn::protocol::uart::Packet::parseGpsSolutionEcef (double *tow, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *posAcc, float *speedAcc, float *timeAcc) |
Parses a response from reading the GPS Solution - ECEF register. More... | |
void | vn::protocol::uart::Packet::parseInsSolutionLla (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *nedVel, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
Parses a response from reading the INS Solution - LLA register. More... | |
void | vn::protocol::uart::Packet::parseInsSolutionEcef (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
Parses a response from reading the INS Solution - ECEF register. More... | |
void | vn::protocol::uart::Packet::parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding) |
Parses a response from reading the INS Basic Configuration register. More... | |
void | vn::protocol::uart::Packet::parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding, uint8_t *estBaseline) |
Parses a response from reading the INS Basic Configuration register. More... | |
void | vn::protocol::uart::Packet::parseInsAdvancedConfiguration (uint8_t *useMag, uint8_t *usePres, uint8_t *posAtt, uint8_t *velAtt, uint8_t *velBias, uint8_t *useFoam, uint8_t *gpsCovType, uint8_t *velCount, float *velInit, float *moveOrigin, float *gpsTimeout, float *deltaLimitPos, float *deltaLimitVel, float *minPosUncertainty, float *minVelUncertainty) |
Parses a response from reading the INS Advanced Configuration register. More... | |
void | vn::protocol::uart::Packet::parseInsStateLla (vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *accel, vn::math::vec3f *angularRate) |
Parses a response from reading the INS State - LLA register. More... | |
void | vn::protocol::uart::Packet::parseInsStateEcef (vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *accel, vn::math::vec3f *angularRate) |
Parses a response from reading the INS State - ECEF register. More... | |
void | vn::protocol::uart::Packet::parseStartupFilterBiasEstimate (vn::math::vec3f *gyroBias, vn::math::vec3f *accelBias, float *pressureBias) |
Parses a response from reading the Startup Filter Bias Estimate register. More... | |
void | vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocity (float *deltaTime, vn::math::vec3f *deltaTheta, vn::math::vec3f *deltaVelocity) |
Parses a response from reading the Delta Theta and Delta Velocity register. More... | |
void | vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocityConfiguration (uint8_t *integrationFrame, uint8_t *gyroCompensation, uint8_t *accelCompensation) |
Parses a response from reading the Delta Theta and Delta Velocity Configuration register. More... | |
void | vn::protocol::uart::Packet::parseReferenceVectorConfiguration (uint8_t *useMagModel, uint8_t *useGravityModel, uint32_t *recalcThreshold, float *year, vn::math::vec3d *position) |
Parses a response from reading the Reference Vector Configuration register. More... | |
void | vn::protocol::uart::Packet::parseGyroCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
Parses a response from reading the Gyro Compensation register. More... | |
void | vn::protocol::uart::Packet::parseImuFilteringConfiguration (uint16_t *magWindowSize, uint16_t *accelWindowSize, uint16_t *gyroWindowSize, uint16_t *tempWindowSize, uint16_t *presWindowSize, uint8_t *magFilterMode, uint8_t *accelFilterMode, uint8_t *gyroFilterMode, uint8_t *tempFilterMode, uint8_t *presFilterMode) |
Parses a response from reading the IMU Filtering Configuration register. More... | |
void | vn::protocol::uart::Packet::parseGpsCompassBaseline (vn::math::vec3f *position, vn::math::vec3f *uncertainty) |
Parses a response from reading the GPS Compass Baseline register. More... | |
void | vn::protocol::uart::Packet::parseGpsCompassEstimatedBaseline (uint8_t *estBaselineUsed, uint16_t *numMeas, vn::math::vec3f *position, vn::math::vec3f *uncertainty) |
Parses a response from reading the GPS Compass Estimated Baseline register. More... | |
void | vn::protocol::uart::Packet::parseImuRateConfiguration (uint16_t *imuRate, uint16_t *navDivisor, float *filterTargetRate, float *filterMinRate) |
Parses a response from reading the IMU Rate Configuration register. More... | |
void | vn::protocol::uart::Packet::parseYawPitchRollTrueBodyAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *bodyAccel, vn::math::vec3f *gyro) |
Parses a response from reading the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. More... | |
void | vn::protocol::uart::Packet::parseYawPitchRollTrueInertialAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *inertialAccel, vn::math::vec3f *gyro) |
Parses a response from reading the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. More... | |
This group of methods allow parsing of ASCII response data packets from VectorNav's sensors.
The units are not specified for the out parameters since these methods do a simple conversion operation from the packet string. Please consult the appropriate user manual for your sensor for details about the units returned by the sensor.
void vn::protocol::uart::Packet::parseAccelerationCompensation | ( | vn::math::mat3f * | c, |
vn::math::vec3f * | b | ||
) |
Parses a response from reading the Acceleration Compensation register.
[out] | c | The register's C field. |
[out] | b | The register's B field. |
void vn::protocol::uart::Packet::parseAccelerationMeasurements | ( | vn::math::vec3f * | accel | ) |
Parses a response from reading the Acceleration Measurements register.
[out] | accel | The register's Accel field. |
void vn::protocol::uart::Packet::parseAngularRateMeasurements | ( | vn::math::vec3f * | gyro | ) |
Parses a response from reading the Angular Rate Measurements register.
[out] | gyro | The register's Gyro field. |
void vn::protocol::uart::Packet::parseAsyncDataOutputFrequency | ( | uint32_t * | adof | ) |
Parses a response from reading the Async Data Output Frequency register.
[out] | adof | The register's ADOF field. |
void vn::protocol::uart::Packet::parseAsyncDataOutputType | ( | uint32_t * | ador | ) |
Parses a response from reading the Async Data Output Type register.
[out] | ador | The register's ADOR field. |
void vn::protocol::uart::Packet::parseAttitudeQuaternion | ( | vn::math::vec4f * | quat | ) |
Parses a response from reading the Attitude Quaternion register.
[out] | quat | The register's Quat field. |
void vn::protocol::uart::Packet::parseBinaryOutput | ( | uint16_t * | asyncMode, |
uint16_t * | rateDivisor, | ||
uint16_t * | outputGroup, | ||
uint16_t * | commonField, | ||
uint16_t * | timeField, | ||
uint16_t * | imuField, | ||
uint16_t * | gpsField, | ||
uint16_t * | attitudeField, | ||
uint16_t * | insField | ||
) |
Parses a response from reading any of the Binary Output registers.
[out] | asyncMode | The register's AsyncMode field. |
[out] | rateDivisor | The register's RateDivisor field. |
[out] | outputGroup | The register's OutputGroup field. |
[out] | commonField | The set fields of Output Group 1 (Common) if present. |
[out] | timeField | The set fields of Output Group 2 (Time) if present. |
[out] | imuField | The set fields of Output Group 3 (IMU) if present. |
[out] | gpsField | The set fields of Output Group 4 (GPS) if present. |
[out] | attitudeField | The set fields of Output Group 5 (Attitude) if present. |
[out] | insField | The set fields of Output Group 6 (INS) if present. |
void vn::protocol::uart::Packet::parseCalculatedMagnetometerCalibration | ( | vn::math::mat3f * | c, |
vn::math::vec3f * | b | ||
) |
Parses a response from reading the Calculated Magnetometer Calibration register.
[out] | c | The register's C field. |
[out] | b | The register's B field. |
void vn::protocol::uart::Packet::parseCommunicationProtocolControl | ( | uint8_t * | serialCount, |
uint8_t * | serialStatus, | ||
uint8_t * | spiCount, | ||
uint8_t * | spiStatus, | ||
uint8_t * | serialChecksum, | ||
uint8_t * | spiChecksum, | ||
uint8_t * | errorMode | ||
) |
Parses a response from reading the Communication Protocol Control register.
[out] | serialCount | The register's SerialCount field. |
[out] | serialStatus | The register's SerialStatus field. |
[out] | spiCount | The register's SPICount field. |
[out] | spiStatus | The register's SPIStatus field. |
[out] | serialChecksum | The register's SerialChecksum field. |
[out] | spiChecksum | The register's SPIChecksum field. |
[out] | errorMode | The register's ErrorMode field. |
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocity | ( | float * | deltaTime, |
vn::math::vec3f * | deltaTheta, | ||
vn::math::vec3f * | deltaVelocity | ||
) |
Parses a response from reading the Delta Theta and Delta Velocity register.
[out] | deltaTime | The register's DeltaTime field. |
[out] | deltaTheta | The register's DeltaTheta field. |
[out] | deltaVelocity | The register's DeltaVelocity field. |
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocityConfiguration | ( | uint8_t * | integrationFrame, |
uint8_t * | gyroCompensation, | ||
uint8_t * | accelCompensation | ||
) |
Parses a response from reading the Delta Theta and Delta Velocity Configuration register.
[out] | integrationFrame | The register's IntegrationFrame field. |
[out] | gyroCompensation | The register's GyroCompensation field. |
[out] | accelCompensation | The register's AccelCompensation field. |
void vn::protocol::uart::Packet::parseFilterActiveTuningParameters | ( | float * | magneticDisturbanceGain, |
float * | accelerationDisturbanceGain, | ||
float * | magneticDisturbanceMemory, | ||
float * | accelerationDisturbanceMemory | ||
) |
Parses a response from reading the Filter Active Tuning Parameters register.
[out] | magneticDisturbanceGain | The register's Magnetic Disturbance Gain field. |
[out] | accelerationDisturbanceGain | The register's Acceleration Disturbance Gain field. |
[out] | magneticDisturbanceMemory | The register's Magnetic Disturbance Memory field. |
[out] | accelerationDisturbanceMemory | The register's Acceleration Disturbance Memory field. |
void vn::protocol::uart::Packet::parseFilterBasicControl | ( | uint8_t * | magMode, |
uint8_t * | extMagMode, | ||
uint8_t * | extAccMode, | ||
uint8_t * | extGyroMode, | ||
vn::math::vec3f * | gyroLimit | ||
) |
Parses a response from reading the Filter Basic Control register.
[out] | magMode | The register's MagMode field. |
[out] | extMagMode | The register's ExtMagMode field. |
[out] | extAccMode | The register's ExtAccMode field. |
[out] | extGyroMode | The register's ExtGyroMode field. |
[out] | gyroLimit | The register's GyroLimit field. |
void vn::protocol::uart::Packet::parseFilterMeasurementsVarianceParameters | ( | float * | angularWalkVariance, |
vn::math::vec3f * | angularRateVariance, | ||
vn::math::vec3f * | magneticVariance, | ||
vn::math::vec3f * | accelerationVariance | ||
) |
Parses a response from reading the Filter Measurements Variance Parameters register.
[out] | angularWalkVariance | The register's Angular Walk Variance field. |
[out] | angularRateVariance | The register's Angular Rate Variance field. |
[out] | magneticVariance | The register's Magnetic Variance field. |
[out] | accelerationVariance | The register's Acceleration Variance field. |
void vn::protocol::uart::Packet::parseFilterStartupGyroBias | ( | vn::math::vec3f * | bias | ) |
Parses a response from reading the Filter Startup Gyro Bias register.
[out] | bias | The register's Bias field. |
void vn::protocol::uart::Packet::parseFirmwareVersion | ( | char * | firmwareVersion | ) |
Parses a response from reading the Firmware Version register.
[out] | firmwareVersion | The register's Firmware Version field. |
void vn::protocol::uart::Packet::parseGpsAntennaOffset | ( | vn::math::vec3f * | position | ) |
Parses a response from reading the GPS Antenna Offset register.
[out] | position | The register's Position field. |
void vn::protocol::uart::Packet::parseGpsCompassBaseline | ( | vn::math::vec3f * | position, |
vn::math::vec3f * | uncertainty | ||
) |
Parses a response from reading the GPS Compass Baseline register.
[out] | position | The register's Position field. |
[out] | uncertainty | The register's Uncertainty field. |
void vn::protocol::uart::Packet::parseGpsCompassEstimatedBaseline | ( | uint8_t * | estBaselineUsed, |
uint16_t * | numMeas, | ||
vn::math::vec3f * | position, | ||
vn::math::vec3f * | uncertainty | ||
) |
Parses a response from reading the GPS Compass Estimated Baseline register.
[out] | estBaselineUsed | The register's EstBaselineUsed field. |
[out] | numMeas | The register's NumMeas field. |
[out] | position | The register's Position field. |
[out] | uncertainty | The register's Uncertainty field. |
void vn::protocol::uart::Packet::parseGpsConfiguration | ( | uint8_t * | mode, |
uint8_t * | ppsSource | ||
) |
Parses a response from reading the GPS Configuration register.
[out] | mode | The register's Mode field. |
[out] | ppsSource | The register's PpsSource field. |
void vn::protocol::uart::Packet::parseGpsSolutionEcef | ( | double * | tow, |
uint16_t * | week, | ||
uint8_t * | gpsFix, | ||
uint8_t * | numSats, | ||
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | posAcc, | ||
float * | speedAcc, | ||
float * | timeAcc | ||
) |
Parses a response from reading the GPS Solution - ECEF register.
[out] | tow | The register's Tow field. |
[out] | week | The register's Week field. |
[out] | gpsFix | The register's GpsFix field. |
[out] | numSats | The register's NumSats field. |
[out] | position | The register's Position field. |
[out] | velocity | The register's Velocity field. |
[out] | posAcc | The register's PosAcc field. |
[out] | speedAcc | The register's SpeedAcc field. |
[out] | timeAcc | The register's TimeAcc field. |
void vn::protocol::uart::Packet::parseGpsSolutionLla | ( | double * | time, |
uint16_t * | week, | ||
uint8_t * | gpsFix, | ||
uint8_t * | numSats, | ||
vn::math::vec3d * | lla, | ||
vn::math::vec3f * | nedVel, | ||
vn::math::vec3f * | nedAcc, | ||
float * | speedAcc, | ||
float * | timeAcc | ||
) |
Parses a response from reading the GPS Solution - LLA register.
[out] | time | The register's Time field. |
[out] | week | The register's Week field. |
[out] | gpsFix | The register's GpsFix field. |
[out] | numSats | The register's NumSats field. |
[out] | lla | The register's Lla field. |
[out] | nedVel | The register's NedVel field. |
[out] | nedAcc | The register's NedAcc field. |
[out] | speedAcc | The register's SpeedAcc field. |
[out] | timeAcc | The register's TimeAcc field. |
void vn::protocol::uart::Packet::parseGyroCompensation | ( | vn::math::mat3f * | c, |
vn::math::vec3f * | b | ||
) |
Parses a response from reading the Gyro Compensation register.
[out] | c | The register's C field. |
[out] | b | The register's B field. |
void vn::protocol::uart::Packet::parseHardwareRevision | ( | uint32_t * | revision | ) |
Parses a response from reading the Hardware Revision register.
[out] | revision | The register's Revision field. |
void vn::protocol::uart::Packet::parseImuFilteringConfiguration | ( | uint16_t * | magWindowSize, |
uint16_t * | accelWindowSize, | ||
uint16_t * | gyroWindowSize, | ||
uint16_t * | tempWindowSize, | ||
uint16_t * | presWindowSize, | ||
uint8_t * | magFilterMode, | ||
uint8_t * | accelFilterMode, | ||
uint8_t * | gyroFilterMode, | ||
uint8_t * | tempFilterMode, | ||
uint8_t * | presFilterMode | ||
) |
Parses a response from reading the IMU Filtering Configuration register.
[out] | magWindowSize | The register's MagWindowSize field. |
[out] | accelWindowSize | The register's AccelWindowSize field. |
[out] | gyroWindowSize | The register's GyroWindowSize field. |
[out] | tempWindowSize | The register's TempWindowSize field. |
[out] | presWindowSize | The register's PresWindowSize field. |
[out] | magFilterMode | The register's MagFilterMode field. |
[out] | accelFilterMode | The register's AccelFilterMode field. |
[out] | gyroFilterMode | The register's GyroFilterMode field. |
[out] | tempFilterMode | The register's TempFilterMode field. |
[out] | presFilterMode | The register's PresFilterMode field. |
void vn::protocol::uart::Packet::parseImuMeasurements | ( | vn::math::vec3f * | mag, |
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | gyro, | ||
float * | temp, | ||
float * | pressure | ||
) |
Parses a response from reading the IMU Measurements register.
[out] | mag | The register's Mag field. |
[out] | accel | The register's Accel field. |
[out] | gyro | The register's Gyro field. |
[out] | temp | The register's Temp field. |
[out] | pressure | The register's Pressure field. |
void vn::protocol::uart::Packet::parseImuRateConfiguration | ( | uint16_t * | imuRate, |
uint16_t * | navDivisor, | ||
float * | filterTargetRate, | ||
float * | filterMinRate | ||
) |
Parses a response from reading the IMU Rate Configuration register.
[out] | imuRate | The register's imuRate field. |
[out] | navDivisor | The register's NavDivisor field. |
[out] | filterTargetRate | The register's filterTargetRate field. |
[out] | filterMinRate | The register's filterMinRate field. |
void vn::protocol::uart::Packet::parseIndoorHeadingModeControl | ( | float * | maxRateError | ) |
Parses a response from reading the Indoor Heading Mode Control register.
[out] | maxRateError | The register's Max Rate Error field. |
void vn::protocol::uart::Packet::parseInsAdvancedConfiguration | ( | uint8_t * | useMag, |
uint8_t * | usePres, | ||
uint8_t * | posAtt, | ||
uint8_t * | velAtt, | ||
uint8_t * | velBias, | ||
uint8_t * | useFoam, | ||
uint8_t * | gpsCovType, | ||
uint8_t * | velCount, | ||
float * | velInit, | ||
float * | moveOrigin, | ||
float * | gpsTimeout, | ||
float * | deltaLimitPos, | ||
float * | deltaLimitVel, | ||
float * | minPosUncertainty, | ||
float * | minVelUncertainty | ||
) |
Parses a response from reading the INS Advanced Configuration register.
[out] | useMag | The register's UseMag field. |
[out] | usePres | The register's UsePres field. |
[out] | posAtt | The register's PosAtt field. |
[out] | velAtt | The register's VelAtt field. |
[out] | velBias | The register's VelBias field. |
[out] | useFoam | The register's UseFoam field. |
[out] | gpsCovType | The register's GPSCovType field. |
[out] | velCount | The register's VelCount field. |
[out] | velInit | The register's VelInit field. |
[out] | moveOrigin | The register's MoveOrigin field. |
[out] | gpsTimeout | The register's GPSTimeout field. |
[out] | deltaLimitPos | The register's DeltaLimitPos field. |
[out] | deltaLimitVel | The register's DeltaLimitVel field. |
[out] | minPosUncertainty | The register's MinPosUncertainty field. |
[out] | minVelUncertainty | The register's MinVelUncertainty field. |
void vn::protocol::uart::Packet::parseInsBasicConfiguration | ( | uint8_t * | scenario, |
uint8_t * | ahrsAiding | ||
) |
Parses a response from reading the INS Basic Configuration register.
[out] | scenario | The register's Scenario field. |
[out] | ahrsAiding | The register's AhrsAiding field. |
void vn::protocol::uart::Packet::parseInsBasicConfiguration | ( | uint8_t * | scenario, |
uint8_t * | ahrsAiding, | ||
uint8_t * | estBaseline | ||
) |
Parses a response from reading the INS Basic Configuration register.
[out] | scenario | The register's Scenario field. |
[out] | ahrsAiding | The register's AhrsAiding field. |
[out] | estBaseline | The register's EstBaseline field. |
void vn::protocol::uart::Packet::parseInsSolutionEcef | ( | double * | time, |
uint16_t * | week, | ||
uint16_t * | status, | ||
vn::math::vec3f * | yawPitchRoll, | ||
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
float * | attUncertainty, | ||
float * | posUncertainty, | ||
float * | velUncertainty | ||
) |
Parses a response from reading the INS Solution - ECEF register.
[out] | time | The register's Time field. |
[out] | week | The register's Week field. |
[out] | status | The register's Status field. |
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | position | The register's Position field. |
[out] | velocity | The register's Velocity field. |
[out] | attUncertainty | The register's AttUncertainty field. |
[out] | posUncertainty | The register's PosUncertainty field. |
[out] | velUncertainty | The register's VelUncertainty field. |
void vn::protocol::uart::Packet::parseInsSolutionLla | ( | double * | time, |
uint16_t * | week, | ||
uint16_t * | status, | ||
vn::math::vec3f * | yawPitchRoll, | ||
vn::math::vec3d * | position, | ||
vn::math::vec3f * | nedVel, | ||
float * | attUncertainty, | ||
float * | posUncertainty, | ||
float * | velUncertainty | ||
) |
Parses a response from reading the INS Solution - LLA register.
[out] | time | The register's Time field. |
[out] | week | The register's Week field. |
[out] | status | The register's Status field. |
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | position | The register's Position field. |
[out] | nedVel | The register's NedVel field. |
[out] | attUncertainty | The register's AttUncertainty field. |
[out] | posUncertainty | The register's PosUncertainty field. |
[out] | velUncertainty | The register's VelUncertainty field. |
void vn::protocol::uart::Packet::parseInsStateEcef | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a response from reading the INS State - ECEF register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | position | The register's Position field. |
[out] | velocity | The register's Velocity field. |
[out] | accel | The register's Accel field. |
[out] | angularRate | The register's AngularRate field. |
void vn::protocol::uart::Packet::parseInsStateLla | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a response from reading the INS State - LLA register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | position | The register's Position field. |
[out] | velocity | The register's Velocity field. |
[out] | accel | The register's Accel field. |
[out] | angularRate | The register's AngularRate field. |
void vn::protocol::uart::Packet::parseMagneticAccelerationAndAngularRates | ( | vn::math::vec3f * | mag, |
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | gyro | ||
) |
Parses a response from reading the Magnetic, Acceleration and Angular Rates register.
[out] | mag | The register's Mag field. |
[out] | accel | The register's Accel field. |
[out] | gyro | The register's Gyro field. |
void vn::protocol::uart::Packet::parseMagneticAndGravityReferenceVectors | ( | vn::math::vec3f * | magRef, |
vn::math::vec3f * | accRef | ||
) |
Parses a response from reading the Magnetic and Gravity Reference Vectors register.
[out] | magRef | The register's MagRef field. |
[out] | accRef | The register's AccRef field. |
void vn::protocol::uart::Packet::parseMagneticMeasurements | ( | vn::math::vec3f * | mag | ) |
Parses a response from reading the Magnetic Measurements register.
[out] | mag | The register's Mag field. |
void vn::protocol::uart::Packet::parseMagnetometerCalibrationControl | ( | uint8_t * | hsiMode, |
uint8_t * | hsiOutput, | ||
uint8_t * | convergeRate | ||
) |
Parses a response from reading the Magnetometer Calibration Control register.
[out] | hsiMode | The register's HSIMode field. |
[out] | hsiOutput | The register's HSIOutput field. |
[out] | convergeRate | The register's ConvergeRate field. |
void vn::protocol::uart::Packet::parseMagnetometerCompensation | ( | vn::math::mat3f * | c, |
vn::math::vec3f * | b | ||
) |
Parses a response from reading the Magnetometer Compensation register.
[out] | c | The register's C field. |
[out] | b | The register's B field. |
void vn::protocol::uart::Packet::parseModelNumber | ( | char * | productName | ) |
Parses a response from reading the Model Number register.
[out] | productName | The register's Product Name field. |
void vn::protocol::uart::Packet::parseQuaternionMagneticAccelerationAndAngularRates | ( | vn::math::vec4f * | quat, |
vn::math::vec3f * | mag, | ||
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | gyro | ||
) |
Parses a response from reading the Quaternion, Magnetic, Acceleration and Angular Rates register.
[out] | quat | The register's Quat field. |
[out] | mag | The register's Mag field. |
[out] | accel | The register's Accel field. |
[out] | gyro | The register's Gyro field. |
void vn::protocol::uart::Packet::parseReferenceFrameRotation | ( | vn::math::mat3f * | c | ) |
Parses a response from reading the Reference Frame Rotation register.
[out] | c | The register's C field. |
void vn::protocol::uart::Packet::parseReferenceVectorConfiguration | ( | uint8_t * | useMagModel, |
uint8_t * | useGravityModel, | ||
uint32_t * | recalcThreshold, | ||
float * | year, | ||
vn::math::vec3d * | position | ||
) |
Parses a response from reading the Reference Vector Configuration register.
[out] | useMagModel | The register's UseMagModel field. |
[out] | useGravityModel | The register's UseGravityModel field. |
[out] | recalcThreshold | The register's RecalcThreshold field. |
[out] | year | The register's Year field. |
[out] | position | The register's Position field. |
void vn::protocol::uart::Packet::parseSerialBaudRate | ( | uint32_t * | baudrate | ) |
Parses a response from reading the Serial Baud Rate register.
[out] | baudrate | The register's Baud Rate field. |
void vn::protocol::uart::Packet::parseSerialNumber | ( | uint32_t * | serialNum | ) |
Parses a response from reading the Serial Number register.
[out] | serialNum | The register's SerialNum field. |
void vn::protocol::uart::Packet::parseStartupFilterBiasEstimate | ( | vn::math::vec3f * | gyroBias, |
vn::math::vec3f * | accelBias, | ||
float * | pressureBias | ||
) |
Parses a response from reading the Startup Filter Bias Estimate register.
[out] | gyroBias | The register's GyroBias field. |
[out] | accelBias | The register's AccelBias field. |
[out] | pressureBias | The register's PressureBias field. |
void vn::protocol::uart::Packet::parseSynchronizationControl | ( | uint8_t * | syncInMode, |
uint8_t * | syncInEdge, | ||
uint16_t * | syncInSkipFactor, | ||
uint8_t * | syncOutMode, | ||
uint8_t * | syncOutPolarity, | ||
uint16_t * | syncOutSkipFactor, | ||
uint32_t * | syncOutPulseWidth | ||
) |
Parses a response from reading the Synchronization Control register.
[out] | syncInMode | The register's SyncInMode field. |
[out] | syncInEdge | The register's SyncInEdge field. |
[out] | syncInSkipFactor | The register's SyncInSkipFactor field. |
[out] | syncOutMode | The register's SyncOutMode field. |
[out] | syncOutPolarity | The register's SyncOutPolarity field. |
[out] | syncOutSkipFactor | The register's SyncOutSkipFactor field. |
[out] | syncOutPulseWidth | The register's SyncOutPulseWidth field. |
void vn::protocol::uart::Packet::parseSynchronizationStatus | ( | uint32_t * | syncInCount, |
uint32_t * | syncInTime, | ||
uint32_t * | syncOutCount | ||
) |
Parses a response from reading the Synchronization Status register.
[out] | syncInCount | The register's SyncInCount field. |
[out] | syncInTime | The register's SyncInTime field. |
[out] | syncOutCount | The register's SyncOutCount field. |
void vn::protocol::uart::Packet::parseUserTag | ( | char * | tag | ) |
Parses a response from reading the User Tag register.
[out] | tag | The register's Tag field. |
void vn::protocol::uart::Packet::parseVelocityCompensationControl | ( | uint8_t * | mode, |
float * | velocityTuning, | ||
float * | rateTuning | ||
) |
Parses a response from reading the Velocity Compensation Control register.
[out] | mode | The register's Mode field. |
[out] | velocityTuning | The register's VelocityTuning field. |
[out] | rateTuning | The register's RateTuning field. |
void vn::protocol::uart::Packet::parseVelocityCompensationMeasurement | ( | vn::math::vec3f * | velocity | ) |
Parses a response from reading the Velocity Compensation Measurement register.
[out] | velocity | The register's Velocity field. |
void vn::protocol::uart::Packet::parseVelocityCompensationStatus | ( | float * | x, |
float * | xDot, | ||
vn::math::vec3f * | accelOffset, | ||
vn::math::vec3f * | omega | ||
) |
Parses a response from reading the Velocity Compensation Status register.
[out] | x | The register's x field. |
[out] | xDot | The register's xDot field. |
[out] | accelOffset | The register's accelOffset field. |
[out] | omega | The register's omega field. |
void vn::protocol::uart::Packet::parseVpeAccelerometerAdvancedTuning | ( | vn::math::vec3f * | minFiltering, |
vn::math::vec3f * | maxFiltering, | ||
float * | maxAdaptRate, | ||
float * | disturbanceWindow, | ||
float * | maxTuning | ||
) |
Parses a response from reading the VPE Accelerometer Advanced Tuning register.
[out] | minFiltering | The register's MinFiltering field. |
[out] | maxFiltering | The register's MaxFiltering field. |
[out] | maxAdaptRate | The register's MaxAdaptRate field. |
[out] | disturbanceWindow | The register's DisturbanceWindow field. |
[out] | maxTuning | The register's MaxTuning field. |
void vn::protocol::uart::Packet::parseVpeAccelerometerBasicTuning | ( | vn::math::vec3f * | baseTuning, |
vn::math::vec3f * | adaptiveTuning, | ||
vn::math::vec3f * | adaptiveFiltering | ||
) |
Parses a response from reading the VPE Accelerometer Basic Tuning register.
[out] | baseTuning | The register's BaseTuning field. |
[out] | adaptiveTuning | The register's AdaptiveTuning field. |
[out] | adaptiveFiltering | The register's AdaptiveFiltering field. |
void vn::protocol::uart::Packet::parseVpeBasicControl | ( | uint8_t * | enable, |
uint8_t * | headingMode, | ||
uint8_t * | filteringMode, | ||
uint8_t * | tuningMode | ||
) |
Parses a response from reading the VPE Basic Control register.
[out] | enable | The register's Enable field. |
[out] | headingMode | The register's HeadingMode field. |
[out] | filteringMode | The register's FilteringMode field. |
[out] | tuningMode | The register's TuningMode field. |
void vn::protocol::uart::Packet::parseVpeGyroBasicTuning | ( | vn::math::vec3f * | angularWalkVariance, |
vn::math::vec3f * | baseTuning, | ||
vn::math::vec3f * | adaptiveTuning | ||
) |
Parses a response from reading the VPE Gyro Basic Tuning register.
[out] | angularWalkVariance | The register's AngularWalkVariance field. |
[out] | baseTuning | The register's BaseTuning field. |
[out] | adaptiveTuning | The register's AdaptiveTuning field. |
void vn::protocol::uart::Packet::parseVpeMagnetometerAdvancedTuning | ( | vn::math::vec3f * | minFiltering, |
vn::math::vec3f * | maxFiltering, | ||
float * | maxAdaptRate, | ||
float * | disturbanceWindow, | ||
float * | maxTuning | ||
) |
Parses a response from reading the VPE Magnetometer Advanced Tuning register.
[out] | minFiltering | The register's MinFiltering field. |
[out] | maxFiltering | The register's MaxFiltering field. |
[out] | maxAdaptRate | The register's MaxAdaptRate field. |
[out] | disturbanceWindow | The register's DisturbanceWindow field. |
[out] | maxTuning | The register's MaxTuning field. |
void vn::protocol::uart::Packet::parseVpeMagnetometerBasicTuning | ( | vn::math::vec3f * | baseTuning, |
vn::math::vec3f * | adaptiveTuning, | ||
vn::math::vec3f * | adaptiveFiltering | ||
) |
Parses a response from reading the VPE Magnetometer Basic Tuning register.
[out] | baseTuning | The register's BaseTuning field. |
[out] | adaptiveTuning | The register's AdaptiveTuning field. |
[out] | adaptiveFiltering | The register's AdaptiveFiltering field. |
void vn::protocol::uart::Packet::parseYawPitchRoll | ( | vn::math::vec3f * | yawPitchRoll | ) |
Parses a response from reading the Yaw Pitch Roll register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
void vn::protocol::uart::Packet::parseYawPitchRollMagneticAccelerationAndAngularRates | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | mag, | ||
vn::math::vec3f * | accel, | ||
vn::math::vec3f * | gyro | ||
) |
Parses a response from reading the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | mag | The register's Mag field. |
[out] | accel | The register's Accel field. |
[out] | gyro | The register's Gyro field. |
void vn::protocol::uart::Packet::parseYawPitchRollTrueBodyAccelerationAndAngularRates | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | bodyAccel, | ||
vn::math::vec3f * | gyro | ||
) |
Parses a response from reading the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | bodyAccel | The register's BodyAccel field. |
[out] | gyro | The register's Gyro field. |
void vn::protocol::uart::Packet::parseYawPitchRollTrueInertialAccelerationAndAngularRates | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | inertialAccel, | ||
vn::math::vec3f * | gyro | ||
) |
Parses a response from reading the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register.
[out] | yawPitchRoll | The register's YawPitchRoll field. |
[out] | inertialAccel | The register's InertialAccel field. |
[out] | gyro | The register's Gyro field. |