UART ASCII Asynchronous Packet Parsers

This group of functions allow parsing of ASCII asynchronous data packets from VectorNav sensors. More...

Functions
void	VnUartPacket_parseVNYPR (VnUartPacket *packet, vec3f *yawPitchRoll)
	Parses a VNYPR asynchronous packet. More...
void	VnUartPacket_parseVNQTN (VnUartPacket *packet, vec4f *quaternion)
	Parses a VNQTN asynchronous packet. More...
void	VnUartPacket_parseVNQMR (VnUartPacket *packet, vec4f *quaternion, vec3f *magnetic, vec3f *acceleration, vec3f *angularRate)
	Parses a VNQMR asynchronous packet. More...
void	VnUartPacket_parseVNMAG (VnUartPacket *packet, vec3f *magnetic)
	Parses a VNMAG asynchronous packet. More...
void	VnUartPacket_parseVNACC (VnUartPacket *packet, vec3f *acceleration)
	Parses a VNACC asynchronous packet. More...
void	VnUartPacket_parseVNGYR (VnUartPacket *packet, vec3f *angularRate)
	Parses a VNGYR asynchronous packet. More...
void	VnUartPacket_parseVNMAR (VnUartPacket *packet, vec3f *magnetic, vec3f *acceleration, vec3f *angularRate)
	Parses a VNMAR asynchronous packet. More...
VnError	VnUartPacket_parseVNYMR (VnUartPacket *packet, vec3f *yawPitchRoll, vec3f *magnetic, vec3f *acceleration, vec3f *angularRate)
	Parses a VNYMR asynchronous packet. More...
void	VnUartPacket_parseVNYBA (VnUartPacket *packet, vec3f *yawPitchRoll, vec3f *accelerationBody, vec3f *angularRate)
	Parses a VNYMR asynchronous packet. More...
void	VnUartPacket_parseVNYIA (VnUartPacket *packet, vec3f *yawPitchRoll, vec3f *accelerationInertial, vec3f *angularRate)
	Parses a VNYIA asynchronous packet. More...
void	VnUartPacket_parseVNIMU (VnUartPacket *packet, vec3f *magneticUncompensated, vec3f *accelerationUncompensated, vec3f *angularRateUncompensated, float *temperature, float *pressure)
	Parses a VNIMU asynchronous packet. More...
void	VnUartPacket_parseVNGPS (VnUartPacket *packet, double *time, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vec3d *lla, vec3f *nedVel, vec3f *nedAcc, float *speedAcc, float *timeAcc)
	Parses a VNGPS asynchronous packet. More...
void	VnUartPacket_parseVNINS (VnUartPacket *packet, double *time, uint16_t *week, uint16_t *status, vec3f *yawPitchRoll, vec3d *lla, vec3f *nedVel, float *attUncertainty, float *posUncertainty, float *velUncertainty)
	Parses a VNINS asynchronous packet. More...
void	VnUartPacket_parseVNINE (VnUartPacket *packet, double *time, uint16_t *week, uint16_t *status, vec3f *yawPitchRoll, vec3d *position, vec3f *velocity, float *attUncertainty, float *posUncertainty, float *velUncertainty)
	Parses a VNINE asynchronous packet. More...
void	VnUartPacket_parseVNISL (VnUartPacket *packet, vec3f *ypr, vec3d *lla, vec3f *velocity, vec3f *acceleration, vec3f *angularRate)
	Parse a VNISL asynchronous packet. More...
void	VnUartPacket_parseVNISE (VnUartPacket *packet, vec3f *ypr, vec3d *position, vec3f *velocity, vec3f *acceleration, vec3f *angularRate)
	Parse a VNISE asynchronous packet. More...
void	VnUartPacket_parseVNGPE (VnUartPacket *packet, double *tow, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vec3d *position, vec3f *velocity, vec3f *posAcc, float *speedAcc, float *timeAcc)
	Parses a VNGPE asynchronous packet. More...
void	VnUartPacket_parseVNDTV (VnUartPacket *packet, float *deltaTime, vec3f *deltaTheta, vec3f *deltaVelocity)
	Parses a VNDTV asynchronous packet. More...

Detailed Description

This group of functions allow parsing of ASCII asynchronous data packets from VectorNav sensors.

The units are not specified for the out parameters since these functions do a simple conversion operation from the received packet string. Please consult the appropriate sensor user manual for details about the units returned by the sensor.

Function Documentation

void VnUartPacket_parseVNACC	(	VnUartPacket *	packet,
		vec3f *	acceleration
	)

Parses a VNACC asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	acceleration	The acceleration values in the packet.

void VnUartPacket_parseVNDTV	(	VnUartPacket *	packet,
		float *	deltaTime,
		vec3f *	deltaTheta,
		vec3f *	deltaVelocity
	)

Parses a VNDTV asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	deltaTime	The DeltaTime value in the packet.
[out]	deltaTheta	The DeltaTheta values in the packet.
[out]	deltaVelocity	The DeltaVelocity values in the packet.

void VnUartPacket_parseVNGPE	(	VnUartPacket *	packet,
		double *	tow,
		uint16_t *	week,
		uint8_t *	gpsFix,
		uint8_t *	numSats,
		vec3d *	position,
		vec3f *	velocity,
		vec3f *	posAcc,
		float *	speedAcc,
		float *	timeAcc
	)

Parses a VNGPE asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	tow	The tow value in the packet.
[out]	week	The week value in the packet.
[out]	gpsFix	The GPS fix value in the packet.
[out]	numSats	The numSats value in the packet.
[out]	position	The ECEF position values in the packet.
[out]	velocity	The ECEF velocity values in the packet.
[out]	posAcc	The PosAcc values in the packet.
[out]	speedAcc	The SpeedAcc value in the packet.
[out]	timeAcc	The TimeAcc value in the packet.

void VnUartPacket_parseVNGPS	(	VnUartPacket *	packet,
		double *	time,
		uint16_t *	week,
		uint8_t *	gpsFix,
		uint8_t *	numSats,
		vec3d *	lla,
		vec3f *	nedVel,
		vec3f *	nedAcc,
		float *	speedAcc,
		float *	timeAcc
	)

Parses a VNGPS asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	time	The time value in the packet.
[out]	week	The week value in the packet.
[out]	gpsFix	The GPS fix value in the packet.
[out]	numSats	The NumSats value in the packet.
[out]	lla	The latitude, longitude and altitude values in the packet.
[out]	nedVel	The NED velocity values in the packet.
[out]	nedAcc	The NED position accuracy values in the packet.
[out]	speedAcc	The SpeedAcc value in the packet.
[out]	timeAcc	The TimeAcc value in the packet.

void VnUartPacket_parseVNGYR	(	VnUartPacket *	packet,
		vec3f *	angularRate
	)

Parses a VNGYR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNIMU	(	VnUartPacket *	packet,
		vec3f *	magneticUncompensated,
		vec3f *	accelerationUncompensated,
		vec3f *	angularRateUncompensated,
		float *	temperature,
		float *	pressure
	)

Parses a VNIMU asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	magneticUncompensated	The uncompensated magnetic values in the packet.
[out]	accelerationUncompensated	The uncompensated acceleration values in the packet.
[out]	angularRateUncompensated	The uncompensated angular rate values in the packet.
[out]	temperature	The temperature value in the packet.
[out]	pressure	The pressure value in the packet.

void VnUartPacket_parseVNINE	(	VnUartPacket *	packet,
		double *	time,
		uint16_t *	week,
		uint16_t *	status,
		vec3f *	yawPitchRoll,
		vec3d *	position,
		vec3f *	velocity,
		float *	attUncertainty,
		float *	posUncertainty,
		float *	velUncertainty
	)

Parses a VNINE asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	time	The time value in the packet.
[out]	week	The week value in the packet.
[out]	status	The status value in the packet.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	position	The latitude, longitude, altitude values in the packet.
[out]	velocity	The NED velocity values in the packet.
[out]	attUncertainty	The attitude uncertainty value in the packet.
[out]	posUncertainty	The position uncertainty value in the packet.
[out]	velUncertainty	The velocity uncertainty value in the packet.

void VnUartPacket_parseVNINS	(	VnUartPacket *	packet,
		double *	time,
		uint16_t *	week,
		uint16_t *	status,
		vec3f *	yawPitchRoll,
		vec3d *	lla,
		vec3f *	nedVel,
		float *	attUncertainty,
		float *	posUncertainty,
		float *	velUncertainty
	)

Parses a VNINS asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	time	The time value in the packet.
[out]	week	The week value in the packet.
[out]	status	The status value in the packet.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	lla	The latitude, longitude, altitude values in the packet.
[out]	nedVel	The NED velocity values in the packet.
[out]	attUncertainty	The attitude uncertainty value in the packet.
[out]	posUncertainty	The position uncertainty value in the packet.
[out]	velUncertainty	The velocity uncertainty value in the packet.

void VnUartPacket_parseVNISE	(	VnUartPacket *	packet,
		vec3f *	ypr,
		vec3d *	position,
		vec3f *	velocity,
		vec3f *	acceleration,
		vec3f *	angularRate
	)

Parse a VNISE asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	ypr	The yaw, pitch, roll values in the packet.
[out]	position	The ECEF position values in the packet.
[out]	velocity	The ECEF velocity values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNISL	(	VnUartPacket *	packet,
		vec3f *	ypr,
		vec3d *	lla,
		vec3f *	velocity,
		vec3f *	acceleration,
		vec3f *	angularRate
	)

Parse a VNISL asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	ypr	The yaw, pitch, roll values in the packet.
[out]	lla	The latitude, longitude, altitude values in the packet.
[out]	velocity	The velocity values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNMAG	(	VnUartPacket *	packet,
		vec3f *	magnetic
	)

Parses a VNMAG asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	magnetic	The magnetic values in the packet.

void VnUartPacket_parseVNMAR	(	VnUartPacket *	packet,
		vec3f *	magnetic,
		vec3f *	acceleration,
		vec3f *	angularRate
	)

Parses a VNMAR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	magnetic	The magnetic values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNQMR	(	VnUartPacket *	packet,
		vec4f *	quaternion,
		vec3f *	magnetic,
		vec3f *	acceleration,
		vec3f *	angularRate
	)

Parses a VNQMR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	quaternion	The quaternion values in the packet.
[out]	magnetic	The magnetic values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNQTN	(	VnUartPacket *	packet,
		vec4f *	quaternion
	)

Parses a VNQTN asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	quaternion	The quaternion values in the packet.

void VnUartPacket_parseVNYBA	(	VnUartPacket *	packet,
		vec3f *	yawPitchRoll,
		vec3f *	accelerationBody,
		vec3f *	angularRate
	)

Parses a VNYMR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[in]	packetLength	The number of bytes in the packet buffer.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	magnetic	The magnetic values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet. Parses a VNYBA asynchronous packet.
[in]	packet	The packet to extract the values from.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	accelerationBody	The acceleration body values in the packet.
[out]	angularRate	The angular rate values in the packet.

void VnUartPacket_parseVNYIA	(	VnUartPacket *	packet,
		vec3f *	yawPitchRoll,
		vec3f *	accelerationInertial,
		vec3f *	angularRate
	)

Parses a VNYIA asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	accelerationInertial	The acceleration inertial values in the packet.
[out]	angularRate	The angular rate values in the packet.

VnError VnUartPacket_parseVNYMR	(	VnUartPacket *	packet,
		vec3f *	yawPitchRoll,
		vec3f *	magnetic,
		vec3f *	acceleration,
		vec3f *	angularRate
	)

Parses a VNYMR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.
[out]	magnetic	The magnetic values in the packet.
[out]	acceleration	The acceleration values in the packet.
[out]	angularRate	The angular rate values in the packet.

Examples:

getting_started/main.c.

void VnUartPacket_parseVNYPR	(	VnUartPacket *	packet,
		vec3f *	yawPitchRoll
	)

Parses a VNYPR asynchronous packet.

Parameters

[in]	packet	The packet to extract the values from.
[out]	yawPitchRoll	The yaw, pitch, roll values in the packet.

Examples:

sensor/main.c.