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<div class="title">upackf.h</div> </div>
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<div class="contents">
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef VNUPACKF_H_INCLUDED</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define VNUPACKF_H_INCLUDED</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "vn/protocol/upack.h"</span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">/*#include "vnint.h"*/</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">/*#include "vnbool.h"*/</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">/*#include "vntypes.h"</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">#include "vnerror.h"*/</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#ifndef VNUART_PROTOCOL_BUFFER_SIZE</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor"> #define VNUART_PROTOCOL_BUFFER_SIZE 256</span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">extern</span> <span class="stringliteral">"C"</span> {</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">typedef</span> void(*VnUartPacketFinder_PacketFoundHandler)(<span class="keywordtype">void</span> *userData, <a class="code" href="struct_vn_uart_packet.html">VnUartPacket</a>* packet, <span class="keywordtype">size_t</span> runningIndexOfPacketStart);</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#ifdef _WIN32</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#pragma warning(push)</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#pragma warning(disable : 4820)</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html"> 38</a></span> <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div>
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<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a3bc3f7532d62213f2dc66ef99eb6ade8"> 41</a></span>  VnUartPacketFinder_PacketFoundHandler <a class="code" href="struct_vn_uart_packet_finder.html#a3bc3f7532d62213f2dc66ef99eb6ade8">packetFoundHandler</a>;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#aaf39230c3aa2cd377ff0b7af18daa950"> 44</a></span>  <span class="keywordtype">void</span> *<a class="code" href="struct_vn_uart_packet_finder.html#aaf39230c3aa2cd377ff0b7af18daa950">packetFoundHandlerUserData</a>;</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a81ff9b7bdfaec882e5d122c9744dc67c"> 48</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#a81ff9b7bdfaec882e5d122c9744dc67c">runningDataIndex</a>;</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a10f9917d1108cd05b39f3f23d28c06a6"> 51</a></span>  <span class="keywordtype">bool</span> <a class="code" href="struct_vn_uart_packet_finder.html#a10f9917d1108cd05b39f3f23d28c06a6">asciiCurrentlyBuildingPacket</a>;</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
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<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a4f878d73de4b01250f139bcac1c5a421"> 54</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#a4f878d73de4b01250f139bcac1c5a421">asciiPossibleStartOfPacketIndex</a>;</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a5686ffd5c685204ec794f81c9f44b3da"> 57</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#a5686ffd5c685204ec794f81c9f44b3da">asciiRunningDataIndexOfStart</a>;</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
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<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#af5542b412b165a717a038d26e8269f7e"> 60</a></span>  <span class="keywordtype">bool</span> <a class="code" href="struct_vn_uart_packet_finder.html#af5542b412b165a717a038d26e8269f7e">asciiEndChar1Found</a>;</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
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<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a35bd4adf9a18225d230f81ea958cecd6"> 63</a></span>  <span class="keywordtype">bool</span> <a class="code" href="struct_vn_uart_packet_finder.html#a35bd4adf9a18225d230f81ea958cecd6">binaryCurrentlyBuildingBinaryPacket</a>;</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#aca4f0ae1cb4a1e949e4c790a1870b7a7"> 66</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#aca4f0ae1cb4a1e949e4c790a1870b7a7">binaryRunningDataIndexOfStart</a>;</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div>
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<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a7be887a2ca0a258cf6b368d32fd87487"> 69</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#a7be887a2ca0a258cf6b368d32fd87487">bufferSize</a>;</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div>
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<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#ad38201b6b2ef022d6427fefedba67108"> 72</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#ad38201b6b2ef022d6427fefedba67108">bufferAppendLocation</a>;</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a1b24628bb3ad9cd313557eeea32a8b8d"> 76</a></span>  <span class="keywordtype">bool</span> <a class="code" href="struct_vn_uart_packet_finder.html#a1b24628bb3ad9cd313557eeea32a8b8d">binaryGroupsPresentFound</a>;</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
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<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#aa5ca0b837b3e7ff4c0ff4c650d99fcad"> 79</a></span>  uint8_t <a class="code" href="struct_vn_uart_packet_finder.html#aa5ca0b837b3e7ff4c0ff4c650d99fcad">binaryGroupsPresent</a>;</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a23f98ef16e8b2200067968a2af8d1f2d"> 83</a></span>  uint8_t <a class="code" href="struct_vn_uart_packet_finder.html#a23f98ef16e8b2200067968a2af8d1f2d">binaryNumOfBytesRemainingToHaveAllGroupFields</a>;</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div>
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<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a6146ae9a97e58d15dce14a81718992b9"> 86</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#a6146ae9a97e58d15dce14a81718992b9">binaryPossibleStartIndex</a>;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div>
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<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#af2f3b6cd82c0bef5f0d2191dac042f34"> 90</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="struct_vn_uart_packet_finder.html#af2f3b6cd82c0bef5f0d2191dac042f34">binaryNumberOfBytesRemainingForCompletePacket</a>;</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="struct_vn_uart_packet_finder.html#a03e1083a19e2967b51841e61cf300833"> 93</a></span>  uint8_t receiveBuffer[VNUART_PROTOCOL_BUFFER_SIZE];</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> } <a class="code" href="struct_vn_uart_packet_finder.html">VnUartPacketFinder</a>;</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#ifdef _WIN32</span></div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="preprocessor">#pragma warning(pop)</span></div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">void</span> VnUartPacketFinder_initialize(<a class="code" href="struct_vn_uart_packet_finder.html">VnUartPacketFinder</a>* pf);</div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> VnError VnUartPacketFinder_processData(<a class="code" href="struct_vn_uart_packet_finder.html">VnUartPacketFinder</a>* finder, uint8_t* data, <span class="keywordtype">size_t</span> len);</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> VnError VnUartPacketFinder_registerPacketFoundHandler(<a class="code" href="struct_vn_uart_packet_finder.html">VnUartPacketFinder</a>* finder, VnUartPacketFinder_PacketFoundHandler handler, <span class="keywordtype">void</span> *userData);</div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> }</div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a6146ae9a97e58d15dce14a81718992b9"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a6146ae9a97e58d15dce14a81718992b9">VnUartPacketFinder::binaryPossibleStartIndex</a></div><div class="ttdeci">size_t binaryPossibleStartIndex</div><div class="ttdoc">Start index of a possible binary packet. </div><div class="ttdef"><b>Definition:</b> upackf.h:86</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html"><div class="ttname"><a href="struct_vn_uart_packet_finder.html">VnUartPacketFinder</a></div><div class="ttdoc">Data structure holding current parsing status of data received from a VectorNav sensor. </div><div class="ttdef"><b>Definition:</b> upackf.h:38</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_af5542b412b165a717a038d26e8269f7e"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#af5542b412b165a717a038d26e8269f7e">VnUartPacketFinder::asciiEndChar1Found</a></div><div class="ttdeci">bool asciiEndChar1Found</div><div class="ttdoc">Indicates if the first ending character has been found. </div><div class="ttdef"><b>Definition:</b> upackf.h:60</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a1b24628bb3ad9cd313557eeea32a8b8d"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a1b24628bb3ad9cd313557eeea32a8b8d">VnUartPacketFinder::binaryGroupsPresentFound</a></div><div class="ttdeci">bool binaryGroupsPresentFound</div><div class="ttdoc">Indicates if we have found the groups present data field for a binary packet we are building...</div><div class="ttdef"><b>Definition:</b> upackf.h:76</div></div>
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<div class="ttc" id="struct_vn_uart_packet_html"><div class="ttname"><a href="struct_vn_uart_packet.html">VnUartPacket</a></div><div class="ttdoc">Structure representing a UART packet received from a VectorNav sensor. </div><div class="ttdef"><b>Definition:</b> upack.h:34</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a81ff9b7bdfaec882e5d122c9744dc67c"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a81ff9b7bdfaec882e5d122c9744dc67c">VnUartPacketFinder::runningDataIndex</a></div><div class="ttdeci">size_t runningDataIndex</div><div class="ttdoc">Used for correlating the position in the received raw data stream where packets are found...</div><div class="ttdef"><b>Definition:</b> upackf.h:48</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a3bc3f7532d62213f2dc66ef99eb6ade8"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a3bc3f7532d62213f2dc66ef99eb6ade8">VnUartPacketFinder::packetFoundHandler</a></div><div class="ttdeci">VnUartPacketFinder_PacketFoundHandler packetFoundHandler</div><div class="ttdoc">Callback for when a packet has been found and validated. </div><div class="ttdef"><b>Definition:</b> upackf.h:41</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a5686ffd5c685204ec794f81c9f44b3da"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a5686ffd5c685204ec794f81c9f44b3da">VnUartPacketFinder::asciiRunningDataIndexOfStart</a></div><div class="ttdeci">size_t asciiRunningDataIndexOfStart</div><div class="ttdoc">Index of start of ASCII packet in total running index. </div><div class="ttdef"><b>Definition:</b> upackf.h:57</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a7be887a2ca0a258cf6b368d32fd87487"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a7be887a2ca0a258cf6b368d32fd87487">VnUartPacketFinder::bufferSize</a></div><div class="ttdeci">size_t bufferSize</div><div class="ttdoc">Holds the size of the receive buffer. </div><div class="ttdef"><b>Definition:</b> upackf.h:69</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a10f9917d1108cd05b39f3f23d28c06a6"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a10f9917d1108cd05b39f3f23d28c06a6">VnUartPacketFinder::asciiCurrentlyBuildingPacket</a></div><div class="ttdeci">bool asciiCurrentlyBuildingPacket</div><div class="ttdoc">Indicates if an ASCII packet is currently being built. </div><div class="ttdef"><b>Definition:</b> upackf.h:51</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_af2f3b6cd82c0bef5f0d2191dac042f34"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#af2f3b6cd82c0bef5f0d2191dac042f34">VnUartPacketFinder::binaryNumberOfBytesRemainingForCompletePacket</a></div><div class="ttdeci">size_t binaryNumberOfBytesRemainingForCompletePacket</div><div class="ttdoc">Keeps track of the number of bytes remaining for a complete binary packet. </div><div class="ttdef"><b>Definition:</b> upackf.h:90</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_aca4f0ae1cb4a1e949e4c790a1870b7a7"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#aca4f0ae1cb4a1e949e4c790a1870b7a7">VnUartPacketFinder::binaryRunningDataIndexOfStart</a></div><div class="ttdeci">size_t binaryRunningDataIndexOfStart</div><div class="ttdoc">Index of start of binary packet in total running index. </div><div class="ttdef"><b>Definition:</b> upackf.h:66</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_ad38201b6b2ef022d6427fefedba67108"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#ad38201b6b2ef022d6427fefedba67108">VnUartPacketFinder::bufferAppendLocation</a></div><div class="ttdeci">size_t bufferAppendLocation</div><div class="ttdoc">The current location to append data into the buffer. </div><div class="ttdef"><b>Definition:</b> upackf.h:72</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_aaf39230c3aa2cd377ff0b7af18daa950"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#aaf39230c3aa2cd377ff0b7af18daa950">VnUartPacketFinder::packetFoundHandlerUserData</a></div><div class="ttdeci">void * packetFoundHandlerUserData</div><div class="ttdoc">User data for callbacks on the packetFoundHandler. </div><div class="ttdef"><b>Definition:</b> upackf.h:44</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a35bd4adf9a18225d230f81ea958cecd6"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a35bd4adf9a18225d230f81ea958cecd6">VnUartPacketFinder::binaryCurrentlyBuildingBinaryPacket</a></div><div class="ttdeci">bool binaryCurrentlyBuildingBinaryPacket</div><div class="ttdoc">Indicates if we are currently building a binary packet. </div><div class="ttdef"><b>Definition:</b> upackf.h:63</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a4f878d73de4b01250f139bcac1c5a421"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a4f878d73de4b01250f139bcac1c5a421">VnUartPacketFinder::asciiPossibleStartOfPacketIndex</a></div><div class="ttdeci">size_t asciiPossibleStartOfPacketIndex</div><div class="ttdoc">Indicates a suspected start of an ASCII packet. </div><div class="ttdef"><b>Definition:</b> upackf.h:54</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_a23f98ef16e8b2200067968a2af8d1f2d"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#a23f98ef16e8b2200067968a2af8d1f2d">VnUartPacketFinder::binaryNumOfBytesRemainingToHaveAllGroupFields</a></div><div class="ttdeci">uint8_t binaryNumOfBytesRemainingToHaveAllGroupFields</div><div class="ttdoc">Indicates the number of bytes remaining to have all group fields for a binary data packet we are proc...</div><div class="ttdef"><b>Definition:</b> upackf.h:83</div></div>
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<div class="ttc" id="struct_vn_uart_packet_finder_html_aa5ca0b837b3e7ff4c0ff4c650d99fcad"><div class="ttname"><a href="struct_vn_uart_packet_finder.html#aa5ca0b837b3e7ff4c0ff4c650d99fcad">VnUartPacketFinder::binaryGroupsPresent</a></div><div class="ttdeci">uint8_t binaryGroupsPresent</div><div class="ttdoc">The groups present found from a binary packet. </div><div class="ttdef"><b>Definition:</b> upackf.h:79</div></div>
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