Package com.kauailabs.navx

Class AHRSProtocol

java.lang.Object

com.kauailabs.navx.IMUProtocol

com.kauailabs.navx.AHRSProtocol

public class AHRSProtocol
extends IMUProtocol

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	AHRSProtocol.AHRS_DATA_ACTION
class	AHRSProtocol.AHRS_DATA_TYPE
class	AHRSProtocol.AHRS_TUNING_VAR_ID
static class	AHRSProtocol.AHRSPosTSRawUpdate
static class	AHRSProtocol.AHRSPosTSUpdate
static class	AHRSProtocol.AHRSPosUpdate
static class	AHRSProtocol.AHRSUpdate
static class	AHRSProtocol.AHRSUpdateBase
static class	AHRSProtocol.BoardID
static class	AHRSProtocol.DataSetResponse
static class	AHRSProtocol.IntegrationControl
static class	AHRSProtocol.MagCalData
static class	AHRSProtocol.TuningVar

Nested classes/interfaces inherited from class com.kauailabs.navx.IMUProtocol

IMUProtocol.GyroUpdate, IMUProtocol.QuaternionUpdate, IMUProtocol.StreamCommand, IMUProtocol.StreamResponse, IMUProtocol.YPRUpdate

Field Summary

Fields

Modifier and Type	Field	Description
static final char	BINARY_PACKET_INDICATOR_CHAR
static final int	MAX_BINARY_MESSAGE_LENGTH
static final byte	MSGID_AHRS_UPDATE
static final byte	MSGID_AHRSPOS_TS_RAW_UPDATE
static final byte	MSGID_AHRSPOS_TS_UPDATE
static final byte	MSGID_AHRSPOS_UPDATE
static final byte	MSGID_BOARD_IDENTITY_RESPONSE
static final byte	MSGID_DATA_REQUEST
static final byte	MSGID_DATA_SET_RESPONSE
static final byte	MSGID_FUSION_TUNING_CMD
static final byte	MSGID_INTEGRATION_CONTROL_CMD
static final byte	MSGID_INTEGRATION_CONTROL_RESP
static final byte	MSGID_MAG_CAL_CMD
static final byte	NAVX_CAL_STATUS_BARO_CAL_COMPLETE
static final byte	NAVX_CAL_STATUS_IMU_CAL_ACCUMULATE
static final byte	NAVX_CAL_STATUS_IMU_CAL_COMPLETE
static final byte	NAVX_CAL_STATUS_IMU_CAL_INPROGRESS
static final byte	NAVX_CAL_STATUS_IMU_CAL_STATE_MASK
static final byte	NAVX_CAL_STATUS_MAG_CAL_COMPLETE
static final short	NAVX_CAPABILITY_FLAG_AHRSPOS_TS
static final short	NAVX_CAPABILITY_FLAG_AHRSPOS_TS_RAW
static final short	NAVX_CAPABILITY_FLAG_OMNIMOUNT
static final short	NAVX_CAPABILITY_FLAG_OMNIMOUNT_CONFIG_MASK
static final short	NAVX_CAPABILITY_FLAG_VEL_AND_DISP
static final short	NAVX_CAPABILITY_FLAG_YAW_RESET
static final byte	NAVX_INTEGRATION_CTL_RESET_DISP_X
static final byte	NAVX_INTEGRATION_CTL_RESET_DISP_Y
static final byte	NAVX_INTEGRATION_CTL_RESET_DISP_Z
static final byte	NAVX_INTEGRATION_CTL_RESET_VEL_X
static final byte	NAVX_INTEGRATION_CTL_RESET_VEL_Y
static final byte	NAVX_INTEGRATION_CTL_RESET_VEL_Z
static final byte	NAVX_INTEGRATION_CTL_RESET_YAW
static final byte	NAVX_OP_STATUS_ERROR
static final byte	NAVX_OP_STATUS_IMU_AUTOCAL_IN_PROGRESS
static final byte	NAVX_OP_STATUS_INITIALIZING
static final byte	NAVX_OP_STATUS_NORMAL
static final byte	NAVX_OP_STATUS_SELFTEST_IN_PROGRESS
static final byte	NAVX_SELFTEST_RESULT_ACCEL_PASSED
static final byte	NAVX_SELFTEST_RESULT_BARO_PASSED
static final byte	NAVX_SELFTEST_RESULT_GYRO_PASSED
static final byte	NAVX_SELFTEST_RESULT_MAG_PASSED
static final byte	NAVX_SELFTEST_STATUS_COMPLETE
static final byte	NAVX_SENSOR_STATUS_ALTITUDE_VALID
static final byte	NAVX_SENSOR_STATUS_FUSED_HEADING_VALID
static final byte	NAVX_SENSOR_STATUS_MAG_DISTURBANCE
static final byte	NAVX_SENSOR_STATUS_MOVING
static final byte	NAVX_SENSOR_STATUS_SEALEVEL_PRESS_SET
static final byte	NAVX_SENSOR_STATUS_YAW_STABLE
static final byte	OMNIMOUNT_DEFAULT
static final byte	OMNIMOUNT_YAW_X_DOWN
static final byte	OMNIMOUNT_YAW_X_UP
static final byte	OMNIMOUNT_YAW_Y_DOWN
static final byte	OMNIMOUNT_YAW_Y_UP
static final byte	OMNIMOUNT_YAW_Z_DOWN
static final byte	OMNIMOUNT_YAW_Z_UP

Fields inherited from class com.kauailabs.navx.IMUProtocol

hexArray, IMU_PROTOCOL_MAX_MESSAGE_LENGTH, MSG_ID_STREAM_RESPONSE, MSGID_GYRO_UPDATE, MSGID_QUATERNION_UPDATE, MSGID_STREAM_CMD, MSGID_YPR_UPDATE, NAV6_CALIBRATION_STATE_ACCUMULATE, NAV6_CALIBRATION_STATE_COMPLETE, NAV6_CALIBRATION_STATE_WAIT, NAV6_FLAG_MASK_CALIBRATION_STATE, PACKET_START_CHAR, STREAM_CMD_STREAM_TYPE_GYRO, STREAM_CMD_STREAM_TYPE_QUATERNION, STREAM_CMD_STREAM_TYPE_YPR, STREAM_MSG_TERMINATION_CHAR

Constructor Summary

Constructors

Constructor	Description
AHRSProtocol()

Method Summary

Modifier and Type	Method	Description
static int	decodeAHRSPosTSRawUpdate(byte[] buffer, int offset, int length, AHRSProtocol.AHRSPosTSRawUpdate u)
static int	decodeAHRSPosTSUpdate(byte[] buffer, int offset, int length, AHRSProtocol.AHRSPosTSUpdate u)
static int	decodeAHRSPosUpdate(byte[] buffer, int offset, int length, AHRSProtocol.AHRSPosUpdate u)
static int	decodeAHRSUpdate(byte[] buffer, int offset, int length, AHRSProtocol.AHRSUpdate u)
static short	decodeBinaryInt16(byte[] buffer, int offset)
static short	decodeBinaryUint16(byte[] buffer, int offset)
static int	decodeBinaryUint32(byte[] buffer, int offset)
static int	decodeBoardIDGetResponse(byte[] buffer, int offset, int length, AHRSProtocol.BoardID id)
static int	decodeDataSetResponse(byte[] buffer, int offset, int length, AHRSProtocol.DataSetResponse d)
static int	decodeIntegrationControlResponse(byte[] buffer, int offset, int length, AHRSProtocol.IntegrationControl u)
static int	decodeMagCalDataGetResponse(byte[] buffer, int offset, int length, AHRSProtocol.MagCalData d)
static float	decodeProtocol1616Float(byte[] buffer, int offset)
static float	decodeProtocolRatio(byte[] buffer, int offset)
static float	decodeProtocolSignedHundredthsFloat(byte[] buffer, int offset)
static float	decodeProtocolSignedThousandthsFloat(byte[] buffer, int offset)
static float	decodeProtocolUnsignedHundredthsFloat(byte[] buffer, int offset)
static int	decodeTuningVarGetResponse(byte[] buffer, int offset, int length, AHRSProtocol.TuningVar r)
static void	encodeBinaryInt16(short val, byte[] buffer, int offset)
static void	encodeBinaryUint16(short val, byte[] buffer, int offset)
static void	encodeBinaryUint32(int val, byte[] buffer, int offset)
static int	encodeDataGetRequest(byte[] buffer, byte type, byte var_id)
static int	encodeIntegrationControlCmd(byte[] buffer, AHRSProtocol.IntegrationControl u)
static int	encodeMagCalDataSetRequest(byte[] buffer, AHRSProtocol.MagCalData d)
static void	encodeProtocol1616Float(float val, byte[] buffer, int offset)
static void	encodeProtocolRatio(float ratio, byte[] buffer, int offset)
static void	encodeProtocolSignedHundredthsFloat(float input, byte[] buffer, int offset)
static void	encodeProtocolSignedThousandthsFloat(float input, byte[] buffer, int offset)
static void	encodeProtocolUnsignedHundredthsFloat(float input, byte[] buffer, int offset)
static float	encodeRatioFloat(float input_ratio)
static short	encodeSignedHundredthsFloat(float input)
static float	encodeSignedThousandthsFloat(float input)
static int	encodeTuningVarSetRequest(byte[] buffer, AHRSProtocol.TuningVar r)
static short	encodeUnsignedHundredthsFloat(float input)
static byte	getCRC(byte[] buffer, int length)

Methods inherited from class com.kauailabs.navx.IMUProtocol

byteToHex, decodeGyroUpdate, decodeProtocolFloat, decodeProtocolUint16, decodeQuaternionUpdate, decodeStreamCommand, decodeStreamResponse, decodeUint8, decodeYPRUpdate, encodeStreamCommand, encodeTermination, verifyChecksum

Methods inherited from class java.lang.Object

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

Field Details

NAVX_CAL_STATUS_IMU_CAL_STATE_MASK

public static final byte NAVX_CAL_STATUS_IMU_CAL_STATE_MASK

See Also:

• Constant Field Values

NAVX_CAL_STATUS_IMU_CAL_INPROGRESS

public static final byte NAVX_CAL_STATUS_IMU_CAL_INPROGRESS

See Also:

• Constant Field Values

NAVX_CAL_STATUS_IMU_CAL_ACCUMULATE

public static final byte NAVX_CAL_STATUS_IMU_CAL_ACCUMULATE

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• Constant Field Values

NAVX_CAL_STATUS_IMU_CAL_COMPLETE

public static final byte NAVX_CAL_STATUS_IMU_CAL_COMPLETE

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• Constant Field Values

NAVX_CAL_STATUS_MAG_CAL_COMPLETE

public static final byte NAVX_CAL_STATUS_MAG_CAL_COMPLETE

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• Constant Field Values

NAVX_CAL_STATUS_BARO_CAL_COMPLETE

public static final byte NAVX_CAL_STATUS_BARO_CAL_COMPLETE

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• Constant Field Values

NAVX_SELFTEST_STATUS_COMPLETE

public static final byte NAVX_SELFTEST_STATUS_COMPLETE

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• Constant Field Values

NAVX_SELFTEST_RESULT_GYRO_PASSED

public static final byte NAVX_SELFTEST_RESULT_GYRO_PASSED

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• Constant Field Values

NAVX_SELFTEST_RESULT_ACCEL_PASSED

public static final byte NAVX_SELFTEST_RESULT_ACCEL_PASSED

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• Constant Field Values

NAVX_SELFTEST_RESULT_MAG_PASSED

public static final byte NAVX_SELFTEST_RESULT_MAG_PASSED

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• Constant Field Values

NAVX_SELFTEST_RESULT_BARO_PASSED

public static final byte NAVX_SELFTEST_RESULT_BARO_PASSED

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• Constant Field Values

NAVX_OP_STATUS_INITIALIZING

public static final byte NAVX_OP_STATUS_INITIALIZING

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• Constant Field Values

NAVX_OP_STATUS_SELFTEST_IN_PROGRESS

public static final byte NAVX_OP_STATUS_SELFTEST_IN_PROGRESS

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• Constant Field Values

NAVX_OP_STATUS_ERROR

public static final byte NAVX_OP_STATUS_ERROR

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• Constant Field Values

NAVX_OP_STATUS_IMU_AUTOCAL_IN_PROGRESS

public static final byte NAVX_OP_STATUS_IMU_AUTOCAL_IN_PROGRESS

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• Constant Field Values

NAVX_OP_STATUS_NORMAL

public static final byte NAVX_OP_STATUS_NORMAL

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• Constant Field Values

NAVX_SENSOR_STATUS_MOVING

public static final byte NAVX_SENSOR_STATUS_MOVING

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• Constant Field Values

NAVX_SENSOR_STATUS_YAW_STABLE

public static final byte NAVX_SENSOR_STATUS_YAW_STABLE

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• Constant Field Values

NAVX_SENSOR_STATUS_MAG_DISTURBANCE

public static final byte NAVX_SENSOR_STATUS_MAG_DISTURBANCE

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• Constant Field Values

NAVX_SENSOR_STATUS_ALTITUDE_VALID

public static final byte NAVX_SENSOR_STATUS_ALTITUDE_VALID

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• Constant Field Values

NAVX_SENSOR_STATUS_SEALEVEL_PRESS_SET

public static final byte NAVX_SENSOR_STATUS_SEALEVEL_PRESS_SET

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• Constant Field Values

NAVX_SENSOR_STATUS_FUSED_HEADING_VALID

public static final byte NAVX_SENSOR_STATUS_FUSED_HEADING_VALID

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• Constant Field Values

NAVX_CAPABILITY_FLAG_OMNIMOUNT

public static final short NAVX_CAPABILITY_FLAG_OMNIMOUNT

See Also:

• Constant Field Values

NAVX_CAPABILITY_FLAG_OMNIMOUNT_CONFIG_MASK

public static final short NAVX_CAPABILITY_FLAG_OMNIMOUNT_CONFIG_MASK

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• Constant Field Values

NAVX_CAPABILITY_FLAG_VEL_AND_DISP

public static final short NAVX_CAPABILITY_FLAG_VEL_AND_DISP

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• Constant Field Values

NAVX_CAPABILITY_FLAG_YAW_RESET

public static final short NAVX_CAPABILITY_FLAG_YAW_RESET

See Also:

• Constant Field Values

NAVX_CAPABILITY_FLAG_AHRSPOS_TS

public static final short NAVX_CAPABILITY_FLAG_AHRSPOS_TS

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• Constant Field Values

NAVX_CAPABILITY_FLAG_AHRSPOS_TS_RAW

public static final short NAVX_CAPABILITY_FLAG_AHRSPOS_TS_RAW

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• Constant Field Values

OMNIMOUNT_DEFAULT

public static final byte OMNIMOUNT_DEFAULT

See Also:

• Constant Field Values

OMNIMOUNT_YAW_X_UP

public static final byte OMNIMOUNT_YAW_X_UP

See Also:

• Constant Field Values

OMNIMOUNT_YAW_X_DOWN

public static final byte OMNIMOUNT_YAW_X_DOWN

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• Constant Field Values

OMNIMOUNT_YAW_Y_UP

public static final byte OMNIMOUNT_YAW_Y_UP

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• Constant Field Values

OMNIMOUNT_YAW_Y_DOWN

public static final byte OMNIMOUNT_YAW_Y_DOWN

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• Constant Field Values

OMNIMOUNT_YAW_Z_UP

public static final byte OMNIMOUNT_YAW_Z_UP

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• Constant Field Values

OMNIMOUNT_YAW_Z_DOWN

public static final byte OMNIMOUNT_YAW_Z_DOWN

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_VEL_X

public static final byte NAVX_INTEGRATION_CTL_RESET_VEL_X

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NAVX_INTEGRATION_CTL_RESET_VEL_Y

public static final byte NAVX_INTEGRATION_CTL_RESET_VEL_Y

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_VEL_Z

public static final byte NAVX_INTEGRATION_CTL_RESET_VEL_Z

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_DISP_X

public static final byte NAVX_INTEGRATION_CTL_RESET_DISP_X

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_DISP_Y

public static final byte NAVX_INTEGRATION_CTL_RESET_DISP_Y

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_DISP_Z

public static final byte NAVX_INTEGRATION_CTL_RESET_DISP_Z

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• Constant Field Values

NAVX_INTEGRATION_CTL_RESET_YAW

public static final byte NAVX_INTEGRATION_CTL_RESET_YAW

See Also:

• Constant Field Values

BINARY_PACKET_INDICATOR_CHAR

public static final char BINARY_PACKET_INDICATOR_CHAR

See Also:

• Constant Field Values

MSGID_AHRS_UPDATE

public static final byte MSGID_AHRS_UPDATE

See Also:

• Constant Field Values

MSGID_AHRSPOS_UPDATE

public static final byte MSGID_AHRSPOS_UPDATE

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• Constant Field Values

MSGID_AHRSPOS_TS_UPDATE

public static final byte MSGID_AHRSPOS_TS_UPDATE

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• Constant Field Values

MSGID_AHRSPOS_TS_RAW_UPDATE

public static final byte MSGID_AHRSPOS_TS_RAW_UPDATE

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• Constant Field Values

MSGID_DATA_REQUEST

public static final byte MSGID_DATA_REQUEST

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MSGID_DATA_SET_RESPONSE

public static final byte MSGID_DATA_SET_RESPONSE

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• Constant Field Values

MSGID_INTEGRATION_CONTROL_CMD

public static final byte MSGID_INTEGRATION_CONTROL_CMD

See Also:

• Constant Field Values

MSGID_INTEGRATION_CONTROL_RESP

public static final byte MSGID_INTEGRATION_CONTROL_RESP

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• Constant Field Values

MSGID_MAG_CAL_CMD

public static final byte MSGID_MAG_CAL_CMD

See Also:

• Constant Field Values

MSGID_FUSION_TUNING_CMD

public static final byte MSGID_FUSION_TUNING_CMD

See Also:

• Constant Field Values

MSGID_BOARD_IDENTITY_RESPONSE

public static final byte MSGID_BOARD_IDENTITY_RESPONSE

See Also:

• Constant Field Values

MAX_BINARY_MESSAGE_LENGTH

public static final int MAX_BINARY_MESSAGE_LENGTH

See Also:

• Constant Field Values

Constructor Details

AHRSProtocol

public AHRSProtocol()

Method Details

decodeAHRSUpdate

public static int decodeAHRSUpdate(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.AHRSUpdate u)

decodeAHRSPosUpdate

public static int decodeAHRSPosUpdate(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.AHRSPosUpdate u)

decodeAHRSPosTSUpdate

public static int decodeAHRSPosTSUpdate(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.AHRSPosTSUpdate u)

decodeAHRSPosTSRawUpdate

public static int decodeAHRSPosTSRawUpdate(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.AHRSPosTSRawUpdate u)

encodeDataGetRequest

public static int encodeDataGetRequest(byte[] buffer,
 byte type,
 byte var_id)

encodeMagCalDataSetRequest

public static int encodeMagCalDataSetRequest(byte[] buffer,
 AHRSProtocol.MagCalData d)

decodeMagCalDataGetResponse

public static int decodeMagCalDataGetResponse(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.MagCalData d)

encodeTuningVarSetRequest

public static int encodeTuningVarSetRequest(byte[] buffer,
 AHRSProtocol.TuningVar r)

decodeTuningVarGetResponse

public static int decodeTuningVarGetResponse(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.TuningVar r)

encodeIntegrationControlCmd

public static int encodeIntegrationControlCmd(byte[] buffer,
 AHRSProtocol.IntegrationControl u)

decodeIntegrationControlResponse

public static int decodeIntegrationControlResponse(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.IntegrationControl u)

decodeDataSetResponse

public static int decodeDataSetResponse(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.DataSetResponse d)

decodeBoardIDGetResponse

public static int decodeBoardIDGetResponse(byte[] buffer,
 int offset,
 int length,
 AHRSProtocol.BoardID id)

decodeBinaryUint16

public static short decodeBinaryUint16(byte[] buffer,
 int offset)

encodeBinaryUint16

public static void encodeBinaryUint16(short val,
 byte[] buffer,
 int offset)

decodeBinaryUint32

public static int decodeBinaryUint32(byte[] buffer,
 int offset)

encodeBinaryUint32

public static void encodeBinaryUint32(int val,
 byte[] buffer,
 int offset)

decodeBinaryInt16

public static short decodeBinaryInt16(byte[] buffer,
 int offset)

encodeBinaryInt16

public static void encodeBinaryInt16(short val,
 byte[] buffer,
 int offset)

decodeProtocolSignedHundredthsFloat

public static float decodeProtocolSignedHundredthsFloat(byte[] buffer,
 int offset)

encodeProtocolSignedHundredthsFloat

public static void encodeProtocolSignedHundredthsFloat(float input,
 byte[] buffer,
 int offset)

encodeSignedHundredthsFloat

public static short encodeSignedHundredthsFloat(float input)

encodeUnsignedHundredthsFloat

public static short encodeUnsignedHundredthsFloat(float input)

encodeRatioFloat

public static float encodeRatioFloat(float input_ratio)

encodeSignedThousandthsFloat

public static float encodeSignedThousandthsFloat(float input)

decodeProtocolUnsignedHundredthsFloat

public static float decodeProtocolUnsignedHundredthsFloat(byte[] buffer,
 int offset)

encodeProtocolUnsignedHundredthsFloat

public static void encodeProtocolUnsignedHundredthsFloat(float input,
 byte[] buffer,
 int offset)

decodeProtocolSignedThousandthsFloat

public static float decodeProtocolSignedThousandthsFloat(byte[] buffer,
 int offset)

encodeProtocolSignedThousandthsFloat

public static void encodeProtocolSignedThousandthsFloat(float input,
 byte[] buffer,
 int offset)

decodeProtocolRatio

public static float decodeProtocolRatio(byte[] buffer,
 int offset)

encodeProtocolRatio

public static void encodeProtocolRatio(float ratio,
 byte[] buffer,
 int offset)

decodeProtocol1616Float

public static float decodeProtocol1616Float(byte[] buffer,
 int offset)

encodeProtocol1616Float

public static void encodeProtocol1616Float(float val,
 byte[] buffer,
 int offset)

getCRC

public static byte getCRC(byte[] buffer,
 int length)