Boardcore::UBXFrame Struct Reference

Generic UBX frame. More...

#include <UBXFrame.h>

Inheritance diagram for Boardcore::UBXFrame:

Public Member Functions
	UBXFrame ()=default
	UBXFrame (UBXMessage message, const uint8_t *payload, uint16_t payloadLength)
	Construct a new UBXFrame with the specified message and given payload.
uint16_t	getLength () const
	Return the total frame length.
uint16_t	getRealPayloadLength () const
	Return the stored payload length.
UBXMessage	getMessage () const
bool	isValid () const
	Tells whether the current frame is valid or not. Checks the preamble and the checksum.
void	writePacked (uint8_t *frame) const
	Writes the current message into the given array.
void	readPacked (const uint8_t *frame)
	Reads a raw frame.
void	calcChecksum (uint8_t *checksum) const
	Computes the frame checksum.

Public Attributes
uint8_t	preamble [2]
uint16_t	message
uint16_t	payloadLength
uint8_t	payload [MAX_PAYLOAD_LENGTH]
uint8_t	checksum [2]

Static Public Attributes
static constexpr uint16_t	MAX_PAYLOAD_LENGTH = 92
static constexpr uint16_t	MAX_FRAME_LENGTH = MAX_PAYLOAD_LENGTH + 8
static constexpr uint8_t	PREAMBLE [] = {0xb5, 0x62}
static constexpr uint8_t	WAIT = 0xff

Detailed Description

Generic UBX frame.

Definition at line 51 of file UBXFrame.h.

Constructor & Destructor Documentation

UBXFrame() [1/2]

Boardcore::UBXFrame::UBXFrame ( )

default

UBXFrame() [2/2]

Boardcore::UBXFrame::UBXFrame ( UBXMessage  message, const uint8_t *  payload, uint16_t  payloadLength  )

inline

Construct a new UBXFrame with the specified message and given payload.

Definition at line 203 of file UBXFrame.h.

Member Function Documentation

calcChecksum()

void Boardcore::UBXFrame::calcChecksum ( uint8_t *  checksum ) const

inline

Computes the frame checksum.

Parameters

checksum

Array of 2 elements where to store the checksum

Definition at line 256 of file UBXFrame.h.

getLength()

uint16_t Boardcore::UBXFrame::getLength ( ) const

inline

Return the total frame length.

Definition at line 213 of file UBXFrame.h.

getMessage()

UBXMessage Boardcore::UBXFrame::getMessage ( ) const

inline

Definition at line 220 of file UBXFrame.h.

getRealPayloadLength()

uint16_t Boardcore::UBXFrame::getRealPayloadLength ( ) const

inline

Return the stored payload length.

Definition at line 215 of file UBXFrame.h.

isValid()

bool Boardcore::UBXFrame::isValid ( ) const

inline

Tells whether the current frame is valid or not. Checks the preamble and the checksum.

Definition at line 225 of file UBXFrame.h.

readPacked()

void Boardcore::UBXFrame::readPacked ( const uint8_t *  frame )

inline

Reads a raw frame.

Note that the frame bytes are assumed to start with the preamble.

Parameters

frame

An array of length at least MAX_FRAME_LENGTH.

Definition at line 247 of file UBXFrame.h.

writePacked()

void Boardcore::UBXFrame::writePacked ( uint8_t *  frame ) const

inline

Writes the current message into the given array.

Parameters

frame

Must be an array of the proper length.

Definition at line 238 of file UBXFrame.h.

Member Data Documentation

checksum

uint8_t Boardcore::UBXFrame::checksum[2]

Definition at line 62 of file UBXFrame.h.

MAX_FRAME_LENGTH

constexpr uint16_t Boardcore::UBXFrame::MAX_FRAME_LENGTH = MAX_PAYLOAD_LENGTH + 8

staticconstexpr

Definition at line 54 of file UBXFrame.h.

MAX_PAYLOAD_LENGTH

constexpr uint16_t Boardcore::UBXFrame::MAX_PAYLOAD_LENGTH = 92

staticconstexpr

Definition at line 53 of file UBXFrame.h.

message

uint16_t Boardcore::UBXFrame::message

Definition at line 59 of file UBXFrame.h.

payload

uint8_t Boardcore::UBXFrame::payload[MAX_PAYLOAD_LENGTH]

Definition at line 61 of file UBXFrame.h.

payloadLength

uint16_t Boardcore::UBXFrame::payloadLength

Definition at line 60 of file UBXFrame.h.

preamble

uint8_t Boardcore::UBXFrame::preamble[2]

Definition at line 58 of file UBXFrame.h.

PREAMBLE

constexpr uint8_t Boardcore::UBXFrame::PREAMBLE = {0xb5, 0x62}

staticconstexpr

Definition at line 55 of file UBXFrame.h.

WAIT

constexpr uint8_t Boardcore::UBXFrame::WAIT = 0xff

staticconstexpr

Definition at line 56 of file UBXFrame.h.

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The documentation for this struct was generated from the following files:

• src/shared/sensors/UBXGPS/UBXFrame.h
• src/shared/sensors/UBXGPS/UBXGPSSpi.cpp