(window.webpackJsonp=window.webpackJsonp||[]).push([[183],{509:function(t,e,a){"use strict";a.r(e);var n=a(10),c=Object(n.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("h1",{attrs:{id:"about-packets"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#about-packets"}},[t._v("#")]),t._v(" About Packets")]),t._v(" "),e("h2",{attrs:{id:"packet-structure"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#packet-structure"}},[t._v("#")]),t._v(" Packet Structure")]),t._v(" "),e("h3",{attrs:{id:"header-lrc"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#header-lrc"}},[t._v("#")]),t._v(" Header LRC")]),t._v(" "),e("p",[t._v("The header LRC (Longitudinal Redundancy Check) provides error checking on the packet header. It also allows the decoder to find the start of a packet by scanning for a valid LRC. Only the lower 8 bits of the calculation below are provided in the LRC field of the packet header. The LRC can be found using the following:")]),t._v(" "),e("h3",{attrs:{id:"packet-id"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#packet-id"}},[t._v("#")]),t._v(" Packet ID")]),t._v(" "),e("p",[t._v("The packet ID is used to distinguish the contents of the packet. Packet IDs range from 0 to 255. See Advanced Navigation Packet Protocol.")]),t._v(" "),e("p",[t._v("System packets have packet IDs in the range 0 to 19. These packets are implemented the same by every device using ANPP.")]),t._v(" "),e("p",[t._v("State packets are packets that contain data that changes with time, i.e. temperature. State packets can be set to output at a certain rate. State packets are packet IDs in the range 20 to 179.")]),t._v(" "),e("p",[t._v("Configuration packets are used for reading and writing device configuration. Configuration packets are packet IDs in the range 180 to 255.")]),t._v(" "),e("h3",{attrs:{id:"packet-length"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#packet-length"}},[t._v("#")]),t._v(" Packet Length")]),t._v(" "),e("p",[t._v("The packet length denotes the length of the packet data, i.e. from byte index 5 onwards inclusive. Packet length has a range of 0 – 255.")]),t._v(" "),e("h2",{attrs:{id:"packet-requests"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#packet-requests"}},[t._v("#")]),t._v(" Packet Requests")]),t._v(" "),e("p",[t._v("Any of the state and configuration packets can be requested at any time using the Request Packet.")]),t._v(" "),e("h2",{attrs:{id:"packet-acknowledgement"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#packet-acknowledgement"}},[t._v("#")]),t._v(" Packet Acknowledgement")]),t._v(" "),e("p",[t._v("When configuration packets are sent to Boreas, it will reply with an acknowledgement packet that indicates whether the configuration change was successful or not. See Acknowledge Packet.")]),t._v(" "),e("p",[t._v("External data packets will also generate negative acknowledgement packets if there is a problem with the packet. Positive acknowledgements will not be sent. 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"),e("td",{staticStyle:{"text-align":"center"}},[t._v("主串口，默认为串口1，配置为该协议的"),e("br"),t._v("\n        串口用于连接上位机和发送FDILink 数据，所"),e("br"),t._v("\n        有串口必须且只有一个Main")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("NAV")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("导航协议，配置为该协议的串口用于发送"),e("br"),t._v("\n        FDIlink数据，发送数据类型与Main串口相"),e("br"),t._v("\n        同，但无法连接上位机")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("RTCM")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("接收差分数据，有GPS数据的情况下，一般"),e("br"),t._v("\n        将串口2配置为该协议，往里面发送D3 "),e("br"),t._v("\n        00 格式的差分数据，就能实现高精度差分定位")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("NMEA")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("接收并解析NMEA语句，一般将串口3配置为"),e("br"),t._v("\n        该模式，用户需要发送特定的NMEA 0183语"),e("br"),t._v("\n        句才能实现GNSS/INS组合导航功能，位置"),e("br"),t._v("\n        融合至少需要GGA，GSA和GST语句，速度"),e("br"),t._v("\n        融合至少需要VTG语句。支持解析的所有"),e("br"),t._v("\n        语句为：GGA|GLL|VTG|RMC|GSA|GST|GSV")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("NMEA(OUT)")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("输出NMEA语句，语句里的数据是"),e("br"),t._v("\n        GNSS/INS组合后的结果，输出语句类型固"),e("br"),t._v("\n        定,具体为可见第12章；"),e("br"),t._v("\n        输出频率在上位机配置界面右侧的"),e("br"),t._v("\n        MSG_OUT_NMEA框中设置")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("Ublox")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("接收并解析Ublox语句，一般将串口3配置为"),e("br"),t._v("\n        该模式，用户需要发送特定的UBX二进制数"),e("br"),t._v("\n        据才能实现GNSS/INS组合导航功能，至少"),e("br"),t._v("\n        为UBX-NAV-DOP|UBX-NAV-PVT|UBX-"),e("br"),t._v("\n        NAV-STATUS|UBX-NAV-TIMEGPS|UBX-"),e("br"),t._v("\n        NAV_VELNED|UBX-NAV-POSLLH")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("External 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