(window.webpackJsonp=window.webpackJsonp||[]).push([[44],{365:function(t,e,n){"use strict";n.r(e);var l=n(10),a=Object(l.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("帧头")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("数据区")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("帧尾")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}})])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}}),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("起始")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("指令")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("流水")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("帧头CRC8")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("载荷")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("结束")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}})]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("字节数")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("2")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1-255")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}})]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("数值")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0xFC")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[e("strong",[t._v("A")])]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[e("strong",[t._v("B")])]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[e("strong",[t._v("C")])]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[e("strong",[t._v("D")])]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("高字节("),e("strong",[t._v("E")]),t._v(")")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("低字节("),e("strong",[t._v("E")]),t._v(")")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}}),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0xFD")])])])]),t._v(" "),e("p",[t._v("A:指令的类别，如下表所示")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("指令类别")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}}),t._v(" "),e("th",{staticStyle:{"text-align":"center"}})])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("0x40")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("经过校准的IMU数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("MSG_IMU")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("0x41")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("AHRS数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("MSG_AHRS")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("0x42")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("INS/GPS数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("MSG_INS/GPS")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("0x58")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("传感器原始数据")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("MSG_RAW_GNSS")])])])]),t._v(" "),e("p",[t._v("B：载荷的字节数。")]),t._v(" "),e("p",[t._v("C：流水号， 每发送一个数据帧数值加一，用于检测数据帧丢包。")]),t._v(" "),e("p",[t._v("D：帧头CRC8校验，计算帧头部分 起始标志 + 指令类别 + 数据长度 + 流水序号，详情请参考[1.2 CRC8校验](<#_1.2 CRC8校验>)。")]),t._v(" "),e("p",[t._v("E：数据CRC16校验，计算载荷数据的CRC16校验，详情请参考[1.3 CRC16校验](<#_1.3 CRC16校验>)。")]),t._v(" "),e("p",[t._v("F： 0xF0 是上位机心跳请求。")])])}),[],!1,null,null,null);e.default=a.exports}}]);