MIP Packet Overview

This is an overview of the 3DM-CV7 packet structure. The packet structure used is the Microstrain by HBK “MIP” packet. An overview of the packet is presented here.

The MIP packet “wrapper” consists of a four byte header and two byte Fletcher Checksum footer:

The packet payload section contains one or more fields. Fields have a length byte, descriptor byte, and data. The diagram below shows a packet payload with a single field.

 

Below is an example of a packet payload with two fields (gyro vector and mag vector). Note the payload length byte of 0x1C which is the sum of the two field length bytes 0x0E + 0x0E:

 

Header				Packet Payload (2 Fields)						Checksum
SYNC1 “u”	SYNC2 “e”	Descriptor Set byte	Payload Length byte	Field 1 Length	Field 1 Descriptor	Field 1 Data	Field 2 Length	Field 2 Descriptor	Field 2 Data	MSB	LSB
0x75	0x65	0x80	0x1C	0x0E	0x05	0x3E 7A 63 A0 0xBB 8E 3B 29 0x7F E5 BF 7F	0x0E	0x06	0x3E 7A 63 A0 0xBB 8E 3B 29 0x7F E5 BF 7F	0xE0	0xC6