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 |
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 |