Spatial FOG Reference ManualPage 93 of 144Version 2.303/05/201813 Advanced Navigation Packet ProtocolThe Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed withhigh error checking, high efciency and safe design practices. It has a well definedspecification and is very fexible. It is used across all existing and future AdvancedNavigation products.13.1 Data TypesThe following data types are used in the packet protocol. All data types in the protocolare little endian byte ordering.Abbreviation Bytes Also known asu8 1 unsigned char, unsigned byte, uint8_ts8 1 char, byte, int8_tu16 2 unsigned short, uint16_ts16 2 short, int16_tu32 4 unsigned int, unsigned long, uint32_ts32 4 int, long, int32_tu64 8 unsigned long long, uint64_ts64 8 long long, int64_tfp32 4 foatfp64 8 doubleTable 21: Data type abbreviations used in the ANPP13.2 Packet StructureThe ANPP packet structure is shown in Table 22 and the header format is shown inTable 23. Example code can be downloaded from the software section.HeaderHeader LRC Packet ID Packet Length CRC16 Packet DataTable 22: ANPP Packet Structure
