collincunningham / ble_uart_controller_test Goto Github PK

struct {
    uint8_t CommandIndicator; // must be ASCII '!'
    uint8_t CommandType; // one of Q, A, G, M 
    uint8_t CommandSpecificData; // 
    uint8_t CRC; // specifically, CRC being always at offset 19, thus requiring 20 bytes always
} OPTION_A;

struct {
    uint8_t CommandIndicator; // must be ASCII '!'
    uint8_t CommandType; // one of Q, A, G, M
    union {
        struct {
            uint8_t float_x[4]; // must be cast to a float, stored little-endian
            uint8_t float_y[4]; // must be cast to a float, stored little-endian
            uint8_t float_z[4]; // must be cast to a float, stored little-endian
            uint8_t float_w[4]; // must be cast to a float, stored little-endian
            uint8_t CRC; // specifically, offset == 19
        } QuaternionData;
        struct {
            uint8_t float_x[4]; // must be cast to a float, stored little-endian
            uint8_t float_y[4]; // must be cast to a float, stored little-endian
            uint8_t float_z[4]; // must be cast to a float, stored little-endian
            uint8_t CRC; // specifically, offset == 15
        } AccelerometerData;
        // ….
    };
} OPTION_B;