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Overview

Data Format

At each trigger, the UDP Encoder sends one header structure followed by up to eight channel structures.


encoder header: 32 bytes
    typedef struct {
        uint16_t    frameCounter;       // network byte order
        char        reserved1[2];
        char        version[4];
        char        hardwareID[16];
        char        reserved2;
        char        channelMask;        // bit mask of which channels 0-7 are present
        char        errorMask;          // bit mask of channel errors 0-7
        char        mode;
        char        reserved3[4];
    } encoder_header_t;


encoder channel: 32 bytes
    typedef struct {
        uint32_t    count;              // network byte order
        uint32_t    timing;
        uint16_t    scale;
        char        hardwareID[16];
        char        reserved1;
        char        channel;
        char        error;
        char        mode;
        char        reserved2[2];
    } encoder_channel_t;
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