initial work on bno085

flight/src/hardware/bno085/shtp.rs

@@ -0,0 +1,26 @@
+use crate::data::reader::DataReader;
+use crate::hardware::error::NotAvailableError;
+use anyhow::Result;
+
+pub struct Header {
+    pub length: u16,
+    pub channel: u8,
+    pub sequence_number: u8
+}
+
+impl Header {
+    pub const SIZE: usize = size_of::<u16>() + size_of::<u8>() + size_of::<u8>();
+    
+    pub fn parse(bytes: &mut impl DataReader) -> Result<Self> {
+        let length = bytes.read_le::<u16>().ok_or(NotAvailableError)?;
+        let channel = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
+        let sequence_number = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
+        
+        Ok(Self {
+            length,
+            channel,
+            sequence_number,
+        })
+    }
+}
+