SLIM AHRS Protocol Specification.docVIP

AHRS Protocol Specification Protocol Key Features The AHRS use proprietary protocol to transmit data to a host computer using asynchronous uart ports. This proprietary protocol has the following key features: Compact. 8 Bit Binary Data is used. Checksum Protected, using 16bit CRC16 checksum algorithm Modular, using a 2-stage Message Identifier (Class- and Message ID) Packet Structure A basic Packet looks as follows: Sync1 Sync2 Class ID Length Payload Checksum 慣?慚?1Byte ntifMessage Class 1Byte Message ID Length of the payload(2 Bytes) excluding sync,class,ID, length and Checksum fields Payload,size depending on length and/or Class,ID 2Bytes CRC16 Checksum Protocol Framing Every Message starts with 2 Bytes: ‘T’ ‘M’ A 1 Byte Class Field follows. The Class defines the basic subset of the message A 1 Byte ID Field defines the message that is to follow A 2 Byte Length Field is following. Length is defined as being the length of the payload, only. It does not include Sync Chars, Length Field, Class, ID or CRC fields. The number format of the length field is an unsigned 16-Bit integer in Little Endian Format. The Payload is a variable length field. Checksum is an unsigned 16-Bit integer in Little Endian Format whose calculation is defined below. Number Formats typedef unsigned char INT8U; // Unsigned 8 bit quantity typedef signed char INT8S; // Signed 8 bit quantity typedef unsigned short INT16U; // Unsigned 16 bit quantity typedef signed short INT16S; // Signed 16 bit quantity typedef unsigned int INT32U; // Unsigned 32 bit quantity typedef signed int INT32S; // Signed 32 bit quantity typedef float FP32; // Single precision floating point typedef double FP64; // Double precision floating point Checksum The checksum algorit