5
Table 3 Format of data message
Byte \ Bit
7
6
5
4
3
2
1
0
0
Start Sequence (2 x Uint8)
1
2
Message ID (2 x Uint8)
3
4
Data Payload (7 x Uint8 )
5
6
7
8
9
10
11
Check Sum
(1 x Uint8 )
12
End Sequence (2 x Uint8)
13
The start Sequence is a constant value 0xAAAA, and the Message ID is defined as follows. The
Data Payload is defined according to the Message ID (see the next section). The End Sequence
is set to 0x5555.
Note:
The 11th byte is the check sum, which is the lower eight bits of the sum of the first seven data
payloads, that is the sum of bytes 4,5,6,7,8,9,10 of the lower eight.
Table 4 Definition of Message ID
Num
Message ID
Message Name
Comment
1
0x200
Sensor Configuration
NRA24configuration
2
0x400
Sensor Back
NRA24 back
3
0x60A
Sensor Status
NRA24 status
4
0x70B
Target Status
Target output status
5
0x70C
Target Info
Target output information
Note
:
The Message ID is represented by 2 bytes, Byte2 is the low byte, and Byte3 is the high byte.
For example, the output of the NRA24 message is 0xAA 0xAA | 0x0A 0x06 | Data Payload |
0x55 0x55, which indicates that the message ID is 0x60A (NRA24 system status) and Data
Payload is the NRA24 system status.
5.1 NRA24 configuration (Sensor Configuration)
NRA 24 configuration message is shown in the following table. The start sequence (0xAAAA)
and the termination sequence (0x5555) have been omitted from the table.