6
Table 5 NRA24 configuration message format
Message ID
0x200
Signal Name
Bit
Resolution Interval
Type
Comment
DataType
0..6
1
0…127
u7
1: Sensor ID
2: Sensor Version
3: start/stop the target
information output
4:filter the range
7e:for internal test
7f:save parameter
R/W
7
1
0…1
u1
0:Read parameter;
1:write parameter
Parameter
8..31
1
-
u24
According
to
the
definition of DataType
Reserved
32..55
1
-
-
-
Check Sum
56..63
1
0…127
u8
The sum of lower eight
bits of first seven bytes
Note:
Currently, NRA24 only supports reading version information. Other functions are not yet
available. If R / W are 0, reading the parameters and the Parameter content is meaningless. If
the R / W are 1, that is, writing parameters, Parameter is defined according to DataType.
5.2 NRA24 back (Sensor Back)
After the PC or other MCU sends the configuration signal to NRA24, NRA24 will return the
execution result. The format is shown in the following table. The start sequence (0xAAAA) and
the termination sequence (0x5555) have been omitted from the table.
Table 6 NRA24 back message format
Message ID
0x400
Signal Name
Bit
Resolution
Interval
Type
Comment
DataType
0..6
1
0…127
u7
1: Sensor ID
2: Sensor Version
3:start/stop,target information output
4: range filtering
7e:for internal test
7f:Save parameters
esult
7
1
0…1
u1
0:fail to configure;
1:succeed to configure
Parameter
8..31
1
-
u24
Defined according to the DataType
Reserved
32..55
1
-
-
-
Check Sum
56..63
1
0…127
u8
The sum of lower eight bits of first
seven bytes