Format
<message start> <message sender ID> <message receiver ID> <message ID> <message number> <data length> <dry road coefficient for laser 1> <dry road coefficient for laser 2> <dry road coefficient for laser 3> <CRC>| Field |
Offset |
Size in bytes |
|---|---|---|
|
Message start |
0 | 1 |
|
Message sender ID |
1 | 1 |
|
Message receiver ID |
2 | 1 |
|
Message ID |
3 | 1 |
|
Message number |
4 | 1 |
|
Data length |
5 ... 6 | 2 |
| Dry road coefficient for laser 1 | 7 ... 10 | 4 |
| Dry road coefficient for laser 2 | 11 ... 14 | 4 |
| Dry road coefficient for laser 3 | 15 ... 18 | 4 |
|
CRC |
19 ... 20 | 2 |
Example
0xab 0x00 0x01 0x31 0x0f 0x0c 0x00 0x9a 0x99 0xd1 0x40 0x85 0xeb 0xc9 0x40 0xb8 0x1e 0xc5 0x40 0xf4 0x49| Field | Bytes | Value |
|---|---|---|
|
Message start |
0xab | 0xab |
|
Message sender ID |
0x00 | 0 |
|
Message receiver ID |
0x01 | 1 |
|
Message ID |
0x31 | 0x31 |
|
Message number |
0x0f | 15 |
|
Data length |
0x0c 0x00 | 12 |
| Dry road coefficient for laser 1 | 0x9a 0x99 0xd1 0x40 | 6.55 |
| Dry road coefficient for laser 2 | 0x85 0xeb 0xc9 0x40 | 6.31 |
| Dry road coefficient for laser 3 | 0xb8 0x1e 0xc5 0x40 | 6.16 |
|
CRC |
0xf4 0x49 | - |