Kauai Labs navX-MXP User Manual page 81

Advanced
Serial Protocol
16-bit Integer
Data Type Encoding (Binary)
Binary encoding is used for all Binary message elements. All Binary-formatted data types that
are signed are encoded as
Certain non-standard 'packed' data types are used to increase storage efficiency.
Data Type
Unsigned Byte
Unsigned Short
Signed Short
Signed Hundredths
Unsigned Hundredths
Signed Thousandths
Signed Pi Radians
Q16.16
Unsigned Long
*Unsigned Hundredths: original value * 100 rounded to nearest integer
*Signed Hundredths: original value * 100 rounded to nearest integer
*Signed Thousandths: original value * 1000 rounded to nearest integer
*Signed Pi Radians: original value * 16384 rounded to nearest integer
Start of Message
Each message begins with "start of message" indicator (a '!' character), which indicates that
the following bytes contain a message.
Binary Message Indicator
Each binary message includes a "binary message" indicator (a '#' character), which indicates
that the following bytes contain a binary message.
Binary Message Length
Each Binary message contains a length value (a value from 0-255), which indicates that the
number of bytes which follow in the Message Body and Message Termination.
Message ID
The Message ID indicates the type of message, which may be one of the following:
(HighByte,HighNibble)(HighByt
e,LowNibble)(LowByte,HighNib
ble)(LowByte,LowNibble)
2's complement. All multi-byte data types are in
Range
0 to 255
0 to 65535
-32768 to 32768
-327.68 to 327.67
0.0 to 655.35
-32.768 to 32.767
-2 to 2
-32768.9999 to 32767.9999
0 to 4294967295
'1A0F'
little-endian
Byte Count
1
2
2
2
2
2
2
4
4
format.
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