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Serial Protocol
Data Type Encoding (Binary)
Binary encoding is used for all Binary message elements. All Binary-formatted data types that are signed
are encoded as
2's
complement. All multi-byte data types are in
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:
ID
)(LowByte,LowNibble)
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
Message Type
little-endian
format. Certain non-
Byte Count
1
2
2
2
2
2
2
4
4
Encoding
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