Ceb misc prj

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misc

pf_top_nav taos Track_robot Docs_testjig Experments Layout RealVNC Upd_merge_history emg_2009 Enc_2010 Kknee1

protocol

fields

• SYNC 1  : 0x21
• SYNC 2  : 0x43 (a V3 packet)
• src unit : 1 (FUP or SC)
• (BLOCK) response only after execution complete (immediate execution)  : 1
• destination unit : 4
• packet type/command ID : 8
• sequence number : 4
• execution priority : 2
• response service type : 2
  • no ACK required (eg dataport)
  • normal response (eg MPD)
  • return error code (if received command has error, return msg about the error)
  • rsv

• data payload
• CRC8 : 8 - header / data between sync chars and this field
• EOP

Source of commands are the PC and the SC. SC will receive commands and route out the correct port. Other devices may also serve as routers. Full packet sequence number consists of : SRC, DST, and SEQ

mpd fields

• unit
• cmd
• seq
• CRC