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TRAX User Manual Page 36

7 Operation with PNI Binary Protocol

The SeaTRAX utilizes a binary communication protocol, where the communication parameters

should be configured as follows:

Table 7-1: Port Configuration

Parameter

Value

Number of Data Bits

Start Bits

Stop Bits

Parity

none

7.1 Datagram Structure

The data structure is shown below:

ByteCount

(UInt16)

Packet Frame

(1 - 4092 UInt8)

CRC-16

(UInt16)

Payload

(1 - 4091 UInt8)

Frame

(UInt8)

Figure 7-1: Datagram Structure

The ByteCount is the total number of bytes in the packet including the CRC-16 (checksum).

The CRC-16 is calculated starting from the ByteCount to the last byte of the Packet Frame.

The ByteCount and CRC-16 are always transmitted in big Endian. Two examples follow.

Example: The complete packet for the kGetModInfo command, which has no payload is:

Example: Below is a complete sample packet to start a 2D Calibration (kStartCal):

00 09

Frame ID

ByteCount

00 00

CalOption

(MSBs)

CalOption

(2D Calibration)

00 14

5C F9

Checksum

00 05

Frame ID

ByteCount

EF D4

Checksum

1 2 ... 35 36 37 38 39 40 41 42 43 44 45 ... 61 62

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Pni FieldForce Trax Manual de usuario Pagina 40

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