Gocator Line Profile Sensors: User Manual
Protocols • 489
followed by a variable-length, message-specific content section. The structure of the GDPmessage is
defined below.
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4
Bit 15: Last Message flag
Bits 0-14: Message type identifier.(See individual data result
sections.)
Gocator DataProtocol
GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.
Stamp
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 1.
count (C) 32u 6 Count of stamps in this message.
size 16u 10 Stamp size, in bytes (min: 56, current: 56).
source 8u 12 Source (0 – Main, 1 – Buddy).
reserved 8u 13 Reserved.
stamps[C] Stamp 14 Array of stamps (see below).
Field Type Offset Description
frameIndex 64u 0 Frame index (counts up from zero).
timestamp 64u 8 Timestamp (µs).
encoder 64s 16 Current encoder value (ticks).
encoderAtZ 64s 24 Encoder value latched at z/index mark (ticks).
status 64u 32
Bit field containing various frame information:
Bit 0: sensor digital input state
Bit 4: master digital input state
Bit 8-9: inter-frame digital pulse trigger (Master digital input if
master is connected, otherwise sensor digital input. Value is
cleared after each frame and clamped at 3 if more than 3 pulses
are received).
serialNumber 32u 40 Sensor serial number. (In a dual-sensor system, the serial number
of the main sensor.)
reserved[2] 32u 44 Reserved.
Stamp
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