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UNICORECOMM Unicore User Manual

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Command and Log Reference
42
ID
Field
Description
Symbol
Example
(E = East, W = West)
13
mode ind
Positioning mode indicator:
A = Autonomous mode
D = Differential mode
E = Estimated (dead reckoning) mode
M = Manual input mode
S = Simulator mode
N = Data not valid
a
A
14
*xx
Checksum
*hh
*72
15
[CR][LF]
Sentence terminator
[CR][LF]
6.2 Binary Information
Binary messages are strictly machine readable format and are ideal choice for
application of large amount data transmission. Since the inherent compression format,
binary message has much smaller data amount compared to ASCII, so the
communication ports of the receiver are able to transmit or receive more data. Binary
format is difined as below.
Basic Format:
Header 3 Sync bytes plus 24 bytes of header information. The header length is
variable as fields may be appended in the future. Always check the header length.
Data variable
CRC 4 bytes
The 3 Sync bytes fixed as
Table 6-14:
Table 6-14: The 3 Sync Bytes Values
Byte
Hex
Decimal
First
0xAA
170
Second
0x44
68
Third
0xB5
181
This CRC applies to all data, including 32-bit CRC of the header.
Binary and ASCII header format for reference as follows:
Table 6-15: Binary Message Header Structure
ID
Field
Type
Description
Binary
Bytes
Binary
Offset
1
Sync
Char
Hexadecimal 0xAA
1
0
2
Sync
Char
Hexadecimal 0x44
1
1
3
Sync
Char
Hexadecimal 0xB5
1
2
4
CPU Idle
Uchar
Time the processor is idle,
between 0 and 100
1
3

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UNICORECOMM Unicore Specifications

General IconGeneral
BrandUNICORECOMM
ModelUnicore
CategoryControl Unit
LanguageEnglish

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