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1、 AHRS Protocol SpecificationProtocol Key FeaturesThe AHRS use proprietary protocol to transmit data to a host computer using asynchronous uart ports. This proprietary protocol has the following key features: Compact. 8 Bit Binary Data is used. Checksum Protected, using 16bit CRC16 checksum algorithm
2、 Modular, using a 2-stage Message Identifier (Class- and Message ID) Packet StructureA basic Packet looks as follows: Sync1Sync2ClassIDLengthPayloadChecksumTM1Byte Message Class1Byte MessageIDLength of the payload(2 Bytes) excluding sync,class,ID,length and Checksum fieldsPayload,size depending on l
3、ength and/or Class,ID2BytesCRC16 ChecksumProtocol Framing Every Message starts with 2 Bytes: T M A 1 Byte Class Field follows. The Class defines the basic subset of the message A 1 Byte ID Field defines the message that is to follow A 2 Byte Length Field is following. Length is defined as being the
4、length of the payload, only. It does not include Sync Chars, Length Field, Class, ID or CRC fields. The number format of the length field is an unsigned 16-Bit integer in Little Endian Format. The Payload is a variable length field. Checksum is an unsigned 16-Bit integer in Little Endian Format whos
5、e calculation is defined below. Number Formatstypedef unsigned char INT8U; / Unsigned 8 bit quantity typedef signed char INT8S; / Signed 8 bit quantity typedef unsigned short INT16U; / Unsigned 16 bit quantity typedef signed short INT16S; / Signed 16 bit quantity typedef unsigned int INT32U; / Unsig
6、ned 32 bit quantity typedef signed int INT32S; / Signed 32 bit quantity typedef float FP32; / Single precision floating point typedef double FP64; / Double precision floating point Checksum The checksum algorithm used is the 16-Bit CRC16 Algorithm . INT16U const CRC16Table256 = 0x0000, 0xC0C1, 0xC18
7、1, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, 0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0
8、x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C
9、0, 0x3480, 0xF441, 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, 0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401, 0x24C0, 0x2580, 0
10、xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, 0xAA0
11、1, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, 0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0
12、x7080, 0xB041, 0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, 0x8801, 0x48C0, 0x4980, 0x894
13、1, 0x4B00, 0x8BC1, 0x8A81, 0x4A40, 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41, 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641, 0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040 ;INT16U CRC16(INT8U *p, INT16U length) INT16U checksum = 0; for( ; length
14、0; length- ) checksum = ( checksum 8 ) CRC16Table (checksum&0xFF) *p ;p+; return checksum;AHRS Class IDsA Class is a grouping of messages which are related to each other. The following table gives the short names, description and Class ID Definitions. Printf 0x01:姿态传感器返回的printf信息类,payload中包含的是已格式化的printf字符串 Communicate 0x0c:设置uart bps等 Command 0x0f :对AHRS的基本操作及数据输出都归于此类，校准，配置FIR参数等AHRS MessageP
