RS232 data format
The RS232 data is transmitted in packets at 115200baud using the standard Race Technology format. Each message consists of a header byte, data bytes, and a checksum byte. The checksum is calculated as the sum of all preceding bytes MOD256.
Accelerometer data
| Lateral and longitudinal acceleration - Channel 8, 4 bytes
|
| Data bytes 1 and 2
|
| Lateral acceleration
|
| Format
| Big endian (raw hex). 15 data bits, 1 sign bit
|
| Signing
| sign-and-magnitude. First bit (msb) is sign (0 => -ve)
|
| Units
| g
|
| Scaling
| Output = g x 256
|
| Example
| Acc(g) = (byte 1 & 0x&F) + (byte 2 / 256)
if (byte 1 & 0x80) = 0, Acc = -Acc
|
| Data bytes 3 and 4
|
| Longitudinal acceleration
|
| Format
| All format the same as lateral acceleration above
|
| Vertical Acceleration - Channel 92, 2 bytes
|
| Data bytes 1 and 2
|
| Vertical acceleration
|
| Format
| All format the same as lateral acceleration above
|
Gyroscope data
| Yaw rate - Channel 79, 2 bytes
|
| Data bytes 1 and 2
|
| Yaw rate
|
| Format
| Big endian (raw hex), 16 data bits
|
| Signing
| Unsigned
|
| Units
| Degrees
|
| Scaling
| Output=327.68 - degrees x 0.01
|
| Pitch rate - Channel 81, 3 bytes
|
| Data bytes 1 and 2
|
| Pitch rate
|
| Format
| Big endian (raw hex). 16 data bits
|
| Signing
| Unsigned
|
| Units
| Degrees
|
| Scaling
| Output= 327.68 - degrees X 0.01
|
| Data byte 3
|
| Pitch rate accuracy estimate
|
| Format
| Big endian (raw hex). 32 data bits
|
| Signing
| Unsigned
|
| Units
| Undefined, lower is better
|
| Roll rate - Channel 84, 3 bytes
|
| Data bytes 1 and 2
|
| Roll rate
|
| Format
| Big endian (raw hex). 16 data bits
|
| Signing
| Unsigned
|
| Units
| Degrees
|
| Scaling
| Output= 327.68 - degrees X 0.01
|
| Data byte 3
|
| Roll rate accuracy estimate
|
| Format
| Big endian (raw hex). 32 data bits
|
| Signing
| Unsigned
|
| Units
| Undefined, lower is better
|
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