Serial Data Protocol

General Format

UART messages sent between the MCB and the Jetson will be a string of bytes in the following format

Starting offset (bytes)	Length (bytes)	Name	Description
0	1	Header	constant 0xA5
1	1	Data Length [0]	length of data to be read in bytes, n. 8 MSB
2	1	Data Length [1]	length of data to be read in bytes, n. 8 LSB
3	2	Blank	blank
5	1	Message Type [0]	a user-chosen "type" flag. 8 MSB
6	1	Message Type [1]	a user-chosen "type" flag. 8 LSB
7	n	Data	The actual data sent

Below are the specifications for the different type of messages:

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Soldier/ Sentinel

Turret Bearing

Jetson-> MCB

Idx	Attribute	Value
1	Data Length [0]	0x00
2	Data Length [1]	0x04
5	Message type [0]	0x00
6	Message type [1]	0x01
7	pitch[0]	MSB of pitch to 1 decimal place * 10
8	pitch[1]	LSB of pitch to 1 decimal place * 10
9	yaw[0]	MSB of yaw to 1 decimal place * 10
10	yaw[0]	LSB of yaw to 1 decimal place * 10

To send turret bearings to the MCB, take the targeted pitch and yaw angles (in degrees) and multiply by 10, then truncate to integers.

Example Message:

Data to be sent: pitch=12.6, yaw=69.0

Multiply pitch by 10 and you get 126, multiply yaw by 10 and you get 690.

Hex Representation of 126 is 0x007E, 690 is 0x02B2

Final Message:

0x69 0x01 0x00 0x04 0x00 0x7E 0x02 0xB2

Turret Feedback

MCB -> Jetson

Idx	Attribute	Value
1	Data Length [0]	0x00
2	Data Length [1]	0x04
5	Message type [0]	0x00
6	Message type [1]	0x01
7	pitch[0]	MSB of pitch to 1 decimal place * 10
8	pitch[1]	LSB of pitch to 1 decimal place * 10
9	yaw[0]	MSB of yaw to 1 decimal place * 10
10	yaw[0]	LSB of yaw to 1 decimal place * 10

Turret bearings feedback from the MCB are pitch and yaw angles (in degrees) multiplied by 10, then truncate to integers.