captured frames

• stearing
  • straight: FA AF 01 01 78 32 00 00 AC ED AB
  • right: FA AF 01 01 8C 14 00 00 AZ ED AB
  • left: FA AF 01 01 64 14 00 00 7A ED AB
• drive
  • stop: FB 03 0C 06 01 00 04 00 03 00 00 FF FF 00 01 31
  • forward1: FB 03 OC 06 01 00 04 00 03 FF B0 02 8F 00 01 C5
  • forward2: FB 03 OC 06 01 00 04 00 03 FF B0 00 0A 00 01 22
  • backward: FB 03 0C 06 01 00 04 00 03 00 50 02 8F 00 01 51
• unknown
  • unknown1: AC 03 03 06 01 00 A1
  • unknown2: FB 03 0C 06 01 00 04 00 01 00 00 B9

observed sequences

• forward-unknown1-straight
• backward-unknown1-straight
• forward-unknown1-right
• forward-unknown1-left
• stop-unknown1

decoded frames

• stearing

0: FA
1: AF
2: 01
3: 01
4: angle (small=left, straight~=78, right=big)
5: time (32=slow-ish,2=very fast)
6: 00
7: 00
8: checksum (sum 2...7, mod 256)
9: ED
10: AB

• drive

0: FB
1-14: data bytes
15: checksum (CRC-8/DARC over bytes 1..14)
     - Polynomial: 0x07
     - Init: 0x00
     - XorOut: 0x55
     - RefIn: false
     - RefOut: false

Helper tools

make parser
stty -F /dev/ttyUSB1 115200 raw
cat /dev/ttyUSB1 | ./parser
#or
./parser < buslogs/captured_frames.bin