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To get the message data format used for information transfer, a set of encoding rules are applied to the ASN.1 definitions. The zForce communication protocol uses the Distinguished Encoding Rules (DER) to serialize the information that is going to be transferred. For more information, refer to Understanding the zForce ASN1 Protocol.
ASN.1 defines a number of universal types, from which all other types inherit traits. The result is that a set of encoding rules that covers the universal types can serialize any PDU, as long as the identifier numbers and the definition categories are available. The identifier numbers and definition categories for the zForce PDU are included in the PDU definition file.
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Download the zForce® PDU definition files from Downloads.
The zForce message
The communication protocol uses three types of messages:
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- Timestamp is a 32 bit signed integer that has variable length between 1-4 byte (dynamic) representing values between 0-2^31-1 at 32 KHz +/- 5%.
Commands:
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