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For the encoding/decoding, you need to understand the structure of the messages and the protocol that is used to serialize them: 

The structure of the sensor messages is defined in ASN.1 notation. ASN.1 is a standardized way (ISO/IEC 8824) to describe data regardless of language implementation, hardware system and operation system. For more information, refer to zForce Message Specification.

The zForce communication protocol uses the Distinguished Encoding Rules (DER) to serialize messages. For more information, refer to Understanding the zForce ASN1 Protocol.

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