The functional mechanism of ACK and Checksum

At the beginning of the communication with a 'linksetup' order we have to set up the communication. After the setting up of the communication the ACK and the Checksum settings remain.

Serial communication from the PC's point of view:

  • ACK ON, Checksum ON: 
    -> c=linksetup&ack=on&checksum=fletcher16&t=2&id=sf6z34
<- c=ack&checksum=d293&t=2&id=sf6z34
<- c=linksetup_resp&ack=on&checksum=fletcher16&id=sf6z34&t=3
-> c=go&x=34&y=18&a=2&spd=3343.73&eas=1&t=4&id=c3v3rD&s=8B72
<- c=ack&checksum=8B72&id=c3v3rD&t=4
<- c=go_resp&x=34&y=18&a=2&id=c3v3rD&t=5
  • ACK ON, Checksum OFF: 
    -> c=linksetup&ack=on&checksum=none&t=2&id=sf6z34
<- c=ack&checksum=null&t=2&id=sf6z34
<- c=linksetup_resp&ack=on&checksum=none&fletcher16&id=sf6z34&t=3
-> c=go&x=34&y=18&a=2&spd=3343.73&eas=1&t=4&id=c3v3rD
<- c=ack&checksum=null&id=c3v3rD&t=4
<- c=go_resp&x=34&y=18&a=2&id=c3v3rD&t=5
  • ACK OFF, Checksum ON: 
    -> c=linksetup&ack=off&checksum=fletcher16&t=2&id=sf6z34
<- c=linksetup_resp&ack=on&checksum=fletcher16&id=sf6z34&t=3
-> c=go&x=34&y=18&a=2&spd=3343.73&eas=1&t=4&id=c3v3rD&s=8B72
<- c=go_resp&x=34&y=18&a=2&id=c3v3rD&t=5
  • ACK OFF, Checksum OFF (DEFAULT, this is why we do not have to set up separately): 
    -> c=go&x=34&y=18&a=2&spd=3343.73&eas=1&t=2&id=c3v3rD
<- c=go_resp&x=34&y=18&a=2&id=c3v3rD&t=3

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