PELCO-D协议校验位

PELCO-D的功能是用于矩阵和其它设备之间的通信协议。PELCO-D控制命令格式如下

字节1字节2字节3字节4字节5字节6字节7
起始字节云台地址命令字1命令字2数据1数据2结束字节
FFaddresscommand1command2data1data2校验

命令字1和命令字2总共16位,可以控制16种动作。校验码=【(字节2+字节3+字节4+字节5+字节6)&0xFF】,注意+不是按位加运算,而是数字加运算。

TABLE OF CONTENTS DOCUMENT HISTORY.............................................................................................................................................................3 LEGAL NOTICES.......................................................................................................................................................................4 NOTICE OF DISCLAIMER..............................................................................................................................................................4 PROPRIETARY NOTICE.................................................................................................................................................................4 QUESTIONS..................................................................................................................................................................................4 WHAT THIS MANUAL COVERS.............................................................................................................................................5 THE BYTE FORMAT.................................................................................................................................................................5 THE MESSAGE FORMAT.........................................................................................................................................................5 The Standard Command Set.......................................................................................................................................................6 Extended Commands..................................................................................................................................................................7 Advanced Feature Set.................................................................................................................................................................8 Creating Labels...........................................................................................................................................................................9 EXAMPLE MESSAGES...................................................................................................................................................................9 Responses.................................................................................................................................................................................10 Opcode Descriptions.................................................................................................................................................................12 APPENDIX A..............................................................................................................................................................................16 ADVANCED FEATURE COMMANDS............................................................................................................................................16 APPENDIX B..............................................................................................................................................................................18 DETAILS OF DOCUMENT CHANGES............................................................................................................................................18 INDEX.........................................................................................................................................................................................20
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