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2-1. The format of message packet is as follows:
Length Byte (Prefix: 0x86, 0x87, or 0x88 ..... )
Receiver ID high byte
Receiver ID low byte
Opcode Byte
Data Byte1
Data Byte2
Data Byte3
Checksum Byte
2-2. Length Byte
This Length Byte is also a prefix. Bit7 must be 1.
EX:
0x87 ==> this packet has 7 bytes length. (not included length byte itself )
ANHANG - C: Schnittstellen - Spezifikationen
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