RBT-001 Module - User Manual v.1.2

UART Protocol PrinciplesThe RBT-001 can be controlled with simple commands on the UART interface. Thecommands have to be sent within a special package format. The following sectionsdescribe the format of the command set packages.FramingThe connection is considered “Error free”. But for packet recognition and synchronization,some framing is used. All packets sent in both directions are constructed after thefollowing model:StartdelimiterPacket TypeidentificationOpcode1 byte 1 byte 1byteDatalength2bytes|----------- Checksum ------------|ChecksumPacket Data1 byte bytesEnddelimiter1 byteStart delimiterThe start delimiter indicates the RBT-001 the beginning of a new package. The “STX” charis used as start delimiter: STX = 0x02Packet type identificationThis byte identifies the type of packet. The following types are valid:Code Packet Type Description0x52'R'0x43'C'0x69'i'0x72'r'Request(REQ)Confirm(CFM)Indication(IND)Response(RES)All other values are reserved.A request sent to the Bluetooth module.All request are answered by exactly one confirm.The Bluetooth modules confirm to a request.All request are answered by exactly one confirm.Information sent from the Bluetooth module, that is not adirect confirm to a request.An optional response to an indication.This is used to respond to some type of indicationmessaged.OpcodeThe opcode is a command specifier. Each command is represented by this one byteidentifier, as in the following table.OpcodeGAP_INQUIRYGAP_DEVICE_FOUNDValue0x000x01RoboTech Bluetooth Serial ModuleUser Manual Ver. 1.222