CA-SDK protocol document?

Nvm - looks like it's pretty simple. Here are some notes in case anyone else comes along asking the same question:

The outgoing packets are 23 bytes long, fixed.  The first character (sync char) is '$' followed by a packet type, then a priority.  There is always a CRLF at the end.

packet types:

#define PACKET_DEBUG    (1)

#define PACKET_QUAT     (2)

#define PACKET_DATA     (3)

#define PACKET_OTHER_SENSORS (4)

#define PACKET_ROT_MAT (5)

#define PACKET_EULER (6)

#define PACKET_HEADING (7)



The priority field indicates the data type for data packets:

PACKET_DATA_ACCEL = 0,

PACKET_DATA_GYRO,

PACKET_DATA_COMPASS,

PACKET_DATA_QUAT,

PACKET_DATA_EULER,

PACKET_DATA_ROT,

PACKET_DATA_HEADING,

PACKET_DATA_OTHER_SENSORS



Data packets sent with void eMPL_send_data(unsigned char type, long *data) {



Debug packets sent with int _MLPrintLog(int priority, const char* tag, const char* fmt, ...) {



The header for that function describes the protocol a bit:

/**

*  @brief      Prints a variable argument log message.

*  USB output will be formatted as follows:n

*  packet[0]       = $n

*  packet[1]       = packet type (1: debug, 2: quat, 3: data)n

*  packet[2]       = n for debug packets: log priorityn

*                    for quaternion packets: unusedn

*                    for data packets: packet content (accel, gyro, etc)n

*  packet[3-20]    = datan

*  packet[21]      = \rn

*  packet[22]      = \n

*  @param[in]  priority    Log priority (based on Android).

*  @param[in]  tag         File specific string.

*  @param[in]  fmt         String of text with optional format tags.

*

*  @return     0 if successful.

*/