XeThru serial protocol

This document describes the serial protocol used by the XeThru sensor modules.
Version: - Firmware version 1.1.0-beta. - Document revision: F

Notation

The following notation is used in this document:

<X> = Single byte

[X] = Multiple bytes
[“abc”] = [0x61,0x62,0x63] = Ascii text
[X(i)] = 32 bit Integer, 4 bytes
[X(f)] = 32 bit Float, 4 bytes

Protocol format

Binary protocol using flag bytes and escaping.

Example: <Start> + [Data] + <CRC> + <End>

Flag bytes
<Start> 0x7D
<End> 0x7E
<Esc> 0x7F

Byte ordering

The XeThru serial protocol assumes litle-endian byte order.

Data escaping

Escaping means that if the escape byte occurs in data, the next byte is not <Start>, <End> or <Esc>, but intended byte
with same value as flags.
Example: 0x7D + 0x10 + 0x7F + 0x7E + 0x04 + 0xFF + 0x7E
Here the byte 0x7E in the middle is intended, and should not be read as a flag. The 0x7E byte is prepended with the
escape byte 0x7F. After parsing for escape bytes, the data becomes:
0x7D + 0x10 + 0x7E + 0x04 + 0xFF + 0x7E

Checksum

Calculated by XOR’ing all bytes from <Start> + [Data]. Note that the CRC is done after escape bytes is removed. This
means that CRC is also calculated before adding escape bytes.

How it works

When powering up the sensor module for the first time, it enters an idle mode. In this mode, the user can choose module
behaviour by loading the desired application. After loading the application, it can be configured by sending application
level commands. Finally, after configuring the application, the user can send a command to start it.
Next time the module is powered, it will automatically load previous configuration and resume operation.
If you want to change sensor module behaviour, reset the module and start again. Once the application is running, it is not
possible to change parameters or application without performing a reset first.
Typical configuration workflow:
Reset module --> Idle mode --> Load application --> Load parameters --> Run application

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USB connection When connecting to the module directly using USB, use the following procedure to ensure proper
behaviour:

1. Reset module. Wait for ACK and immediately disconnect from the virtual serial port provided by the USB.
2. Module enters Idle mode
3. Load application
4. Load parameters
5. Run application

See sections on Reset module and Ping for more information.

Module level

Commands that control the module at a top level.

Reset module

Use this command to completely reset the sensor module. After the module has responded with ACK, it will wait for 0.5
seconds before it actually starts the reset procedure. This gives the host time to disconnect from the serial connection
prior to the module reset, which is necessary when the USB interface is used.
Example: <Start> + <XTS_SPC_MOD_RESET> + <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPC_MOD_RESET 0x22
XTS_SPR_ACK 0x10

After the module resets, it sends a set of system messages to inform the host about the bootup status. At first startup, the
XTS_SPRS_BOOTING message is sent. Then, after the module booting sequence is completed and the module is ready to
accept further commands, the XTS_SPRS_READY command is issued.
Message: <Start> + <XTS_SPR_SYSTEM> + [Responsecode(i)] + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPR_SYSTEM 0x30

Responsecode Value
XTS_SPRS_BOOTING 0x10
XTS_SPRS_READY 0x11

Ping

The ping command can be used to check connection to the module, and verify module readyness.
During the module boot procedure, when connecting using USB, it can be difficult to make sure you are able to receive the
system status messages saying that the module is ready. In that case, the PING command comes in handy, where you can
ask the module if it is ready to receive commands.
Example: <Start> + <XTS_SPC_PING> + [XTS_DEF_PINGVAL(i)] + <CRC> + <End>
Response: <Start> + <XTS_SPR_PONG> + [Pongval(i)] + <CRC> + <End>
Protocol codes:

Name Value Description

XTS_SPC_PING 0x01 Ping command code
XTS_DEF_PINGVAL 0xeeaaeaae Ping seed value
XTS_SPR_PONG 0x01 Pong responce code
XTS_DEF_PONGVAL_READY 0xaaeeaeea Module is ready
XTS_DEF_PONGVAL_NOTREADY 0xaeeaeeaa Module is not ready

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Load application

Loads the desired sensor module application.

Example: <Start> + <XTS_SPC_MOD_LOADAPP> + [AppID(i)] + <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPC_MOD_LOADAPP 0x21
XTS_SPR_ACK 0x10

AppID values can be found in the Application section (XTS_ID_APP_x).

Execute application

After the application is loaded, it can be configured using ‘Application level’ commands (see below). Then the application
is executed by setting the module mode.

Name Value Description

XTS_SM_RUN 0x01 Sensor module in running mode.
XTS_SM_IDLE 0x11 Idle mode. Sensor module ready but not active.

Example: <Start> + <XTS_SPC_MOD_SETMODE> + <XTS_SM_RUN> + <CRC> + <End>

Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPC_MOD_SETMODE 0x20
XTS_SPR_ACK 0x10

LED control

Use this command to choose the behaviour of the sensor LED. There are three levels of LED operations, Off, Simple and
Full. Different applications may use the LED differently, but in general the three levels will behave like this: - Off: Very
simple LED indicator during startup and initialization. LED is always off in operating mode. - Simple: More indication during
startup and initialization. Simple indication during operation, e.g. fixed indication or subtle blinking. - Full: Full indication
during startup and initialization. Extensive use of blinking and colors to indicate sensor state and if possible values.
Example: <Start> + <XTS_SPC_MOD_SETLEDCONTROL> + <Mode> + <Reserved> + <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPC_MOD_SETLEDCONTROL 0x24
XTS_SPR_ACK 0x10

Mode Value
XT_UI_LED_MODE_OFF 0
XT_UI_LED_MODE_SIMPLE 1
XT_UI_LED_MODE_FULL 2

Error handling

If the module receives a command it does not understand, it will send an error message.
Example: <Start> + <XTS_SPR_ERROR> + [Errorcode(i)] + <CRC> + <End>
Protocol codes:

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 Name Value
XTS_SPR_ERROR 0x20

Errorcode Value Description

XTS_SPRE_NOT_RECOGNIZED 0x01 Command not recognized
XTS_SPRE_CRC_FAILED 0x02 Checksum failed
XTS_SPRE_APP_INVALID 0x20 Command recognized, but invalid

Application level

Generic application commands

Set Detection Zone Set the desired detection zone.

Example: <Start> + <XTS_SPC_APPCOMMAND> + <XTS_SPCA_SET> + [XTS_ID_DETECTION_ZONE(i)] + [Start(f)] +
[End(f)] + <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Protocol codes:

Name Value
XTS_SPC_APPCOMMAND 0x10
XTS_SPCA_SET 0x10
XTS_ID_DETECTION_ZONE 0x96a10a1c
XTS_SPR_ACK 0x10

Set Sensitivity Set the desired sensitivity.

Example: <Start> + <XTS_SPC_APPCOMMAND> + <XTS_SPCA_SET> + [XTS_ID_SENSITIVITY(i)] + [Sensitivity(i)]
+ <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
Sensitivity value must be between 0 (low sensitivity) and 9 (high sensitivity).
Protocol codes:

Name Value
XTS_SPC_APPCOMMAND 0x10
XTS_SPCA_SET 0x10
XTS_ID_SENSITIVITY 0x10a5112b
XTS_SPR_ACK 0x10

Respiration application (RESP)

RESP status Outputs the status of the RESP application, with data when available.
Example: <Start> + <XTS_SPR_APPDATA> + [XTS_ID_RESP_STATUS(i)] + [Counter(i)] + [StateCode(i)] +
[StateData(i)] + [Distance(f)] + [Movement(f)] + [SignalQuality(i)] + <CRC> + <End>
StateCode values:

StateCode Value Description StateData

XTS_VAL_RESP_STATE_BREATHING 0 Valid RPM detected Current RPM value
XTS_VAL_RESP_STATE_MOVEMENT 1 Detects motion, but can not identify breath 0
XTS_VAL_RESP_STATE_MOVEMENT_TRACKING 2 Detects motion, possible breathing 0
XTS_VAL_RESP_STATE_NO_MOVEMENT 3 No movement detected 0
XTS_VAL_RESP_STATE_INITIALIZING 4 No movement detected 0
Reserved 5 0
XTS_VAL_RESP_STATE_UNKNOWN 6 Undefined state. 0

Output:

• StateData: RPM, respirations per minute (Breathing state only).

• Distance: Distance to where respiration is detected (Breathing state only).

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 • Movement: Relative movement of the respiration, in mm (Breathing state only).
• SignalQuality: A measure of the signal quality giving respiration. Typically used to identify if the sensor is positioned
correctly. Value from 0 to 10 where 0=low and 10=high. (Breathing state only).

Protocol codes:

Name Value
XTS_ID_APP_RESP 0x1423a2d6
XTS_SPR_APPDATA 0x50
XTS_ID_RESP_STATUS 0x2375fe26

Sleep application (Sleep)

Sleep status Outputs the status of the Sleep application, with data when available. Example: <Start> +
<XTS_SPR_APPDATA> + [XTS_ID_SLEEP_STATUS(i)] + [Counter(i)] + [StateCode(i)] + [StateData(f)] +
[Distance(f)] [SignalQuality(i)] + [MovementSlow(f)] + [MovementFast(f)] <CRC> + <End>
StateCode values:

StateCode Value Description StateData

XTS_VAL_RESP_STATE_BREATHING 0 Valid RPM detected Current RPM value
XTS_VAL_RESP_STATE_MOVEMENT 1 Detects motion, but can not identify breath 0
XTS_VAL_RESP_STATE_MOVEMENT_TRACKING 2 Detects motion, possible breathing 0
XTS_VAL_RESP_STATE_NO_MOVEMENT 3 No movement detected 0
XTS_VAL_RESP_STATE_INITIALIZING 4 No movement detected 0
Reserved 5 0
XTS_VAL_RESP_STATE_UNKNOWN 6 Undefined state. 0

Output:

• StateData: RPM, respirations per minute (Breathing state only).

• Distance: Distance to where respiration is detected (Breathing state only).
• SignalQuality: A measure of the signal quality giving respiration. Typically used to identify if the sensor is positioned
correctly. Value from 0 to 10 where 0=low and 10=high. (Breathing state only).
• MovementSlow: A measure of movement with long integration time.
• MovementFast: A measure of movement with short integration time.

Protocol codes:

Name Value
XTS_ID_APP_SLEEP 0x00f17b17
XTS_SPR_APPDATA 0x50
XTS_ID_SLEEP_STATUS 0x2375a16c

Baseband IQ output Outputs the baseband I and Q data of the application.

Example: <Start> + <XTS_SPR_APPDATA> + [XTS_ID_BASEBAND_IQ(i)] + [Counter(i)] + [NumOfBins(i)] +
[BinLength(f)] + [SamplingFrequency(f)] + [CarrierFrequency(f)] + [RangeOffset(f)] + [SigI(f)] +
... + [SigQ(f)] + ... + <CRC> + <End>

Name Description
Counter Incremental frame counter
NumOfBins Number of bins in dataset
BinLength Length in meters between each bin
SamplingFrequency Chip sampling frequency in Hz
CarrierFrequency Chip carrier frequency in Hz
RangeOffset First range bin start in meters
SigI Array of NumOfBins float values of the signal I-channel
SigQ Array of NumOfBins float values of the signal Q-channel

Protocol codes:

Name Value
XTS_SPR_APPDATA 0x50
XTS_ID_BASEBAND_IQ 0x0C

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Enable message The output of baseband IQ can be turned on and off using the enable message.
Example: <Start> + <XTS_SPC_DIR_COMMAND> + <XTS_SDC_APP_SETINT> + [XTS_SACR_OUTPUTBASEBAND(i)] +
[Length(i)] + [EnableCode(i)] + <CRC> + <End>
Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
EnableCode:

Name Value
XTS_SACR_ID_BASEBAND_OUTPUT_OFF 0x00
XTS_SACR_ID_BASEBAND_OUTPUT_IQ 0x01

Protocol codes:

Name Value
XTS_SPC_DIR_COMMAND 0x90
XTS_SDC_APP_SETINT 0x71
XTS_SACR_OUTPUTBASEBAND 0x10
Length 1
XTS_SPR_ACK 0x10

Baseband Amplitude/Phase output Outputs the baseband amplitude and phase data of the application.
Example: <Start> + <XTS_SPR_APPDATA> + [XTS_ID_BASEBAND_AMPLITUDE_PHASE(i)] + [Counter(i)] + [NumOfBins(i)]
+ [BinLength(f)] + [SamplingFrequency(f)] + [CarrierFrequency(f)] + [RangeOffset(f)] + [Amplitude(f)]
+ ... + [Phase(f)] + ... + <CRC> + <End>

Name Description
Counter Incremental frame counter
NumOfBins Number of bins in dataset
BinLength Length in meters between each bin
SamplingFrequency Chip sampling frequency in Hz
CarrierFrequency Chip carrier frequency in Hz
RangeOffset First range bin start in meters
Power Array of NumOfBins float values of the signal power
Phase Array of NumOfBins float values of the signal phase

Power is calculated using: power(n) = i(n)ˆ2 + q(n)ˆ2 for n=[0..NumOfBins-1]

Phase is calculated using: phase(n) = atan2( q(n) / i(n) ) for n=[0..NumOfBins-1]
Protocol codes:

Name Value
XTS_SPR_APPDATA 0x50
XTS_ID_BASEBAND_AMPLITUDE_PHASE 0x0D

Enable message The output of baseband amplitude and phase can be turned on and off using the enable message.
Example: <Start> + <XTS_SPC_DIR_COMMAND> + <XTS_SDC_APP_SETINT> + [XTS_SACR_OUTPUTBASEBAND(i)] +
[Length(i)] + [EnableCode(i)] + <CRC> + <End> Response: <Start> + <XTS_SPR_ACK> + <CRC> + <End>
EnableCode:

Name Value
XTS_SACR_ID_BASEBAND_OUTPUT_OFF 0x00
XTS_SACR_ID_BASEBAND_OUTPUT_AMPLITUDE_PHASE 0x02

Protocol codes:

Name Value
XTS_SPC_DIR_COMMAND 0x90
XTS_SDC_APP_SETINT 0x71
XTS_SACR_OUTPUTBASEBAND 0x10
Length 1
XTS_SPR_ACK 0x10

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