LoRa Packet Structures¶

Detailed binary packet formats for each LoRa command category.

REPORT (0x34) — Heartbeat & Status¶

Charger → Mower: Poll (0x34, 0x01)¶

[02 02 00 03 03 34 01 35 03 03]
 ├─ start ─┤ │len│ cmd│chk│ end │
            addr  payload

Mower → Charger: Status Report (0x34, 0x02, data...)¶

19-byte payload with mower telemetry:

[02 02 00 01 14 34 02 SS SS SS SS II II II II XX XX XX YY YY YY ZZ ZZ ZZ I1 I1 CC 03 03]
                      ├─ cmd ─┤  ├─ status ─┤ ├─ info ──┤ ├─ x ──┤ ├─ y ──┤ ├─ z ──┤ ├i1┤

Offset	Size	Encoding	Global Variable	MQTT Field
7-10	4 bytes	uint32 LE	`DAT_42000c54`	`mower_status`
11-14	4 bytes	uint32 LE	`DAT_42000c58`	`mower_info`
15-17	3 bytes	uint24 LE	`DAT_42000c5c`	`mower_x`
18-20	3 bytes	uint24 LE	`DAT_42000c60`	`mower_y`
21-23	3 bytes	uint24 LE	`DAT_42000c64`	`mower_z`
24-25	2 bytes	uint16 LE	`DAT_42000c68`	`mower_info1`

ORDER (0x35) — Mowing Commands¶

start_run (0x35, 0x01)¶

[0x35, 0x01, mapName, area, cutterHeight]

5-byte payload: command (0x35), sub-command (0x01), map name byte, area byte, cutter height byte.

pause_run (0x35, 0x03)¶

[0x35, 0x03]

resume_run (0x35, 0x05)¶

[0x35, 0x05]

stop_run (0x35, 0x07)¶

[0x35, 0x07]

stop_time_run (0x35, 0x09)¶

[0x35, 0x09]

go_pile (0x35, 0x0B)¶

[0x35, 0x0B]

RTK_RELAY (0x31) — GPS NMEA Relay¶

The charger receives GNGGA NMEA sentences from its UM960 RTK module and relays them to the mower via LoRa.

[0x31, NMEA_data_bytes...]

Example NMEA: $GNGGA,120000.00,5208.45,N,00613.86,E,1,17,0.8,8.82,M,46.3,M,,*xx

The mower uses this for centimeter-accurate RTK GPS positioning.

GPS (0x33) — Position Data¶

[0x33, lat(8B), lon(8B)]

16 bytes of GPS position: latitude (8 bytes, double) + longitude (8 bytes, double).

CONFIG (0x32) — Configuration¶

Configuration commands sent to the mower via LoRa.

CHARGER (0x30) — Hardware Control¶

Charger-specific hardware commands:

Hall sensor acknowledgment
IRQ acknowledgment

SCAN_CHANNEL (0x36) — Channel Scanning¶

Used during LoRa channel optimization. The charger scans all channels from lc to hc, measures RSSI on each, and selects the best channel.

Checksum Calculation¶

The XOR checksum is calculated over all payload bytes (excluding start/end markers and length byte):

checksum = 0
for byte in payload:
    checksum ^= byte