[
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    "identifier": 113,
    "message": "emergency_disable",
    "payload_hex": "11000000",
    "values": {
      "reason": 17
    },
    "wire_size": 4
  },
  {
    "identifier": 67371121,
    "message": "fault",
    "payload_hex": "1200000013000000140000001500000016000000",
    "values": {
      "fault_bits": 20,
      "latched_bits": 21,
      "sequence": 19,
      "session": 18,
      "time_us": 22
    },
    "wire_size": 20
  },
  {
    "identifier": 134742129,
    "message": "sync",
    "payload_hex": "130000001400000015000000",
    "values": {
      "cycle": 21,
      "session": 19,
      "time_us": 20
    },
    "wire_size": 12
  },
  {
    "identifier": 202113137,
    "message": "command",
    "payload_hex": "14000000150000001600000017000000000088400000a8c00000c8400000e8c0000004411d1e00000000000000000000",
    "values": {
      "execute_us": 22,
      "feedforward_nm": 6.25,
      "flags": 30,
      "kd_nm_s_rad": 8.25,
      "kp_nm_rad": -7.25,
      "mode": 29,
      "position_rad": 4.25,
      "sequence": 21,
      "session": 20,
      "valid_until_us": 23,
      "velocity_rad_s": -5.25
    },
    "wire_size": 48
  },
  {
    "identifier": 269484145,
    "message": "state",
    "payload_hex": "150000001600000017000000000050c0000088400000a8c00000c8400000e8c0000004411e0000000000000000000000",
    "values": {
      "estimated_torque_nm": -7.25,
      "fault_bits": 30,
      "iq_a": 6.25,
      "motor_position_rad": 4.25,
      "output_position_rad": -3.25,
      "sequence": 22,
      "session": 21,
      "temperature_c": 8.25,
      "time_us": 23,
      "velocity_rad_s": -5.25
    },
    "wire_size": 48
  },
  {
    "identifier": 336855153,
    "message": "health",
    "payload_hex": "160000001700000000001040000050c0000088401b0000001c0000001d0000001e000000000000000000000000000000",
    "values": {
      "bus_voltage_v": 2.25,
      "inverter_temperature_c": 4.25,
      "mode": 30,
      "rx_errors": 28,
      "sequence": 23,
      "session": 22,
      "tx_errors": 29,
      "uptime_ms": 27,
      "winding_temperature_c": -3.25
    },
    "wire_size": 48
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  {
    "identifier": 406847601,
    "message": "discover",
    "payload_hex": "170000001800190000000000",
    "values": {
      "nonce": 23,
      "slot_count": 24,
      "slot_duration_us": 25
    },
    "wire_size": 12
  },
  {
    "identifier": 407109745,
    "message": "identity",
    "payload_hex": "180000000102030405060708090a0b0c0d0e0f101a001b0000001c0000000000",
    "values": {
      "firmware_version": 27,
      "hardware_revision": 26,
      "node_id": 28,
      "nonce": 24,
      "unique_id": "0102030405060708090a0b0c0d0e0f10"
    },
    "wire_size": 32
  },
  {
    "identifier": 407371889,
    "message": "assign_address",
    "payload_hex": "190000000102030405060708090a0b0c0d0e0f101b000000",
    "values": {
      "node_id": 27,
      "nonce": 25,
      "unique_id": "0102030405060708090a0b0c0d0e0f10"
    },
    "wire_size": 24
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    "identifier": 407634033,
    "message": "capabilities",
    "payload_hex": "1a001b00000000001040000050c0000088401f00000020000000000000000000",
    "values": {
      "capability_bits": 27,
      "continuous_torque_nm": 2.25,
      "encoder_status": 32,
      "maximum_velocity_rad_s": 4.25,
      "peak_torque_nm": -3.25,
      "protocol_minor": 26,
      "watchdog_us": 31
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    "wire_size": 32
  },
  {
    "identifier": 407896177,
    "message": "session_start",
    "payload_hex": "1b0000000102030405060708090a0b0c0d0e0f101d000000",
    "values": {
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      "unique_id": "0102030405060708090a0b0c0d0e0f10",
      "watchdog_us": 29
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    "wire_size": 24
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  {
    "identifier": 408158321,
    "message": "ack",
    "payload_hex": "1c0000001d0000001e1f002000000000",
    "values": {
      "detail": 32,
      "request_service": 30,
      "result": 31,
      "sequence": 29,
      "session": 28
    },
    "wire_size": 16
  },
  {
    "identifier": 478150769,
    "message": "configure",
    "payload_hex": "1d0000001e0000001f00200405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122230000000000",
    "values": {
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      "operation": 32,
      "sequence": 30,
      "session": 29,
      "value": "0405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f20212223"
    },
    "wire_size": 48
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  {
    "identifier": 478412913,
    "message": "calibrate",
    "payload_hex": "1e0000001f00000020002100",
    "values": {
      "operation": 33,
      "routine": 32,
      "sequence": 31,
      "session": 30
    },
    "wire_size": 12
  },
  {
    "identifier": 478675057,
    "message": "clear_faults",
    "payload_hex": "1f0000002000000021000000",
    "values": {
      "mask": 33,
      "sequence": 32,
      "session": 31
    },
    "wire_size": 12
  },
  {
    "identifier": 482345073,
    "message": "firmware_begin",
    "payload_hex": "200000002100000022000000030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f20212224000000",
    "values": {
      "image_bytes": 34,
      "image_sha256": "030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122",
      "sequence": 33,
      "session": 32,
      "target_slot": 36
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    "wire_size": 48
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  {
    "identifier": 482607217,
    "message": "firmware_chunk",
    "payload_hex": "210000002200000023000000240405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f20212223000000",
    "values": {
      "data": "0405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f20212223",
      "offset": 35,
      "sequence": 34,
      "session": 33,
      "valid_bytes": 36
    },
    "wire_size": 48
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  {
    "identifier": 482869361,
    "message": "firmware_commit",
    "payload_hex": "220000002300000002030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f20210000000000000000",
    "values": {
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      "sequence": 35,
      "session": 34
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    "wire_size": 48
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  {
    "identifier": 210501745,
    "message": "enable",
    "payload_hex": "230000002400000025000000",
    "values": {
      "enabled": 37,
      "sequence": 36,
      "session": 35
    },
    "wire_size": 12
  }
]