//Messages
//-- Message boundaries
const int cnLowerBroadcastRange = 240;                //Message >= 240 are treated as incoming broadcasts (no reply).
const int cnUpperCmdRange = 126;                      //bin 011_1_1110; > 126 = out of upper command range.
const int cnLowerCmdRange = 96;                       //bin 001_1_1111; >= 96 = command.
const int cnLowerSetPIDLoopWaitTimeRange = 88;        //>= 88 = new PIDLoopWaitTime. Range = 8.
const int cnLowerSetPIDGainRange = 64;                //>= 64 = new PIDGain value. Range = 24.
const int cnLowerSetPIDResetRateRange = 40;           //>= 40 = new PIDResetRate value. Range = 24.
const int cnLowerSetPIDDerivTimeRange = 16;           //>= 16 = new PIDDerivTime value. Range = 24.
const int cnTrainPwrRange = 15;                       //bin 000_0_1111; Power range = 0 ... 15.

//-- Broadcast messages
const int cnHandshakeOn = 240;                        //Inbound broadcast message. There is no reply.
const int cnHandshakeOff = 241;                       // -"-
//const int cnEmergencyBreak                          // -"-. Not yet implemented.

//-- PBrick error messages
const int cnBusy = 224;                               //outbound error message 224 + 1 = 225 = cnBusy (data_byte is
                                                      //incremented before transmission).
const int cnInvalidDataByte = 225;                    //Outbound error message 225 + 1 = 226 = invalid databyte
                                                      //(see above).
//-- Train control messages
const int cnTrainStop = 96;                           //bin_011_0_0000. Immediate stop without ramping.
                                                      //No toggle bit required since stop is only executed once.
const int cnTrainLightOff = 97;                       //bin_011_0_0001. Turn head light on.
const int cnTrainLightOn = 98;                        //bin_011_0_0010. Turn head light off.
const int cnTrainSound = 99;                          //bin_011_0_0011. Generate sound.
const int cnTrainSoundT = 100;                        //Same as above +1 as toggle bit. Required for repeated sound.
const int cnPollPBrickData = 101;                     //bin_011_0_0101. Send out identification byte.
//const int cnPollPBrickDataT = 102;                  //Same as above +1 as toggle bit. Required for repeated poll.
const int cnTrainPIDControlOn = 103;                  //bin_011_0_0101. Turn PID speed control on.
const int cnTrainPIDControlOff = 104;                 //bin_011_0_0110. Trun PID speed control off.

//-- Other message protocol constants
const int cnMessageTimeOut = 100;                     //[1 ms ticks]. If second message does not arrive within
                                                      //cnMessageTimeOut ms, the program resumes.