uint8[2] head
uint8 levelFlag
uint8 frameReserve

uint32[2] SN
uint32[2] version
uint16 bandWidth
IMU imu
MotorState[20] motorState
BmsState bms
int16[4] footForce	
int16[4] footForceEst	
uint32 tick						
uint8[40] wirelessRemote 
uint32 reserve

uint32 crc