Änderungen von "en/SerialCommands"

Unterschiede zwischen den Revisionen 12 und 83 (über 71 Versionen hinweg)

General protocol description: en/SerialProtocol

The structs used below are defined in uart.h. For implementation details, see uart.c.

Addresses are defined as follows:

Here you find some of the structs and defines used for serial commands:

Address used for communication:

   1 #define FC_ADDRESS      1  //(b)
   2 #define NC_ADDRESS      2  //(c)
   3 #define MK3MAG_ADDRESS  3  //(d)
   4 #define BL_CTRL_ADDRESS 5  //(f)
   5

Common Commands

	Received			Sent
Description	ID	Address	Data	ID	Address	Data	remark
Labels of the analog values in the Debug Data Struct (see 'd')	'a'	AnyAddr	u8 Index of Analog Channel	'A'	SlaveAddr	u8 Index, char[16] label text
ExternControl	'b'	AnyAddr	ExternControl Struct	'B'	SlaveAddr	unsigned char, echo of ExternalControl.Frame as confirmation	Strcture changed since 2.13
Request display	'h'	AnyAddr	u8 ~RemoteKey, u8 AutoSendInterval	'H'	SlaveAddr	char[80] DisplayText
Request display	'l'	AnyAddr	u8 MenuItem	'L'	SlaveAddr	u8 MenuItem, u8 MaxMenuItem, char[80] Display Text
Version Request	'v'	AnyAddr	none	'V'	SlaveAddr	VersionStruct
Debug Request	'd'	AnyAddr	u8 AutoSendInterval Value is multiplied by 10 in receiver and then used as milliseconds. Subsciption needs to be renewed every 4s. These values can be display in MK-Tool as values or graphs.	'D'	SlaveAddr	DebugOutStruct
Serial Poti	'y'	FC-Addr	s8 Poti[12]	-	-	-	since 2.13 accepted by NC
Get External Control	'g'	AnyAddr	none	'G'	SlaveAddr	ExternControl Struct	since 2.13 accepted by NC
Read PPM Channels	'p'	FC-Addr	none	'P'	FC-Addr	s16 PPM-Array[11]	since 2.13 accepted by NC
Reset	'R'	AnyAddr	none	-	-	-

Flight-Ctrl

	Received by FC			Sent by FC
Description	ID	Address	Data	ID	Address	Data	since FC Firmware
Compass Heading	'K'	FC-Addr	s16 Compass Value	'k'	MK3MAG-Addr	Nick Roll Attitude ...	0.71f
Engine Test	't'	FC-Addr	u8[16] values for the engines	'T'	FC-Addr	-	0.71f
Settings Request	'q'	FC-Addr	u8 Settings Index ( 1..5 READ or 0xff for actual setting) u8 Settings Index (11..15 RESET setting to default (channel mapping will not be changed)) u8 Settings Index (21..25 RESET setting to default (complete reset including channel settings))	'Q'	FC-Addr	u8 Settings Index, u8 Settings Version, ParamsetStruct	0.71f
Write Settings	's'	FC-Addr	u8 Settings Index, u8 Settings Version, ParamsetStruct	'S'	FC-Addr	u8 Settings Index (1 ..5, 0=Error)	0.71f
Read PPM Channels	'p'	FC-Addr	none	'P'	FC-Addr	s16 PPM-Array[11]	0.71f
get External Control	'g'	FC-Addr	none	'G'	FC-Addr	ExternControl Struct	0.71f
Set 3D-Data Interval	'c'	AnyAddr	u8 Interval	'C'	FC-Addr	struct Data3D	0.72p
Mixer Request	'n'	FC-Addr	none	'N'	FC-Addr	u8 MixerRevision, u8 Name[12], u8 MixerTable[16][4]	0.73
Mixer Write	'm'	FC-Addr	u8 MixerRevision, u8 Name[12], u8 MixerTable[16][4]	'M'	FC-Addr	u8 ack (1 = okay, 0 = error)	0.73
Change setting	'f'	FC-Addr	u8 Number of new Setting	'F'	FC-Addr	u8 Number	0.77
Serial Poti	'y'	FC-Addr	s8 Poti[12]	-	-	-	0.77
BL parameter request	'u'	FC-Addr	u8 BL_Addr	'U'	FC-Addr	u8 Status1, u8 Status2, u8 BL_Addr, BLConfig Struct	0.80
BL parameter write	'w'	FC-Addr	u8 BL_Addr, BLConfig Struct	'W'	FC-Addr	u8Status1, u8 Status2	0.80

Navi-Ctrl

	Received by NC			Sent by NC
Description	ID	Address	Data	ID	Address	Data	since NC Firmware
Serial Link Test	'z'	NC-Addr	u16 EchoPattern	'Z'	NC-Addr	u16 EchoPattern	0.14f
Error Text Request	'e'	NC-Addr	none	'E'	NC-Addr	char[] Error Message String	0.12h
Send target Position	's'	NC-Addr	WayPointStruct	-	-	-	0.12h
Send Waypoint	'w'	NC-Addr	WayPointStruct (sending an invalid position will clear the WPList)	'W'	NC-Addr	u8 Number of WPs	0.12h
Request Waypoint	'x'	NC-Addr	u8 WP-Index	'X'	NC-Addr	u8 Number of WPs, u8 WP-Index, WayPointStruct	0.14f
Request OSD-Data (old)	'o'	NC-Addr	1 byte sending interval ( in 10ms steps )	'O'	NC-Addr	NaviDataStruct_V1	0.12h
Request OSD-Data (new)	'o'	NC-Addr	1 byte sending interval ( in 10ms steps ) 2 bytes -> max bytes per second (i.e.1024)	'O'	NC-Addr	NaviDataStruct_V2	2.10a
Redirect UART	'u'	NC-Addr	1 byte param for uart selector (0=FC, 1=MK3MAG, 2=MKGPS), can be switched back to NC debug by sending the magic packet "0x1B,0x1B,0x55,0xAA,0x00"	-	-	-	0.12h
Set 3D-Data Interval	'c'	AnyAddr	u8 Interval	'C'	NC-Addr	struct Data3D	0.14a
Set/get NC-Parameter	'j'	NC-Addr	u8 get(=0)/set(=1),u8 parameterId, s16 value (only when set)	'J'	NC_Addr	u8 parameterId, s16 value	0.20
BL Ctrl Status	'k'	AnyAddr	u8 Interval	'K'	SlaveAddr	BLDataStruct
SystemTime	't'	NC-Addr	u8 Interval	'T'	NC-Addr	struct DateTime_t (from timer1.h)	0.31
Store WP-List to SD	'i'	NC-Addr	struct WPL_Store_t	'I'	NC-Addr	struct WPL_Answer_t	2.06

MK3-MAG

	Received by MK3-MAG			Sent by MK3-MAG
Description	ID	Address	Data	ID	Address	Data	since MK3-MAG Firmware
Heading Request	'w'	MK3MAG-Addr	Attitude (s16 Nick, s16 Roll, u8 Param1, u8 Param2, u8 CalcState, u8 Orientation)	'K'	FC-Addr	s16 Heading	since beginning

CategoryCoding KategorieFirmware KategorieFirmware

-  ⇤ ← Revision 12 vom 20.11.2008 01:56 → 
  Größe: 2547
  Autor: killagreg
  Kommentar: Protokoll description completed
+   ← Revision 83 vom 01.11.2016 12:37 → ⇥
  Größe: 9904
  Autor: HolgerB
  Kommentar:
-Gelöschter Text ist auf diese Art markiert.
+Hinzugefügter Text ist auf diese Art markiert.
 Zeile 1:
-= Flight-Ctrl =
|| ||||||<style="text-align: center;">'''Received by FC ''' ||||||<style="text-align: center;">'''Send by FC ''' || ||
||'''Description''' ||'''ID''' ||'''Address''' ||'''Data''' ||'''ID''' ||'''Address''' ||'''Data''' ||'''since FC Firmware''' ||
|| compass ||K || || compass value ||w ||1 ||Nick Roll Attitude ... || ||
|| labels of analog Values ||a ||any || position of requested analog Value ( 1 byte ) ||A ||position ||16 char label text || ||
|| !ExternControl ||b ||any || struct !ExternControl (uart.h) ||Confirm Frame ID ||'\r' ||struct !ExternControl (uart.h) || 0.68b ||
|| !ExternControl + Debug request ||c ||any || struct !ExternControl (uart.h) ||D ||1 ||Debug Data || 0.68b ||
|| request Display line ||h ||any || param ( 1 Byte ) param == 255 PPM-channels are replyed else the diplay line cyclic 0->1->2->3->4 ||0,1,2,3,4 ||0 ||20 char display line text or PPM  channels || ||
|| Engine Test ||t ||any || values for the 4 engines ( 4 Bytes ) ||- ||- ||- || ||
|| Dubwise Keys ||k ||any || keys (4 bytes) ||key[3] ||'\r' ||keys (4 bytes) || 0.67e ||
|| Version Request ||v ||any || none ||V ||1 ||Version Info Struct || ||
|| ExternControl Request ||g ||any || none ||G ||1 ||ExternControl || ||
|| Settings Request ||q ||any || 1 Byte settings-num  form 1 to 5, or 0xff for actual setting (1 Byte) ||L M N O P ||1 ||mk_param_struct (fc.h) || ||
|| Write Setting 1 ||l ||any ||  mk_param_struct  (fc.h) ||- ||- ||- || ||
|| Write Setting 2 ||m ||any ||  mk_param_struct  (fc.h) ||- ||- ||- || ||
|| Write Setting 3 ||n ||any ||  mk_param_struct  (fc.h) ||- ||- ||- || ||
|| Write Setting 4 ||o ||any ||  mk_param_struct  (fc.h) ||- ||- ||- || ||
|| Write Setting 5 ||p ||any ||  mk_param_struct  (fc.h) ||- ||- ||- || ||
|| Debug Request ||f ||any || none ||D ||1 ||Debug Data || v0.71f ||
|| Reset ATMEGA ||R ||any || in SIGNAL(INT_VEC_RX) ||- ||- ||- || ||
= Navi-Ctrl =
||  Command ''' ''' ||  Description ''' ''' ||  Parameter's ''' ''' || since NC Firmware ''''' ''''' ||
|| a || labels of analog Values || position of requested analog Value ( 1 byte ) ||  since beginning ||
|| h || request Display line || Key Value ( 1 Byte ) ||  since beginning ||
|| v || Version Request || none || since beginning ||
|| e || Error Code Request || none || 0.12h ||
|| s || Send target Position || none || 0.12h ||
|| w || Send Waypoint || none || 0.12h ||
|| q || Request OSD-Data (Q) || 1 byte sending interval ( in 10ms steps ) || 0.12h ||
+General protocol description: [[en/SerialProtocol]]
<<BR>><<BR>>
The structs used below are defined in [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.84a/uart.h|uart.h]]. For implementation details, see [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.84a/uart.c|uart.c]]. 

Addresses are defined as follows:

<<BR>> Here you find some of the structs and defines used for serial commands: <<Navigation(children)>>

<<BR>><<BR>>
-Zeile 31:
+Zeile 12:
- . CategoryCoding
+Address used for communication:

{{{#!cplusplus
#define FC_ADDRESS      1  //(b)
#define NC_ADDRESS      2  //(c)
#define MK3MAG_ADDRESS  3  //(d)
#define BL_CTRL_ADDRESS 5  //(f)
}}}
== Common Commands ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent '''''''' ''' ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''remark''''' ||
||Labels of the analog values in the Debug Data Struct (see 'd') ||'a' ||!AnyAddr ||u8 Index of Analog Channel ||'A' ||!SlaveAddr ||u8 Index, char[16] label text ||
||ExternControl ||'b' ||!AnyAddr ||ExternControl Struct ||'B' ||!SlaveAddr ||unsigned char, echo of !ExternalControl.Frame as confirmation || Strcture changed since 2.13 ||
||Request display ||'h' ||!AnyAddr ||u8 ~!RemoteKey, u8 !AutoSendInterval ||'H' ||!SlaveAddr ||char[80] !DisplayText ||
||Request display ||'l' ||!AnyAddr ||u8 !MenuItem ||'L' ||!SlaveAddr ||u8 !MenuItem, u8 !MaxMenuItem, char[80] Display Text ||
||Version Request ||'v' ||!AnyAddr ||none ||'V' ||!SlaveAddr ||[[en/SerialCommands/VersionStruct|VersionStruct]] ||
||Debug Request ||'d' ||!AnyAddr ||u8 !AutoSendInterval<<BR>> Value is multiplied by 10 in receiver and then used as milliseconds. Subsciption needs to be renewed every 4s. <<BR>>These values can be display in MK-Tool as values or graphs. ||'D' ||!SlaveAddr ||[[en/SerialCommands/DebugOutStruct|DebugOutStruct]] ||
||Serial Poti ||'y' ||FC-Addr ||s8 Poti[12] ||- ||- ||- ||since 2.13 accepted by NC||
||Get External Control ||'g' ||!AnyAddr ||none ||'G' ||!SlaveAddr ||!ExternControl Struct ||since 2.13 accepted by NC||
||Read PPM Channels ||'p' ||FC-Addr ||none ||'P' ||FC-Addr ||s16 PPM-Array[11] ||since 2.13 accepted by NC||
||Reset ||'R' ||!AnyAddr ||none ||- ||- ||- ||

== Flight-Ctrl ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by FC '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by FC '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since FC Firmware''''' ||
||Compass Heading ||'K' ||FC-Addr ||s16 Compass Value ||'k' ||MK3MAG-Addr ||Nick Roll Attitude ... ||0.71f ||
||Engine Test ||'t' ||FC-Addr ||u8[16] values for the engines ||'T' ||FC-Addr ||- ||0.71f ||
||Settings Request ||'q' ||FC-Addr ||u8 Settings Index ( 1..5 READ or 0xff for actual setting) <<BR>> u8 Settings Index (11..15 RESET setting to default (channel mapping will not be changed))<<BR>> u8 Settings Index (21..25 RESET setting to default (complete reset including channel settings)) ||'Q' ||FC-Addr ||u8 Settings Index, u8 Settings Version, [[en/SerialCommands/ParamsetStruct|ParamsetStruct]] ||0.71f ||
||Write Settings ||'s' ||FC-Addr ||u8 Settings Index, u8 Settings Version, [[en/SerialCommands/ParamsetStruct|ParamsetStruct]] ||'S' ||FC-Addr ||u8 Settings Index (1 ..5, 0=Error) ||0.71f ||
||Read PPM Channels ||'p' ||FC-Addr ||none ||'P' ||FC-Addr ||s16 PPM-Array[11] ||0.71f ||
||get External Control ||'g' ||FC-Addr ||none ||'G' ||FC-Addr ||ExternControl Struct ||0.71f ||
||Set 3D-Data Interval ||'c' ||!AnyAddr ||u8 Interval ||'C' ||FC-Addr ||struct Data3D ||0.72p ||
||Mixer Request ||'n' ||FC-Addr ||none ||'N' ||FC-Addr ||u8 !MixerRevision, u8 Name[12], u8 MixerTable[16][4] ||0.73 ||
||Mixer Write ||'m' ||FC-Addr ||u8 !MixerRevision, u8 Name[12], u8 MixerTable[16][4] ||'M' ||FC-Addr ||u8 ack (1 = okay, 0 = error) ||0.73 ||
||Change setting ||'f' ||FC-Addr ||u8 Number of new Setting ||'F' ||FC-Addr ||u8 Number ||0.77 ||
||Serial Poti ||'y' ||FC-Addr ||s8 Poti[12] ||- ||- ||- ||0.77 ||
||BL parameter request ||'u' ||FC-Addr ||u8 BL_Addr ||'U' ||FC-Addr ||u8 Status1, u8 Status2, u8 BL_Addr, BLConfig Struct ||0.80 ||
||BL parameter write ||'w' ||FC-Addr ||u8 BL_Addr, BLConfig Struct ||'W' ||FC-Addr ||u8Status1, u8 Status2 ||0.80 ||


== Navi-Ctrl ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by NC '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by NC '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since NC Firmware''''' ||
||<style="text-align:center;">Serial Link Test ||<style="text-align:center;">'z' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u16 !EchoPattern ||<style="text-align:center;">'Z' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u16 !EchoPattern ||<style="text-align:center;">0.14f ||
||<style="text-align:center;">Error Text Request ||<style="text-align:center;">'e' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">none ||<style="text-align:center;">'E' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">char[] Error Message String ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Send target Position ||<style="text-align:center;">'s' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/WayPointStruct|WayPointStruct]] ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Send Waypoint ||<style="text-align:center;">'w' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/WayPointStruct|WayPointStruct]] (sending an invalid position will clear the WPList) ||<style="text-align:center;">'W' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 Number of WPs ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Request Waypoint ||<style="text-align:center;">'x' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 WP-Index ||<style="text-align:center;">'X' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 Number of WPs, u8 WP-Index, [[en/SerialCommands/WayPointStruct|WayPointStruct]] ||<style="text-align:center;">0.14f ||
||<style="text-align:center;">Request OSD-Data (old)||<style="text-align:center;">'o' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte sending interval ( in 10ms steps ) ||<style="text-align:center;">'O' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/NaviDataStruct|NaviDataStruct_V1]] ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Request OSD-Data (new) ||<style="text-align:center;">'o' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte sending interval ( in 10ms steps ) <<BR>>2 bytes -> max bytes per second (i.e.1024) ||<style="text-align:center;">'O' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;"> [[en/SerialCommands/NaviDataStruct_V2|NaviDataStruct_V2]] ||<style="text-align:center;">2.10a ||
||<style="text-align:center;">Redirect UART ||<style="text-align:center;">'u' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte param for uart selector (0=FC, 1=MK3MAG, 2=MKGPS), can be switched back to NC debug by sending the magic packet "0x1B,0x1B,0x55,0xAA,0x00" ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">0.12h ||
||Set 3D-Data Interval ||'c' ||!AnyAddr ||u8 Interval ||'C' ||NC-Addr ||struct Data3D ||0.14a ||
||Set/get NC-Parameter ||'j' ||NC-Addr ||u8 get(=0)/set(=1),u8 parameterId, s16 value (only when set) ||'J' ||NC_Addr ||u8 parameterId, s16 value ||0.20 ||
||BL Ctrl Status ||'k' ||!AnyAddr ||u8 Interval ||'K' ||!SlaveAddr ||[[en/SerialCommands/BLDataStruct|BLDataStruct]] ||
||SystemTime ||'t' ||NC-Addr ||u8 Interval ||'T' ||NC-Addr ||struct DateTime_t (from timer1.h) ||0.31 ||
||Store WP-List to SD ||'i' ||NC-Addr ||struct WPL_Store_t ||'I' ||NC-Addr ||struct WPL_Answer_t ||2.06 ||

== MK3-MAG ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by MK3-MAG '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by MK3-MAG '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since MK3-MAG Firmware''''' ||
||<style="text-align:center;">Heading Request ||<style="text-align:center;">'w' ||<style="text-align:center;">MK3MAG-Addr ||<style="text-align:center;">Attitude (s16 Nick, s16 Roll, u8 Param1, u8 Param2, u8 !CalcState, u8 Orientation) ||<style="text-align:center;">'K' ||<style="text-align:center;">FC-Addr ||<style="text-align:center;">s16 Heading ||<style="text-align:center;">since beginning ||
-Zeile 33:
+Zeile 76:
-KategorieFirmware
+ . CategoryCoding KategorieFirmware KategorieFirmware