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The structs used below are defined in [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.82b/uart.h|uart.h]]. For implementation details, see [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.82b/uart.c|uart.c]]. Unfortunately, the latest (trunk) version of these files is not public. | 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]]. |
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Addresses are defined as follows: <<BR>> Here you find some of the structs and defines used for serial commands: <<Navigation(children)>> <<BR>><<BR>> ---- 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) }}} |
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||<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''''' || |
||<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''''' || |
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||!ExternControl ||'b' ||!AnyAddr ||!ExternControl Struct ||'B' ||!SlaveAddr ||unsigned char, echo of !ExternControl.Frame as confirmation || | ||ExternControl ||'b' ||!AnyAddr ||ExternControl Struct ||'B' ||!SlaveAddr ||unsigned char, echo of !ExternalControl.Frame as confirmation || Strcture changed since 2.13 || |
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||Version Request ||'v' ||!AnyAddr ||none ||'V' ||!SlaveAddr ||Version Info Struct || ||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. ||'D' ||!SlaveAddr ||Debug Data Struct || |
||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|| |
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||Get External Control ||'g' ||!AnyAddr ||none ||'G' ||!SlaveAddr ||!ExternControl Strcut || |
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||<tablewidth="" tablestyle="text-align:center; "#cccccc> ||||||<#cccccc style="text-align:center; ">'''''Received by FC '''''''' ''' ||||||<#cccccc style="text-align:center; ">'''''Sent by FC '''''''' ''' ||<#cccccc> || | ||<tablewidth="" tablestyle="text-align:center; "#cccccc> ||||||<#cccccc style="text-align:center; ">'''''Received by FC '''''''' ''' ||||||<#cccccc style="text-align:center; ">'''''Sent by FC '''''''' ''' ||<#cccccc> || |
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||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, Settings Struct ||0.71f || ||Write Settings ||'s' ||FC-Addr ||u8 Settings Index, u8 Settings Version, Settings Struct ||'S' ||FC-Addr ||u8 Settings Index (1 ..5, 0=Error) ||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 || |
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||get External Control ||'g' ||FC-Addr ||none ||'G' ||FC-Addr ||ExternControl Struct ||0.71f || | |
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||<tablewidth="" tablestyle="text-align:center; "#cccccc> ||||||<#cccccc style="text-align:center; ">'''''Received by NC '''''''' ''' ||||||<#cccccc style="text-align:center; ">'''''Sent by NC '''''''' ''' ||<#cccccc> || | ||<tablewidth="" tablestyle="text-align:center; "#cccccc> ||||||<#cccccc style="text-align:center; ">'''''Received by NC '''''''' ''' ||||||<#cccccc style="text-align:center; ">'''''Sent by NC '''''''' ''' ||<#cccccc> || |
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||<style="text-align:center;">Send target Position ||<style="text-align:center;">'s' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/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/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/WayPointStruct|WayPointStruct]] ||<style="text-align:center;">0.14f || ||<style="text-align:center;">Request OSD-Data ||<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/NaviDataStruct|NaviDataStruct]] ||<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 ||<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]] ||<style="text-align:center;">0.12h || |
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||Set/get NC-Parameter ||'j' ||!NC-Addr ||u8 get(0)/set(1),u8 prameterId, s16 value (only when set) ||'J' ||NC_Addr ||u8 prameterId, s16 value ||0.20 || |
||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 || |
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||<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> || | ||<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> || |
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:
/BLDataStruct /DebugOutStruct /ExternalControl /NaviDataStruct /NaviDataStruct_V2 /ParamsetStruct /VersionStruct /WayPointStruct |
Address used for communication:
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 |
|
'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 |
||
Debug Request |
'd' |
AnyAddr |
u8 AutoSendInterval |
'D' |
SlaveAddr |
||
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) |
'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 |
- |
- |
- |
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 |
'o' |
NC-Addr |
1 byte sending interval ( in 10ms steps ) |
'O' |
NC-Addr |
0.12h |
|
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 |
||
'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 |