Unterschiede zwischen den Revisionen 1 und 31 (über 30 Versionen hinweg)

Protocol

The protocol is based on individual serial data frames that are organized as shown in the following table.

Start-Byte	Address Byte	ID-Byte	n Data-Bytes coded	CRC-Byte1	CRC-Byte2	Stop-Byte
'#'	'a'+ Addr	'V','D' etc	"modified-base64"	variable	variable	'\r'

Commands

The Commands based on the dataframes above are listed [:en/SerialCommands:here]

Include(en/SerialCommands)

Slave Adresses

Since Navi 0.12h FC 0.71f Mag 0.19 there are constant SlaveAdresses:

Slave-Address	Part
1	FC
2	NC
3	MK3MAG

Data Format

Have a look into the Functions Decode64 and SendOutData in uart.c of the FC Firmware to see how the Data is encoded and decoded:

   1 void SendOutData(unsigned char cmd,unsigned char addr, unsigned char *snd, unsigned char len)
   2 {
   3  unsigned int pt = 0;
   4  unsigned char a,b,c;
   5  unsigned char ptr = 0;
   6  SendeBuffer[pt++] = '#';               // Start-Byte
   7  SendeBuffer[pt++] = 'a' + addr;        // Adress
   8  SendeBuffer[pt++] = cmd;               // Command
   9  while(len)
  10   {
  11    if(len) { a = snd[ptr++]; len--;} else a = 0;
  12    if(len) { b = snd[ptr++]; len--;} else b = 0;
  13    if(len) { c = snd[ptr++]; len--;} else c = 0;
  14    SendeBuffer[pt++] = '=' + (a >> 2);
  15    SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
  16    SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
  17    SendeBuffer[pt++] = '=' + ( c & 0x3f);
  18   }
  19  AddCRC(pt);
  20 }
  21 void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)
  22 {
  23  unsigned char a,b,c,d;
  24  unsigned char ptr = 0;
  25  unsigned char x,y,z;
  26  while(len)
  27   {
  28    a = RxdBuffer[ptrIn++] - '=';
  29    b = RxdBuffer[ptrIn++] - '=';
  30    c = RxdBuffer[ptrIn++] - '=';
  31    d = RxdBuffer[ptrIn++] - '=';
  32    if(ptrIn > max - 2) break;     // dont process more data than recieved
  33    x = (a << 2) | (b >> 4);
  34    y = ((b & 0x0f) << 4) | (c >> 2);
  35    z = ((c & 0x03) << 6) | d;
  36    if(len--) ptrOut[ptr++] = x; else break;
  37    if(len--) ptrOut[ptr++] = y; else break;
  38    if(len--) ptrOut[ptr++] = z; else break;
  39   }
  40 }

$/!\$ ToDo: describe data-format

Checksum

   1 unsigned int tmpCRC = 0;
   2 for(int i = 0; i <  DataBufferLength;i++)
   3  {
   4   tmpCRC += DataBuffer[i];
   5  }
   6 tmpCRC %= 4096;
   7 CRC1 = '=' + tmpCRC / 64;
   8 CRC2 = '=' + tmpCRC % 64;

The checksum is calculated over the Start-Byte, Adress-Byte, ID-Byte and the following Data-Bytes.

$/!\$ ToDo: describe checksum calculation verbaly

Implementations

Sometimes its a lot more easy to look at code rather than reather than to look at Specifications/Documentation:
uart.c in the Flight-Ctrl Firmware ( C )
MKCommunicator.java from ["DUBwise"] ( Java / J2ME )
mktool.cpp @ ["QMKGroundStation"] ( C++ )
GroundStation ( LabView )
VibrationTest ["en/VibrationTest"] (Python)

-  ⇤ ← Revision 1 vom 19.11.2008 22:55 → 
  Größe: 287
  Autor: ligi
  Kommentar: initial
+   ← Revision 31 vom 09.04.2010 20:43 → ⇥
  Größe: 3760
  Autor: Frank Blumenberg
  Kommentar:
-Gelöschter Text ist auf diese Art markiert.
+Hinzugefügter Text ist auf diese Art markiert.
 Zeile 1:
+[[TableOfContents]]

= Protocol =
 . The protocol is based on individual serial data frames that are organized as shown in the following table.
||<tablewidth="690px" tableheight="43px" tablestyle="text-align: center;"bgcolor="#cccccc">Start-Byte ||<bgcolor="#cccccc">Address Byte ||<bgcolor="#cccccc">ID-Byte ||<bgcolor="#cccccc">n Data-Bytes coded ||<bgcolor="#cccccc">CRC-Byte1 ||<bgcolor="#cccccc">CRC-Byte2 ||<bgcolor="#cccccc">Stop-Byte ||
||<style="text-align: center;">'#' ||<style="text-align: center;">'a'+ Addr ||<style="text-align: center;">'V','D' etc ||<style="text-align: center;">"modified-base64" ||<style="text-align: center;">variable ||<style="text-align: center;">variable ||<style="text-align: center;">'\r' ||
-Zeile 2:
+Zeile 8:
- The Commands are listed in SerialCommands.
+ . The Commands based on the dataframes above are listed [:en/SerialCommands:here]
[[Include(en/SerialCommands)]]
-Zeile 5:
+Zeile 12:
+ . Since Navi 0.12h FC 0.71f Mag 0.19 there are constant !SlaveAdresses:
||<tablewidth="" tablestyle="text-align: center;"bgcolor="#cccccc">Slave-Address ||<bgcolor="#cccccc">Part ||
||<style="text-align: center;"> 1 ||<style="text-align: center;"> FC ||
||<style="text-align: center;"> 2 ||<style="text-align: center;"> NC ||
||<style="text-align: center;"> 3 ||<style="text-align: center;"> MK3MAG ||
= Data Format =
 . Have a look into the Functions Decode64 and !SendOutData in uart.c of the FC Firmware to see how the Data is encoded and decoded:
 {{{
#!cplusplus
void SendOutData(unsigned char cmd,unsigned char addr, unsigned char *snd, unsigned char len)
{
 unsigned int pt = 0;
 unsigned char a,b,c;
 unsigned char ptr = 0;
 SendeBuffer[pt++] = '#';               // Start-Byte
 SendeBuffer[pt++] = 'a' + addr;        // Adress
 SendeBuffer[pt++] = cmd;               // Command
 while(len)
  {
   if(len) { a = snd[ptr++]; len--;} else a = 0;
   if(len) { b = snd[ptr++]; len--;} else b = 0;
   if(len) { c = snd[ptr++]; len--;} else c = 0;
   SendeBuffer[pt++] = '=' + (a >> 2);
   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   SendeBuffer[pt++] = '=' + ( c & 0x3f);
  }
 AddCRC(pt);
}
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)
{
 unsigned char a,b,c,d;
 unsigned char ptr = 0;
 unsigned char x,y,z;
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[ptrIn++] - '=';
   if(ptrIn > max - 2) break;     // dont process more data than recieved
   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;
   if(len--) ptrOut[ptr++] = x; else break;
   if(len--) ptrOut[ptr++] = y; else break;
   if(len--) ptrOut[ptr++] = z; else break;
  }
}
}}}
  . /!\ ToDo: describe data-format
= Checksum =
 . {{{
#!cplusplus
unsigned int tmpCRC = 0;
for(int i = 0; i <  DataBufferLength;i++)
 {
  tmpCRC += DataBuffer[i];
 }
tmpCRC %= 4096;
CRC1 = '=' + tmpCRC / 64;
CRC2 = '=' + tmpCRC % 64;
}}}
The checksum is calculated over the Start-Byte, Adress-Byte, ID-Byte and the following Data-Bytes.
-Zeile 6:
+Zeile 77:
- Since Navi 0.12h FC 0.71f Mag 0.19 there are constant SlaveAdresses:
+/!\ ToDo: describe checksum calculation verbaly
-Zeile 8:
+Zeile 79:
- || ''Slave-Address'' || ''Part'' ||
 || 1 || FC ||
 || 2 ||    ||
 || 3 ||    ||


---- 
 CategoryCoding KategorieEnglish
+= Implementations =
 . Sometimes its a lot more easy to look at code rather than reather than to look at Specifications/Documentation:
 * uart.c in the Flight-Ctrl Firmware ( C )
 * MKCommunicator.java from ["DUBwise"] ( Java / J2ME )
 * mktool.cpp @ ["QMKGroundStation"] ( C++ )
 * !GroundStation ( !LabView )
 * !VibrationTest ["en/VibrationTest"] (Python)
= Links =
 * http://mikrokopter.de/forum/topic-1735-1.html ( german )
----
 . CategoryCoding KategorieEnglish KategorieFirmware