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← Revision 13 vom 20.11.2008 17:51 → ⇥
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 . [[ImageLink( http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=869&g2_serialNumber=1,#)]]
 . . 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''''' ||		 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''''' ||
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||<tablewidth="" tablestyle="text-align: center;"bgcolor="#cccccc"> '''''Slave-Address''''''''''' ||<bgcolor="#cccccc"> '''''Part''''' || ||<tablewidth="" tablestyle="text-align: center;"bgcolor="#cccccc"> '''''Slave-Address''''''''''''''''' ||<bgcolor="#cccccc"> '''''Part''''' ||

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

'#'

variable

V,D etc

"modified-base64"

variable

variable

'\r'

Commands

  • The Commands based on the dataframes above (named data-types in the picture above) are listed [:en/SerialCommands:here]

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

  • /!\ ToDo: describe data-format

Checksum

  • /!\ ToDo: describe checksum calculation

Links