TableOfContents

Protocol

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

Commands

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

Slave Adresses

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

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.

• ToDo: describe data-format

Checksum

• unsigned int tmpCRC = 0; BR for(int i = 0; i < DataBufferLength;i++)BR { tmpCRC += DataBuffer[i]; } BR tmpCRC %= 4096; BR CRC1 = '=' + tmpCRC / 64; BR CRC2 = '=' + tmpCRC % 64;BR

• 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 )

Links

• http://mikrokopter.de/forum/topic-1735-1.html ( german )

• CategoryCoding KategorieEnglish KategorieFirmware