Unterschiede zwischen den Revisionen 23 und 24
⇤ ← Revision 23 vom 23.11.2008 14:36 →
Größe: 2185
Autor: ligi
Kommentar: indent
← Revision 24 vom 23.11.2008 15:23 → ⇥
Größe: 2170
Autor: ligi
Kommentar: using cplusplus parser instead table
Gelöschter Text ist auf diese Art markiert. Hinzugefügter Text ist auf diese Art markiert.
Zeile 20: Zeile 20:
 || 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]] ||  {{{#!cplusplus
unsigned int tmpCRC = 0;
for(int i = 0; i < DataBufferLength;i++)
 {    tmpCRC += DataBuffer[i];
 }
tmpCRC %= 4096;
CRC1 = '=' + tmpCRC / 64;
CRC2 = '=' + tmpCRC % 64; }}}

TableOfContents

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 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

  • 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

  •    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;

  • /!\ 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