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[[Include(en/SerialCommands)]] |
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* !VibrationTest ["en/VibrationTest"] (Python) |
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]
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
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)
Links