NT Bus Protocol - Revision history

OlliW: /* Implementation Details */

2016-02-09T20:29:11Z

Implementation Details

2016-02-09T19:33:28Z

Implementation Details

← Older revision		Revision as of 21:33, 9 February 2016
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	// MOTOR MODULE SPECIFIC routines		// MOTOR MODULE SPECIFIC routines
	~~// send form STorM32 to all motor modules~~

	~~inline~~ void ntbus_setmotoralldata(uint16_t enabledflag, uint16_t beep, tu16Angle vmax, tu16Angle angle)		// send from STorM32 to all motor modules
			void ntbus_setmotoralldata(uint16_t enabledflag, uint16_t beep, tu16Angle vmax, tu16Angle angle)
	{		{
	uint8_t b, crc;		uint8_t b, crc;

2016-02-09T19:32:32Z

Implementation Details

@@ Line 410: / Line 410: @@
 // IMU MODULE SPECIFIC routines
 // send from imu module to STorM32
 void ntbus_putimudata(void *imu, uint8_t imustatus)
+{

2016-02-09T19:20:07Z

Implementation Details

← Older revision		Revision as of 21:20, 9 February 2016
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	// NTBUS_CMD_GETSTATUS		// NTBUS_CMD_GETSTATUS
	// from STorM32: stx, cmdbyte -> to STorM32: 1 x u8 cmddata, crc		// from STorM32: stx, cmdbyte -> to STorM32: 2 x u8 cmddata, crc
	PACKED(		PACKED(
	typedef struct {		typedef struct {

2016-02-09T19:13:29Z

2016-02-09T19:03:18Z

← Older revision		Revision as of 21:03, 9 February 2016
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	#define NTBUS_ID_MOTORROLL 5		#define NTBUS_ID_MOTORROLL 5
	#define NTBUS_ID_MOTORYAW 6		#define NTBUS_ID_MOTORYAW 6
	~~#define NTBUS_ID_CAMERA 7~~
	~~#define NTBUS_ID_JOYSTICK 8~~
	~~#define NTBUS_ID_KEYS 9~~
	~~#define NTBUS_ID_PWMOUT 10~~
	#define NTBUS_ID_LOGGER 11		#define NTBUS_ID_LOGGER 11
	~~#define NTBUS_ID_IMU3 12~~

	== Communication Details ==		== Communication Details ==
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	=== Communication from Slave to Master ===		=== Communication from Slave to Master ===

	Whenever a NT module sends data to the STorM32, it first must enable it's Tx line~~, wait 2 us~~, send the data~~, wait 2us~~, and then disable the Tx line.		Whenever a NT module sends data to the STorM32, it first must enable it's Tx line, send the data, and then disable the Tx line.

	In contrast to the messages from the master to slaves, full bytes can be send, i.e. the 7th bit doesn't have to be 0, since by design a slave never sends a command.		In contrast to the messages from the master to slaves, full bytes can be send, i.e. the 7th bit doesn't have to be 0, since by design a slave never sends a command.

	== Error Handling ==		== Error Handling ==

2015-10-03T07:32:35Z

Communication from Slave to Master

← Older revision		Revision as of 09:32, 3 October 2015
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	Whenever a NT module sends data to the STorM32, it first must enable it's Tx line, wait 2 us, send the data, wait 2us, and then disable the Tx line.		Whenever a NT module sends data to the STorM32, it first must enable it's Tx line, wait 2 us, send the data, wait 2us, and then disable the Tx line.

	In contrast to the messages from master to slaves, full bytes can be send (i.e. the 7th bit doesn't have to be 0), since by design a slave never sends a command.		In contrast to the messages from the master to slaves, full bytes can be send, i.e. the 7th bit doesn't have to be 0, since by design a slave never sends a command.

	== Error Handling ==		== Error Handling ==

2015-10-03T07:30:07Z

Communication from Master to Slaves

← Older revision		Revision as of 09:30, 3 October 2015
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	The start byte may be followed by further bytes, but these bytes must have their 7th bit set to low!		The start byte may be followed by further bytes, but these bytes must have their 7th bit set to low!

	Transmitted data must be protected by a crc byte ~~at its end~~. It is calculated by a ~~xor~~ over all data bytes, with the 7th bit set to low.		Transmitted data must be protected by a crc byte. It is calculated by a XOR over all data bytes, with the 7th bit set to low.

	'''Examples:'''		'''Examples:'''

2015-10-03T07:28:08Z

Communication from Master to Slaves

← Older revision		Revision as of 09:28, 3 October 2015
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	=== Communication from Master to Slaves ===		=== Communication from Master to Slaves ===

	Every message emitted by the master ~~is started~~ with a start byte, which has three fields:		Every message emitted by the master begins with a start byte, which has three fields:

	bit 7: always 1, indicates that it is a start byte		bit 7: always 1, indicates that it is a start byte

2015-10-03T07:26:53Z

Concept