NT Bus Protocol - Revision history

OlliW at 10:56, 11 July 2025

2025-07-11T10:56:28Z

← Older revision		Revision as of 12:56, 11 July 2025
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	<span style="font-size:88%">''The information on this page refers to firmware v2.~~56e~~.''</span>		<span style="font-size:88%">''The information on this page refers to firmware v2.72e.''</span>

	This page describes the protocol of the NT bus communication.		This page describes the protocol of the NT bus communication.

OlliW: /* Implementation Details */

2025-07-09T18:23:12Z

Implementation Details

Show changes

OlliW: /* Flashing of NT Modules and Handling of CLI */

2025-03-05T14:20:37Z

Flashing of NT Modules and Handling of CLI

← Older revision		Revision as of 16:20, 5 March 2025
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	* Then one can communicate with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.		* Then one can communicate with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.

	{{COMMENT\|Some STorM32 boards ~~don~~ not have a {{BOX\|USB}} port, in these ~~caeses~~ it is usually the {{BOX\|UART1}} port which takes up the function.}}		{{COMMENT\|Some STorM32 boards do not have a {{BOX\|USB}} port, in these cases it is usually the {{BOX\|UART1}} port which takes up the function.}}

	=== Flashing of NT Modules ===		=== Flashing of NT Modules ===

OlliW: /* Flashing of NT Modules and Handling of CLI */

2025-03-05T14:20:11Z

Flashing of NT Modules and Handling of CLI

← Older revision		Revision as of 16:20, 5 March 2025
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	Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:		Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:
	* First, a specific command needs to be send to the main controller's {{BOX\|USB}}, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.		* First, a specific command needs to be send to the main controller's {{BOX\|USB}}, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.
	* Then one can ~~communication~~ with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.		* Then one can communicate with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.

	~~{{COMMENT\|Some STorM32 boards don not have a {{BOX\|USB}} port, in these caeses it is usually the UART1 port which takes up the function.}}~~

			{{COMMENT\|Some STorM32 boards don not have a {{BOX\|USB}} port, in these caeses it is usually the {{BOX\|UART1}} port which takes up the function.}}

	=== Flashing of NT Modules ===		=== Flashing of NT Modules ===

OlliW: /* Flashing of NT Modules and Handling of CLI */

2025-03-05T14:19:35Z

Flashing of NT Modules and Handling of CLI

← Older revision		Revision as of 16:19, 5 March 2025
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	* First, a specific command needs to be send to the main controller's {{BOX\|USB}}, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.		* First, a specific command needs to be send to the main controller's {{BOX\|USB}}, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.
	* Then one can communication with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.		* Then one can communication with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.

			{{COMMENT\|Some STorM32 boards don not have a {{BOX\|USB}} port, in these caeses it is usually the UART1 port which takes up the function.}}


	=== Flashing of NT Modules ===		=== Flashing of NT Modules ===

OlliW: /* Accessing NT Module CLI */

2025-03-05T14:16:52Z

Accessing NT Module CLI

← Older revision		Revision as of 16:16, 5 March 2025
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	* Send 'xQTcNTQMODExx' (without the quotation marks) to the main controller. The last 'xx' stands for the ID of the NT module, e.g., 'xQTcNTQMODE01' for the 1st IMU.		* Send 'xQTcNTQMODExx' (without the quotation marks) to the main controller. The last 'xx' stands for the ID of the NT module, e.g., 'xQTcNTQMODE01' for the 1st IMU.
	* This opens the tunnel and sends a command to the NT module (see next subsection), which puts it into CLI mode.		* This opens the tunnel and sends a command to the NT module (see next subsection), which puts it into CLI mode.
	* The USB port is maintained at 115200 8N1, suitable e.g. for using with standard serial terminals.		* The {{BOX\|USB}} port is maintained at 115200 8N1, suitable e.g. for using with standard serial terminals.

	==== Required Implementation in the NT module ====		==== Required Implementation in the NT module ====

OlliW: /* Flashing of NT Modules and Handling of CLI */

2025-03-05T14:16:10Z

Flashing of NT Modules and Handling of CLI

← Older revision		Revision as of 16:16, 5 March 2025
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	== Flashing of NT Modules and Handling of CLI ==		== Flashing of NT Modules and Handling of CLI ==

	The NT modules can be flashed via the STorM32 controller's {{~~PARAMVALUE~~\|~~usb~~}} port, and also the CLI of the NT modules can be accessed this way.		The NT modules can be flashed via the STorM32 controller's {{BOX\|USB}} port, and also the CLI of the NT modules can be accessed this way.

	Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:		Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:
	* First, a specific command needs to be send to the main controller's USB, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.		* First, a specific command needs to be send to the main controller's {{BOX\|USB}}, to put the main controller into the respective tunnel mode, and to set the NT module into the respective mode too.
	* Then one can communication with the NT module via the main controller's USB as if a USB-TLL adpater would be directly connected to the NT module.		* Then one can communication with the NT module via the main controller's {{BOX\|USB}} as if a USB-TLL adpater would be directly connected to the NT module.

	=== Flashing of NT Modules ===		=== Flashing of NT Modules ===
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	* Send 'xQTcNTFLASHxx' (without the quotation marks) to the main controller. The last 'xx' stands for the ID of the NT module, e.g., 'xQTcNTFLASH01' for the 1st IMU.		* Send 'xQTcNTFLASHxx' (without the quotation marks) to the main controller. The last 'xx' stands for the ID of the NT module, e.g., 'xQTcNTFLASH01' for the 1st IMU.
	* This opens the tunnel and sends a command to the NT module (see next subsection), which puts it into system bootloader mode.		* This opens the tunnel and sends a command to the NT module (see next subsection), which puts it into system bootloader mode.
	* The USB port is set to ~~57600~~ 8E1, suitable e.g. for using STM32CubeProgrammer as usual.		* The {{BOX\|USB}} port is set to 115200 8E1, suitable e.g. for using STM32CubeProgrammer as usual.
	* The tunnel will be closed and the system be reset after 30 seconds if communication has not started, or after 2 seconds after communication has stopped.		* The tunnel will be closed and the system be reset after 30 seconds if communication has not started, or after 2 seconds after communication has stopped.
	* This is currently implemented only for the assigned module IDs (see list above) except of NTBUS_ID_CAMERA.		* This is currently implemented only for the assigned module IDs (see list above) except of NTBUS_ID_CAMERA.

OlliW: /* Flashing of NT Modules and Handling of CLI */

2025-03-05T14:14:38Z

Flashing of NT Modules and Handling of CLI

← Older revision		Revision as of 16:14, 5 March 2025
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	== Flashing of NT Modules and Handling of CLI ==		== Flashing of NT Modules and Handling of CLI ==

	The NT modules can be flashed via the STorM32 controller's ~~USB~~ port, and also the CLI of the NT modules can be accessed this way.		The NT modules can be flashed via the STorM32 controller's {{PARAMVALUE\|usb}} port, and also the CLI of the NT modules can be accessed this way.

	Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:		Technically this is achieved by the STorM32 controller's ability to establish a transparent/opaque tunnel to and from NT modules. The general procedure is as follows:

OlliW at 12:54, 5 March 2025

2025-03-05T12:54:29Z

← Older revision		Revision as of 14:54, 5 March 2025
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	This page describes the protocol of the NT bus communication.		This page describes the protocol of the NT bus communication.

			<div class="toclimit-2">__TOC__</div>

	== Hardware Details ==		== Hardware Details ==

OlliW: /* Required Implementation in the NT module */

2025-03-05T12:53:33Z

Required Implementation in the NT module

← Older revision		Revision as of 14:53, 5 March 2025
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	==== Required Implementation in the NT module ====		==== Required Implementation in the NT module ====

	The NT module will receive from the main controller a flash start byte addressed to its ID (NTBUS_STX & NTBUS_FLASH & NTBUS_ID), followed by the chars 'QMODE' (without quotation marks). Upon receiption of this finger print, the NT module needs to put itself into CLI mode. The serial communication must be kept at 2000000 8N1. The CLI mode must be stopped and the NT module be restarted when a '@Q' (without quotation marks) is received by the NT ~~modules CLI processor~~.		The NT module will receive from the main controller a flash start byte addressed to its ID (NTBUS_STX & NTBUS_FLASH & NTBUS_ID), followed by the chars 'QMODE' (without quotation marks). Upon receiption of this finger print, the NT module needs to put itself into CLI mode. The serial communication must be kept at 2000000 8N1. The CLI mode must be stopped and the NT module be restarted when a '@Q' (without quotation marks) is received by the NT module.

	== Implementation Details ==		== Implementation Details ==