Serial Communication - Revision history

OlliW: /* Command 'd' */

2024-01-16T19:21:31Z

Command 'd'

← Older revision		Revision as of 21:21, 16 January 2024
Line 62:		Line 62:
	// LIVEDATA_IMU1ACC: not included		// LIVEDATA_IMU1ACC: not included
	// LIVEDATA_IMU1R:		// LIVEDATA_IMU1R:
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.x); // Imu1 R estimates, in 0.0001 g
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);
			// LIVEDATA_IMU1ANGLES:
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Pitch); // Imu1 angles, in 0.01°		((u16)buf)[pos++] = (s16)(100aImu1Angle.Pitch); // Imu1 angles, in 0.01°
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Roll);		((u16)buf)[pos++] = (s16)(100aImu1Angle.Roll);
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Yaw);		((u16)buf)[pos++] = (s16)(100aImu1Angle.Yaw);
	~~// LIVEDATA_IMU1ANGLES:~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.x); // Imu1 R estimates, in 0.0001 g~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);~~
	// LIVEDATA_PIDCNTRL:		// LIVEDATA_PIDCNTRL:
	if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {		if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {

OlliW: /* Command 'd' */

2024-01-15T20:52:54Z

Command 'd'

← Older revision		Revision as of 22:52, 15 January 2024
Line 47:		Line 47:
	Upon receipt of the command 'd' a data packet containing the current live data is transmitted. The live data is appended by a crc, and closed with the character 'o'. The respective C code snippet is as follows:		Upon receipt of the command 'd' a data packet containing the current live data is transmitted. The live data is appended by a crc, and closed with the character 'o'. The respective C code snippet is as follows:

	pos = 0;		uint8_t pos = 0;
	// LIVEDATA_STATUS_V2:		// LIVEDATA_STATUS_V2:
	((u16*)buf)[pos++] = STATE; // state		((u16*)buf)[pos++] = STATE; // state

OlliW: /* Command 'd' */

2024-01-15T20:52:30Z

Command 'd'

← Older revision		Revision as of 22:52, 15 January 2024
Line 106:		Line 106:
	((u16*)buf)[pos++] = debug;		((u16*)buf)[pos++] = debug;
	// LIVEDATA_ATTITUDE_RELATIVE: not included		// LIVEDATA_ATTITUDE_RELATIVE: not included
	(pos) = 2;		pos *= 2;
	// add crc		// add crc
	uint16_t crc = do_crc(buf, pos);		uint16_t crc = do_crc(buf, pos);
	buf[pos++] = (u8)crc; // low byte		buf[pos++] = (u8)crc; // low byte
	buf[pos++] = (u8)(crc>>8); // high byte		buf[pos++] = (u8)(crc >> 8); // high byte
	// end character		// end character
	uart_transmit_ackchar(closewith); // this sends the data and a 'o'		uart_transmit_ackchar(closewith); // this sends the data and a 'o'

OlliW: /* Command 'd' */

2024-01-15T20:51:49Z

Command 'd'

← Older revision		Revision as of 22:51, 15 January 2024
Line 108:		Line 108:
	(pos) = 2;		(pos) = 2;
	// add crc		// add crc
	uint16_t crc = do_crc(~~fbuf~~, pos);		uint16_t crc = do_crc(buf, pos);
	~~fbuf~~[pos++] = (u8)crc; // low byte		buf[pos++] = (u8)crc; // low byte
	~~fbuf~~[pos++] = (u8)(crc>>8); // high byte		buf[pos++] = (u8)(crc>>8); // high byte
	// end character		// end character
	uart_transmit_ackchar(closewith); // this sends the data and a 'o'		uart_transmit_ackchar(closewith); // this sends the data and a 'o'

OlliW: /* Command 'd' */

2024-01-15T20:50:21Z

Command 'd'

← Older revision		Revision as of 22:50, 15 January 2024
Line 69:		Line 69:
	((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);		((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);
	((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);		((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);
	// LIVEDATA_PIDCNTRL: ~~not included~~		// LIVEDATA_PIDCNTRL:
	if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {		if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {
	((u16)buf)[pos++] = (s16)(100cPID[PITCH].Cntrl); // PID output, in 0.01°		((u16)buf)[pos++] = (s16)(100cPID[PITCH].Cntrl); // PID output, in 0.01°

OlliW: /* CMD_GETDATAFIELDS (#6) */

2024-01-15T19:55:14Z

CMD_GETDATAFIELDS (#6)

← Older revision		Revision as of 21:55, 15 January 2024
Line 197:		Line 197:
	0x4000 = LIVEDATA_ENCODERANGLES		0x4000 = LIVEDATA_ENCODERANGLES

	Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.		Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command. The data send in the 'd' and CMD_GETDATA commands correspond to the bitmask

	The data send in the 'd' and CMD_GETDATA commands correspond to the bitmask

	LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| \		LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| \

OlliW: /* CMD_GETDATAFIELDS (#6) */

2024-01-15T19:54:54Z

CMD_GETDATAFIELDS (#6)

← Older revision		Revision as of 21:54, 15 January 2024
Line 204:		Line 204:
	LIVEDATA_INPUTS \| LIVEDATA_IMU2ANGLES \| LIVEDATA_ENCODERANGLES \| LIVEDATA_STORM32LINK \| LIVEDATA_IMUACCSTATS		LIVEDATA_INPUTS \| LIVEDATA_IMU2ANGLES \| LIVEDATA_ENCODERANGLES \| LIVEDATA_STORM32LINK \| LIVEDATA_IMUACCSTATS

	{{COMMENT\|~~These~~ flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}		{{COMMENT\|The flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}

	==== CMD_SETPITCH (#10) ====		==== CMD_SETPITCH (#10) ====

OlliW: /* CMD_GETDATAFIELDS (#6) */

2024-01-15T19:54:34Z

CMD_GETDATAFIELDS (#6)

← Older revision		Revision as of 21:54, 15 January 2024
Line 199:		Line 199:
	Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.		Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.

	The data send in the 'd' and CMD_GETDATA commands ~~correspiond~~ to the bitmask		The data send in the 'd' and CMD_GETDATA commands correspond to the bitmask

	LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| \		LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| \

OlliW: /* CMD_GETDATAFIELDS (#6) */

2024-01-15T19:53:14Z

CMD_GETDATAFIELDS (#6)

← Older revision		Revision as of 21:53, 15 January 2024
Line 199:		Line 199:
	Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.		Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.

	The data send in the 'd' and CMD_GETDATA commands correspiond to the bitmask (LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| LIVEDATA_INPUTS \| LIVEDATA_IMU2ANGLES \| LIVEDATA_ENCODERANGLES \| LIVEDATA_STORM32LINK \| LIVEDATA_IMUACCSTATS).		The data send in the 'd' and CMD_GETDATA commands correspiond to the bitmask

			LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| \
			LIVEDATA_INPUTS \| LIVEDATA_IMU2ANGLES \| LIVEDATA_ENCODERANGLES \| LIVEDATA_STORM32LINK \| LIVEDATA_IMUACCSTATS

	{{COMMENT\|These flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}		{{COMMENT\|These flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}

OlliW: /* CMD_GETDATAFIELDS (#6) */

2024-01-15T19:52:41Z

CMD_GETDATAFIELDS (#6)

← Older revision		Revision as of 21:52, 15 January 2024
Line 199:		Line 199:
	Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.		Note that the order of the flags does not coincide with the order of the respective data in the data-stream; the order in data-stream can be read off from the documentation for the 'd' command.

	The data send in the 'd' and CMD_GETDATA commands correspiond to the bitmask LIVEDATA_STATUS_V2\|LIVEDATA_TIMES\|LIVEDATA_IMU1R\|LIVEDATA_IMU1ANGLES\| LIVEDATA_PIDCNTRL\|LIVEDATA_INPUTS\|LIVEDATA_IMU2ANGLES\|LIVEDATA_ENCODERANGLES\| LIVEDATA_STORM32LINK\|LIVEDATA_IMUACCSTATS.		The data send in the 'd' and CMD_GETDATA commands correspiond to the bitmask (LIVEDATA_STATUS_V2 \| LIVEDATA_TIMES \| LIVEDATA_IMU1R \| LIVEDATA_IMU1ANGLES \| LIVEDATA_PIDCNTRL \| LIVEDATA_INPUTS \| LIVEDATA_IMU2ANGLES \| LIVEDATA_ENCODERANGLES \| LIVEDATA_STORM32LINK \| LIVEDATA_IMUACCSTATS).

	{{COMMENT\|These flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}		{{COMMENT\|These flags have slightly changed in v2.61, so are slightly different in older firmware versions.}}

← Older revision		Revision as of 21:21, 16 January 2024
Line 62:		Line 62:
	// LIVEDATA_IMU1ACC: not included		// LIVEDATA_IMU1ACC: not included
	// LIVEDATA_IMU1R:		// LIVEDATA_IMU1R:
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.x); // Imu1 R estimates, in 0.0001 g
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);
			((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);
			// LIVEDATA_IMU1ANGLES:
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Pitch); // Imu1 angles, in 0.01°		((u16)buf)[pos++] = (s16)(100aImu1Angle.Pitch); // Imu1 angles, in 0.01°
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Roll);		((u16)buf)[pos++] = (s16)(100aImu1Angle.Roll);
	((u16)buf)[pos++] = (s16)(100aImu1Angle.Yaw);		((u16)buf)[pos++] = (s16)(100aImu1Angle.Yaw);
	~~// LIVEDATA_IMU1ANGLES:~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.x); // Imu1 R estimates, in 0.0001 g~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);~~
	~~((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);~~
	// LIVEDATA_PIDCNTRL:		// LIVEDATA_PIDCNTRL:
	if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {		if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {

← Older revision		Revision as of 22:50, 15 January 2024
Line 69:		Line 69:
	((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);		((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.y);
	((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);		((u16)buf)[pos++] = (s16)(10000Imu1AHRS.R.z);
	// LIVEDATA_PIDCNTRL: ~~not included~~		// LIVEDATA_PIDCNTRL:
	if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {		if (IS_ENCODERS_ENABLED \|\| (IS_IMU2_PRESENT && IS_IMU2_FULL && IS_3AXISGIMBAL)) {
	((u16)buf)[pos++] = (s16)(100cPID[PITCH].Cntrl); // PID output, in 0.01°		((u16)buf)[pos++] = (s16)(100cPID[PITCH].Cntrl); // PID output, in 0.01°