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X8-DataPacket

Repository for keeping track of data packets needed.

Battlestation -> Main Micro Packet

Byte # Description Type
00 Header 0x12 - 18 decimal
01 Control 0x01 == Control
02 X-1 Signed int (2 bytes), High order
03 X-2 Signed int (2 bytes), Low order
04 Y-1 Signed int (2 bytes), High order
05 Y-2 Signed int (2 bytes), Low order
06 Z-1 Signed int (2 bytes), High order
07 Z-2 Signed int (2 bytes), Low order
08 Roll-1 Signed int (2 bytes), High order
09 Roll-2 Signed int (2 bytes), Low order
10 Pitch-1 Signed int (2 bytes), High order
11 Pitch-2 Signed int (2 bytes), Low order
12 Yaw-1 Signed int (2 bytes), High order
13 Yaw-2 Signed int (2 bytes), Low order
14 Camera Servo Signed int (1 byte), Offset from 0
15 Solenoids 1 byte (2 bits per solonoid)
16 Thrusters 1 byte - Controls thruster's on status
17 Stabilization 1 byte - bool for pid / manual control
18 Rotation P Val Signed int (2 bytes), High order
19 Rotation P Val Signed int (2 bytes), Low order
20 Rotation I Val Signed int (2 bytes), High order
21 Rotation I Val Signed int (2 bytes), Low order
22 Location P Val Signed int (2 bytes), High order
23 Location P Val Signed int (2 bytes), Low order
24 Location I Val Signed int (2 bytes), High order
25 Location I Val Signed int (2 bytes), Low order
26 CRC8 Check Use 0xD5 as polynomial
27 Tail Byte 0x13 - 19 decimal

Always set command to 0x01. In the future, there will be further options to program options are ask for certain data using this byte, but nothing is set yet.

Stabilization Byte Acting Axis

Bit # Description
00 Rx
01 Ry
02 Rz
03 Lx
04 Ly
05 Lz
06 Unused
07 Unused

Main Micro -> Battlestation Packet

Byte # Description Type
00 Header 0x12 - 18 decimal
01 Packet Type 0x01 == Sensor Data
02 Thruster Status 1 bit per thruster
03 Pressure-1 32-bit float
04 Pressure-2 32-bit float
05 Pressure-3 32-bit float
06 Pressure-4 32-bit float
07 Temp-1 32-bit float
08 Temp-2 32-bit float
09 Temp-3 32-bit float
10 Temp-4 32-bit float
11 IMU-Lx Signed int (2 bytes), High order
12 IMU-Lx Signed int (2 bytes), Low order
13 IMU-Ly Signed int (2 bytes), High order
14 IMU-Ly Signed int (2 bytes), Low order
15 IMU-Lz Signed int (2 bytes), High order
16 IMU-Lz Signed int (2 bytes), Low order
17 IMU-Rx Signed int (2 bytes), High order
18 IMU-Rx Signed int (2 bytes), Low order
19 IMU-Ry Signed int (2 bytes), High order
20 IMU-Ry Signed int (2 bytes), Low order
21 IMU-Rz Signed int (2 bytes), High order
22 IMU-Rz Signed int (2 bytes), Low order
23 Thruster 1 Thruster Value, Offset from 0
24 Thruster 2 Thruster Value, Offset from 0
25 Thruster 3 Thruster Value, Offset from 0
26 Thruster 4 Thruster Value, Offset from 0
27 Thruster 5 Thruster Value, Offset from 0
28 Thruster 6 Thruster Value, Offset from 0
29 Thruster 7 Thruster Value, Offset from 0
30 Thruster 8 Thruster Value, Offset from 0
31 CRC8 Check Use 0xD5 as polynomial
32 Tail Byte 0x13 - 19 decimal

C :: CRC-8 Checksum Code

//loops over array of bytes and returns checksum
//skips first and last two bytes (header, checksum, tail)
char crc8(char bytes[], int size) {
  char crc = 0;
  char val;
  char mix;
  for (int i = 1; i < size - 2; ++i) {
    val = bytes[i];
    for (int j = 8; j; --j) {
      mix = (crc ^ val) & 0x01;
      crc >>= 1;
      if (mix) {
        crc ^= 0xD5;
      }
      val >>= 1;
    }
  }
  return crc;
}