diff options
Diffstat (limited to 'protocol.md')
| -rw-r--r-- | protocol.md | 34 |
1 files changed, 23 insertions, 11 deletions
diff --git a/protocol.md b/protocol.md index b5ddeac..c6cb3fb 100644 --- a/protocol.md +++ b/protocol.md @@ -27,22 +27,22 @@ and the starting byte don't count towards message length. opcodes are picked sequentially, but the direction bit (LSB) is reserved to indicate a transfer from robot to client (`tx`). this means that the opcode for a sensor data request would be `0x12`, but the response opcode would be `0x13`. -these opcodes are stored as enum constants inside sercomm.h for code +these opcodes are stored as enum constants inside shared/protocol.h for code readability. |code|name|implemented|directions|full name| |--:|---|:-:|:-:|---| -|`0x00`|[PING](#ping)|no|`r <=> c`|<u>ping</u> -|`0x02`|[EXPT](#expt)|no|`r --> c`|<u>ex</u>ce<u>pt</u>ion -|`0x04`|[MODE](#mode)|no|`r <=> c`|<u>mode</u> +|`0x00`|[PING](#ping)|yes|`r <=> c`|<u>ping</u> +|`0x02`|[EXPT](#expt)|yes|`r --> c`|<u>ex</u>ce<u>pt</u>ion +|`0x04`|[MODE](#mode)|yes|`r <=> c`|<u>mode</u> |`0x06`|[SPED](#sped)|no|`r <-- c`|<u>spe</u>e<u>d</u> -|`0x08`|[DIRC](#dirc)|no|`r <-- c`|<u>dir</u>ect <u>c</u>ontrol +|`0x08`|[DIRC](#dirc)|yes|`r <-- c`|<u>dir</u>ect <u>c</u>ontrol |`0x0a`|[CORD](#cord)|no|`r <=> c`|<u>co</u>o<u>rd</u>inate |`0x0c`|[BOMD](#bomd)|no|`r <=> c`|<u>b</u>ack<u>o</u>rder <u>m</u>o<u>d</u>ify |`0x0e`|[SRES](#sres)|no|`r <-- c`|<u>s</u>oft <u>res</u>et |`0x10`|[MCFG](#mcfg)|no|`r <-- c`|<u>m</u>ap <u>c</u>on<u>f</u>i<u>g</u> |`0x12`|[SENS](#sens)|no|`r <-> c`|<u>sens</u>or data -|`0x14`|[INFO](#info)|no|`r <-> c`|<u>info</u> +|`0x14`|[INFO](#info)|yes|`r <-> c`|<u>info</u> |`0x16`|[DISP](#disp)|no|`r <-- c`|<u>disp</u>lay control |`0x18`|[PLAY](#play)|no|`r <-- c`|<u>play</u> midi |`0x1a`|[CLED](#cled)|no|`r <-- c`|<u>c</u>ontrol <u>led</u>s @@ -54,6 +54,9 @@ a double stroke arrow means that the command can be initiated from either the robot or the client, while a single arrow indicates a request-response structure. +in *both* the robot and client code `r <-- c` is referred to as `rx` and `r +--> c` as `tx` (from the *robots* view). + ### PING #### ping (`r <=> c`) (2 bytes) @@ -93,7 +96,16 @@ message, and can be 0 in case of no message. |`uint8_t`|mode code| when initiated from the client, the **mode** command forces the robot to change -execution mode. the mode codes are undetermined as of now. +execution mode. **mode** can be one of: + +- 0: mode_maze +- 1: mode_grid +- 2: mode_halt +- 3: mode_lcal +- 4: mode_chrg +- 5: mode_dirc +- 6: mode_spin +- 7: mode_scal #### get mode (`r --> c`) (2 bytes) @@ -291,10 +303,10 @@ requests robot info |-:|-| |`uint8_t`|opcode (`0x14 + 1`)| |`uint8_t[32]`|build string| -|`uint8_t`|errcatch module cycle time (ms)| -|`uint8_t`|io module cycle time (ms)| -|`uint8_t`|sercomm module cycle time (ms)| -|`uint8_t`|modes module cycle time (ms)| +|`uint8_t`|exponential moving average errcatch module cycle time (ms)| +|`uint8_t`|exponential moving average io module cycle time (ms)| +|`uint8_t`|exponential moving average sercomm module cycle time (ms)| +|`uint8_t`|exponential moving average modes module cycle time (ms)| |`uint32_t`|total robot uptime (s)| robot info response |