ardupilot/libraries/AP_BLHeli/blheli_4way_protocol.h

/*
  blheli 4way protocol. Based on serial_4way.c from betaflight
 */
/*
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 * Author: 4712
*/

// Interface related only
// establish and test connection to the Interface

// Send Structure
// ESC + CMD PARAM_LEN [PARAM (if len > 0)] CRC16_Hi CRC16_Lo
// Return
// ESC CMD PARAM_LEN [PARAM (if len > 0)] + ACK (uint8_t OK or ERR) + CRC16_Hi CRC16_Lo

#define cmd_Remote_Escape 0x2E // '.'
#define cmd_Local_Escape  0x2F // '/'

// Test Interface still present
#define cmd_InterfaceTestAlive 0x30 // '0' alive
// RETURN: ACK

// get Protocol Version Number 01..255
#define cmd_ProtocolGetVersion 0x31  // '1' version
// RETURN: uint8_t VersionNumber + ACK

// get Version String
#define cmd_InterfaceGetName 0x32 // '2' name
// RETURN: String + ACK

//get Version Number 01..255
#define cmd_InterfaceGetVersion 0x33  // '3' version
// RETURN: uint8_t AVersionNumber + ACK


// Exit / Restart Interface - can be used to switch to Box Mode
#define cmd_InterfaceExit 0x34       // '4' exit
// RETURN: ACK

// Reset the Device connected to the Interface
#define cmd_DeviceReset 0x35        // '5' reset
// RETURN: ACK

// Get the Device ID connected
// #define cmd_DeviceGetID 0x36      //'6' device id removed since 06/106
// RETURN: uint8_t DeviceID + ACK

// Initialize Flash Access for Device connected
#define cmd_DeviceInitFlash 0x37    // '7' init flash access
// RETURN: ACK

// Erase the whole Device Memory of connected Device
#define cmd_DeviceEraseAll 0x38     // '8' erase all
// RETURN: ACK

// Erase one Page of Device Memory of connected Device
#define cmd_DevicePageErase 0x39    // '9' page erase
// PARAM: uint8_t APageNumber
// RETURN: ACK

// Read to Buffer from Device Memory of connected Device // Buffer Len is Max 256 Bytes
// BuffLen = 0 means 256 Bytes
#define cmd_DeviceRead 0x3A  // ':' read Device
// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BuffLen[0..255]
// RETURN: PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255] ACK

// Write to Buffer for Device Memory of connected Device // Buffer Len is Max 256 Bytes
// BuffLen = 0 means 256 Bytes
#define cmd_DeviceWrite 0x3B    // ';' write
// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255]
// RETURN: ACK

// Set C2CK low infinite ) permanent Reset state
#define cmd_DeviceC2CK_LOW 0x3C // '<'
// RETURN: ACK

// Read to Buffer from Device Memory of connected Device //Buffer Len is Max 256 Bytes
// BuffLen = 0 means 256 Bytes
#define cmd_DeviceReadEEprom 0x3D  // '=' read Device
// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BuffLen[0..255]
// RETURN: PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255] ACK

// Write to Buffer for Device Memory of connected Device // Buffer Len is Max 256 Bytes
// BuffLen = 0 means 256 Bytes
#define cmd_DeviceWriteEEprom 0x3E  // '>' write
// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255]
// RETURN: ACK

// Set Interface Mode
#define cmd_InterfaceSetMode 0x3F   // '?'
// #define imC2 0
// #define imSIL_BLB 1
// #define imATM_BLB 2
// #define imSK 3
// PARAM: uint8_t Mode
// RETURN: ACK or ACK_I_INVALID_CHANNEL

//Write to Buffer for Verify Device Memory of connected Device //Buffer Len is Max 256 Bytes
//BuffLen = 0 means 256 Bytes
#define cmd_DeviceVerify 0x40   //'@' write
//PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255]
//RETURN: ACK

/*
  local defines
 */
#define SERIAL_4WAY_VER_MAIN 20
#define SERIAL_4WAY_VER_SUB_1 (uint8_t) 0
#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 02

#define SERIAL_4WAY_PROTOCOL_VER 107
// *** end

#if (SERIAL_4WAY_VER_MAIN > 24)
#error "beware of SERIAL_4WAY_VER_SUB_1 is uint8_t"
#endif

#define SERIAL_4WAY_VERSION (uint16_t) ((SERIAL_4WAY_VER_MAIN * 1000) + (SERIAL_4WAY_VER_SUB_1 * 100) + SERIAL_4WAY_VER_SUB_2)

#define SERIAL_4WAY_VERSION_HI (uint8_t) (SERIAL_4WAY_VERSION / 100)
#define SERIAL_4WAY_VERSION_LO (uint8_t) (SERIAL_4WAY_VERSION % 100)

#define brSUCCESS           0x30
#define brERRORVERIFY       0xC0
#define brERRORCOMMAND      0xC1
#define brERRORCRC          0xC2
#define brNONE              0xFF

#define CMD_RUN             0x00
#define CMD_PROG_FLASH      0x01
#define CMD_ERASE_FLASH     0x02
#define CMD_READ_FLASH_SIL  0x03
#define CMD_VERIFY_FLASH    0x03
#define CMD_VERIFY_FLASH_ARM 0x04
#define CMD_READ_EEPROM     0x04
#define CMD_PROG_EEPROM     0x05
#define CMD_READ_SRAM       0x06
#define CMD_READ_FLASH_ATM  0x07
#define CMD_KEEP_ALIVE      0xFD
#define CMD_SET_ADDRESS     0xFF
#define CMD_SET_BUFFER      0xFE

#define RestartBootloader   0
#define ExitBootloader      1

#define ACK_OK                  0x00
#define ACK_I_INVALID_CMD       0x02
#define ACK_I_INVALID_CRC       0x03
#define ACK_I_VERIFY_ERROR      0x04
#define ACK_I_INVALID_CHANNEL   0x08
#define ACK_I_INVALID_PARAM     0x09
#define ACK_D_GENERAL_ERROR     0x0F

// interface modes
#define imC2 0
#define imSIL_BLB 1
#define imATM_BLB 2
#define imSK 3
#define imARM_BLB 4