ardupilot/libraries/AP_BLHeli/blheli_4way_protocol.h

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/*
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