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afry-south / dragonfly-fcb

ÅF Dragonfly Quadrotor UAV Project
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FCB-FMS protocol #36

Open adam-at-epsilon opened 9 years ago

adam-at-epsilon commented 9 years ago

It is suggested that we use [https://developers.google.com/protocol-buffers/](Protocol Buffers) or something similar to serialise and deserialise data for communication between FSM and FCB.

It has to be lightweight in order to not overload FCB which has real-time constraints.

stenbergd commented 9 years ago

http://koti.kapsi.fi/jpa/nanopb/

This is the best implementation I've found for embedded-C. It is already suggested for fcb<->PC communication.

stenbergd commented 8 years ago

Suggested protocol over RS232/UART communication integrates with the CLI:

TO FCB: get-sensors p\r FROM FCB: [1 byte msg ID][4 byte CRC][2 byte msg len][protobuf data of specified len]\r\n

stenbergd commented 8 years ago

Added protobuf header with CRC to some responses: get-sensors p\r get-states p\r get-motors p\r get-receiver p\r

Development in branch: 36-usbuart-protocol

stenbergd commented 8 years ago

get-ref-signals p\r get-ctrl-signals p\r

Have been done. Pending verification before 36-usbuart-protocol merged to master.