https://sourceforge.net/p/guimag/wiki/communication%2520protocol/Recent changes to communication protocolenTue, 22 Jan 2013 13:00:50 -0000https://sourceforge.net/p/guimag/wiki/communication%2520protocol/<div class="markdown_content"><pre>--- v6 +++ v7 @@ -21,6 +21,8 @@ | r_sensor | int16| 2 | ---- | distance | float| 4 | ---- | speed | float| 4 | ---- +| state | char | 1 | ---- +| sonar_dist| sInt | 2 | ---- central processing -> micro-controller </pre> </div>Henrique NeryTue, 22 Jan 2013 13:00:50 -0000https://sourceforge.net853584ba48178b9dcb2227fec8f7ef10151aa95ehttps://sourceforge.net/p/guimag/wiki/communication%2520protocol/<pre>--- v5 +++ v6 @@ -33,6 +33,6 @@ | traction | byte | 1 | ---- | steering | byte | 1 | ---- -State machine +State machine (seen by the micro-controller) -------------  </pre>Victor AldecoaTue, 29 May 2012 19:03:26 -0000https://sourceforge.neta6a3436377e8d44bb038f6e9d002ccc246bd7c35https://sourceforge.net/p/guimag/wiki/communication%2520protocol/<pre>--- v4 +++ v5 @@ -8,7 +8,6 @@ The possible messages currently are: -<code> micro-controller -> central processing Connect (no parameters): @@ -33,7 +32,6 @@ | msg code | byte | 1 | 0x01 | traction | byte | 1 | ---- | steering | byte | 1 | ---- -</code> State machine ------------- </pre>Victor AldecoaTue, 29 May 2012 18:26:32 -0000https://sourceforge.net59f7bc2f534d65aa97f87f03942bec46d6579863https://sourceforge.net/p/guimag/wiki/communication%2520protocol/<pre>--- v3 +++ v4 @@ -8,13 +8,14 @@ The possible messages currently are: -<code>micro-controller -> central processing +<code> +micro-controller -> central processing - Connect (no parameters): +Connect (no parameters): |Description| Type | nº bytes | value (if constant) | msg code | byte | 1 | 0x00 - DataAcquired: +DataAcquired: | msg code | byte | 1 | 0x00 | l_sensor | int16| 2 | ---- | c_sensor | int16| 2 | ---- @@ -24,14 +25,15 @@ central processing -> micro-controller - Accept connection: +Accept connection: | msg code |byte | 1 | 0x01 |meters_per_edge|float| 4 | ---- - PWMs: +PWMs: | msg code | byte | 1 | 0x01 | traction | byte | 1 | ---- -| steering | byte | 1 | ----</code> +| steering | byte | 1 | ---- +</code> State machine ------------- </pre>Victor AldecoaTue, 29 May 2012 18:24:58 -0000https://sourceforge.nete3acb941dee46a3a393138eca91d5c63782d1082https://sourceforge.net/p/guimag/wiki/communication%2520protocol/<pre></pre>Victor AldecoaTue, 29 May 2012 18:24:37 -0000https://sourceforge.net1ce1fb5abde6a6efb1b1df75739aa6c367c529a2https://sourceforge.net/p/guimag/wiki/communication%2520protocol/<pre>--- v1 +++ v2 @@ -7,13 +7,14 @@ After the message code, it comes all the message parameters, which order depends on each message. The possible messages currently are: + <code>micro-controller -> central processing - - Connect (no parameters): + Connect (no parameters): |Description| Type | nº bytes | value (if constant) | msg code | byte | 1 | 0x00 - - DataAcquired: + DataAcquired: | msg code | byte | 1 | 0x00 | l_sensor | int16| 2 | ---- | c_sensor | int16| 2 | ---- @@ -23,11 +24,11 @@ central processing -> micro-controller - - Accept connection: + Accept connection: | msg code |byte | 1 | 0x01 |meters_per_edge|float| 4 | ---- - - PWMs: + PWMs: | msg code | byte | 1 | 0x01 | traction | byte | 1 | ---- | steering | byte | 1 | ----</code> </pre>Victor AldecoaTue, 29 May 2012 18:24:14 -0000https://sourceforge.netf7180d6c5a75e5740b040745e232edefb88c55bchttps://sourceforge.net/p/guimag/wiki/communication%2520protocol/This page defines the communication protocol used between the [micro-controller](microcontrolador de aquisição de dados) and the [central processing board](placa de processamento central). General description ----------------- Each message starts with one byte containing the message code. That means that we could have until 256 different messages on each side (since messages from micro-controller may have the same code that messages to the micro-controller). After the message code, it comes all the message parameters, which order depends on each message. The possible messages currently are: <code>micro-controller -> central processing - Connect (no parameters): |Description| Type | nº bytes | value (if constant) | msg code | byte | 1 | 0x00 - DataAcquired: | msg code | byte | 1 | 0x00 | l_sensor | int16| 2 | ---- | c_sensor | int16| 2 | ---- | r_sensor | int16| 2 | ---- | distance | float| 4 | ---- | speed | float| 4 | ---- central processing -> micro-controller - Accept connection: | msg code |byte | 1 | 0x01 |meters_per_edge|float| 4 | ---- - PWMs: | msg code | byte | 1 | 0x01 | traction | byte | 1 | ---- | steering | byte | 1 | ----</code> State machine ------------- Victor AldecoaTue, 29 May 2012 18:23:30 -0000https://sourceforge.net7246a4daabbeaeaf930575f38c5d97e42a96e372