Difference between revisions of "Controller v2"
(Created page with "= UART-based Controller = Command Format Framing * 1 byte frame length * n byte frame data * 2 byte crc16 (CCITT) of frame data") |
(→UART-based Controller) |
||
| Line 3: | Line 3: | ||
Command Format | Command Format | ||
| − | Framing | + | == Framing == |
| − | * 1 byte | + | The framing is self synchronizing. Each frame ends with an EOF marker. Everywhere else the EOF marker is escaped. |
| + | |||
| + | === Frame Format === | ||
| + | |||
| + | * 1 byte sequence number | ||
* n byte frame data | * n byte frame data | ||
* 2 byte crc16 (CCITT) of frame data | * 2 byte crc16 (CCITT) of frame data | ||
| + | * 0x7e as EOF marker | ||
| + | |||
| + | === Escaping === | ||
| + | |||
| + | Escaping is done by byte stuffing. Escape character is 0x7d. Bytes to be escaped are 0x7d and 0x7e. The escape character is following by the byte to by escaped XOR 0x20. | ||
Revision as of 14:55, 29 July 2018
UART-based Controller
Command Format
Framing
The framing is self synchronizing. Each frame ends with an EOF marker. Everywhere else the EOF marker is escaped.
Frame Format
- 1 byte sequence number
- n byte frame data
- 2 byte crc16 (CCITT) of frame data
- 0x7e as EOF marker
Escaping
Escaping is done by byte stuffing. Escape character is 0x7d. Bytes to be escaped are 0x7d and 0x7e. The escape character is following by the byte to by escaped XOR 0x20.
