From ccc1460d1581d8d6055079a5a902b93ab408f6a4 Mon Sep 17 00:00:00 2001 From: Matthew Kelly <mkelly2@iastate.edu> Date: Fri, 20 Oct 2017 18:39:28 -0500 Subject: [PATCH] Started packet markdown documentation. --- documentation/groundStation/packets.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 documentation/groundStation/packets.md diff --git a/documentation/groundStation/packets.md b/documentation/groundStation/packets.md new file mode 100644 index 000000000..fdb0e8eac --- /dev/null +++ b/documentation/groundStation/packets.md @@ -0,0 +1,13 @@ +The MicroCART project uses custom packets to communicate with the quad. This may seem complex at first +but the structure of all packets is the same it is just the way the data is formatted that changes +between packets. The basic structure is shown below. + +| Index | 0 | 1 | 2 | 3 | 4 | 5 | 6 | +|:-----------------:|:---------------:|:------------:|:----------:|:-----------:|:----:|:--------:|:-------------:| +| Message Parameter | Begin Character | Message Type | Message ID | Data Length | Data | Checksum | End Character | +| Bytes | 1 | 2 | 2 | 2 | var | 1 | 1 | + +Both the begin and end characters are defined in (communication.h)[]. Message types are defined within an enum in +(commands.h)[]. Message ID is managed within the backend and is just a counter that is defined in (backend.c)[] of. +Data length varies with the command that is being sent, but the length of a command is constant. The data is sent +in a specific format set by commands. Lastly, checksum is computed within (backend.c)[]. \ No newline at end of file -- GitLab