Class DJISerial

Nested Relationships

Nested Types

Inheritance Relationships

Derived Type

Class Documentation

class DJISerial

A serial handler that implements a specific protocol to be used for communicating with the referee system. Also used for our personal communication with the xavier.

Extend this class and implement messageReceiveCallback if you want to use this serial protocol on a serial line.

Structure of a Serial Message:

Byte Number

Byte Description

Frame Header

0

Frame Head Byte (0xA5)

1

Frame Data Length, LSB

2

Frame Data Length, MSB

3

Frame Sequence Number

4

CRC8 of the frame, (bytes 0 - 3)

5

Message Type, LSB

6

Message Type, MSB

Body - Data Length bytes

Message CRC

7 + Data Length

CRC16 of header and frame, LSB (bytes 0 - 6 + Data Length)

8 + Data Length

CRC16 of header and frame, MSB

Subclassed by tap::communication::serial::RefSerial

Public Types

using ReceivedSerialMessage = SerialMessage<SERIAL_RX_BUFF_SIZE>

Public Functions

DJISerial(Drivers *drivers, Uart::UartPort port, bool isRxCRCEnforcementEnabled = true)

Construct a Serial object.

Parameters:

  • port – [in] serial port to work on.

  • isRxCRCEnforcementEnabled – [in] true to enable Rx CRC Enforcement.

~DJISerial() = default
void initialize()

Initialize serial. In particular, initializes the hardware serial specified upon construction.

See also

Uart

Note

currently, only uart ports 1, 2, and 6 are enabled. Be sure to add a serial port to uart.hpp if you want to use the serial. Also, if you add a new uart port to be generated in the project.xml file, you should add it to both the Uart class and this function.

void updateSerial()

Receive messages. Call periodically in order to receive all incoming messages.

Note

tested with a delay of 10 microseconds with referee system. The longer the timeout the more likely a message failure may occur.

virtual void messageReceiveCallback(const ReceivedSerialMessage &completeMessage) = 0

Called when a complete message is received. A derived class must implement this in order to handle incoming messages properly.

Parameters:

completeMessage – [in] a reference to the full message that has just been received by this class.

Public Static Attributes

static const uint16_t SERIAL_RX_BUFF_SIZE = 1024
static const uint16_t SERIAL_HEAD_BYTE = 0xA5

Protected Attributes

Drivers *drivers
struct FrameHeader

The serial message’s frame header.

Public Members

uint8_t headByte
uint16_t dataLength
uint8_t seq
uint8_t CRC8
template<int DATA_SIZE>
struct SerialMessage

A container for storing and sending message over serial.

Public Functions

inline explicit SerialMessage(uint8_t seq = 0)

Constructs a SerialMessage. In doing so this constructor configures the message header.

Parameters:

seq – [in] Message sequence number, an optional parameter.

inline void setCRC16()

Sets the CRC16 value in the struct. This should be called after writing data to the message struct.

Public Members

FrameHeader header
uint16_t messageType
uint8_t data[DATA_SIZE]
uint16_t CRC16