Protocol#

group drv_protocol: Definitions and implementations of the DotBot protocol.

Author: Alexandre Abadie alexandre.abadie@inria.fr
Copyright: Inria, 2022

Defines

DB_FIRMWARE_VERSION#: Version of the firmware.

DB_SWARM_ID#: Default swarm ID.

DB_BROADCAST_ADDRESS#: Broadcast address.

DB_GATEWAY_ADDRESS#: Gateway address.

DB_MAX_WAYPOINTS#: Max number of waypoints.

Enums

enum protocol_data_type_t#

Command type.

Values:

enumerator DB_PROTOCOL_CMD_MOVE_RAW#: Move raw command type.

enumerator DB_PROTOCOL_CMD_RGB_LED#: RGB LED command type.

enumerator DB_PROTOCOL_LH2_RAW_DATA#: Lighthouse 2 raw data.

enumerator DB_PROTOCOL_LH2_LOCATION#: Lighthouse processed locations.

enumerator DB_PROTOCOL_ADVERTISEMENT#: DotBot advertisements.

enumerator DB_PROTOCOL_GPS_LOCATION#: GPS data from SailBot.

enumerator DB_PROTOCOL_DOTBOT_DATA#: DotBot specific data (for now location and direction)

enumerator DB_PROTOCOL_CONTROL_MODE#: Robot remote control mode (automatic or manual)

enumerator DB_PROTOCOL_LH2_WAYPOINTS#: List of LH2 waypoints to follow.

enumerator DB_PROTOCOL_GPS_WAYPOINTS#: List of GPS waypoints to follow.

enumerator DB_PROTOCOL_SAILBOT_DATA#: SailBot specific data (for now GPS and direction)

enumerator DB_PROTOCOL_CMD_XGO_ACTION#: XGO action command.

enumerator DB_PROTOCOL_LH2_PROCESSED_DATA#: Lighthouse 2 data processed at the DotBot.

enum packet_type_t#

Protocol packet type.

Values:

enumerator DB_PACKET_BEACON#: Beacon packet.

enumerator DB_PACKET_JOIN_REQUEST#: Join request packet.

enumerator DB_PACKET_JOIN_RESPONSE#: Join response packet.

enumerator DB_PACKET_LEAVE#: Leave packet.

enumerator DB_PACKET_DATA#: Data packet.

enumerator DB_PACKET_TDMA_UPDATE_TABLE#: TDMA table update packet.

enumerator DB_PACKET_TDMA_SYNC_FRAME#: TDMA sync frame packet.

enumerator DB_PACKET_TDMA_KEEP_ALIVE#: TDMA keep alive packet.

enum application_type_t#

Application type.

Values:

enumerator DotBot#: DotBot application.

enumerator SailBot#: SailBot application.

enumerator FreeBot#: FreeBot application.

enumerator XGO#: XGO application.

enumerator LH2_mini_mote#: LH2 mini mote application.

enum protocol_control_mode_t#

Control mode.

Values:

enumerator ControlManual#: Manual mode.

enumerator ControlAuto#: Automatic mode.

Functions

size_t db_protocol_header_to_buffer(uint8_t *buffer, uint64_t dst)#

Write the protocol header in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header

Returns:

Number of bytes written in the buffer

size_t db_protocol_tdma_keep_alive_to_buffer(uint8_t *buffer, uint64_t dst)#

Write a TDMA keep alive packet in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header

Returns:

Number of bytes written in the buffer

size_t db_protocol_tdma_table_update_to_buffer(uint8_t *buffer, uint64_t dst, protocol_tdma_table_t *tdma_table)#

Write a TDMA table update in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header
tdma_table – [in] Pointer to the TDMA table

Returns:

Number of bytes written in the buffer

size_t db_protocol_tdma_sync_frame_to_buffer(uint8_t *buffer, uint64_t dst, protocol_sync_frame_t *sync_frame)#

Write a TDMA sync frame in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header
sync_frame – [in] Pointer to the sync frame

Returns:

Number of bytes written in the buffer

size_t db_protocol_advertizement_to_buffer(uint8_t *buffer, uint64_t dst, application_type_t application)#

Write an application advertizement packet in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header
application – [in] Type of application advertized

Returns:

Number of bytes written in the buffer

size_t db_protocol_cmd_move_raw_to_buffer(uint8_t *buffer, uint64_t dst, protocol_move_raw_command_t *command)#

Write a move raw command in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header
command – [in] Pointer to the move raw command

Returns:

Number of bytes written in the buffer

size_t db_protocol_cmd_rgbled_to_buffer(uint8_t *buffer, uint64_t dst, protocol_rgbled_command_t *command)#

Write an rgbled command in a buffer.

Parameters:

buffer – [out] Bytes array to write to
dst – [in] Destination address written in the header
command – [in] Pointer to the rgbled command

Returns:

Number of bytes written in the buffer

struct protocol_header_t#

DotBot protocol header.

Public Members

uint8_t version#: Version of the firmware.

packet_type_t packet_type#: Type of packet.

uint64_t dst#: Destination address of this packet.

uint64_t src#: Source address of this packet.

struct protocol_move_raw_command_t#

DotBot protocol move raw command.

Public Members

int8_t left_x#: Horizontal coordinate for left side.

int8_t left_y#: Vertical coordinate for left side.

int8_t right_x#: Horizontal coordinate for right side.

int8_t right_y#: Vertical coordinate for right side.

struct protocol_rgbled_command_t#

DotBot protocol RGB LED command.

Public Members

uint8_t r#: Red component value.

uint8_t g#: Green component value.

uint8_t b#: Blue component value.

struct protocol_lh2_location_t#

DotBot protocol LH2 computed location.

Public Members

uint32_t x#: X coordinate, multiplied by 1e6.

uint32_t y#: Y coordinate, multiplied by 1e6.

uint32_t z#: Z coordinate, multiplied by 1e6.

struct protocol_lh2_waypoints_t#

DotBot protocol LH2 waypoints.

Public Members

uint8_t length#: Number of waypoints.

protocol_lh2_location_t points[DB_MAX_WAYPOINTS]#: Array containing a list of lh2 point coordinates.

struct protocol_gps_coordinate_t#

DotBot protocol GPS coordinates.

Public Members

int32_t latitude#: Latitude, multiplied by 1e6.

int32_t longitude#: Longitude, multiplied by 1e6.

struct protocol_gps_waypoints_t#

DotBot protocol GPS waypoints.

Public Members

uint8_t length#: Number of waypoints.

protocol_gps_coordinate_t coordinates[DB_MAX_WAYPOINTS]#: Array containing a list of GPS coordinates.

struct protocol_lh2_processed_packet_t#

LH2 process data compressed for sending over radio.

Public Members

uint8_t selected_polynomial#: selected poly is the polyomial # (between 0 and 31) that the demodulation code thinks the demodulated bits are a part of, initialize to error state

uint32_t lfsr_location#: LFSR location is the position in a given polynomial’s LFSR that the decoded data is, initialize to error state.

uint32_t timestamp_us#: How many microseconds passed since the sample was taken.

struct protocol_tdma_table_t#

DotBot protocol TDMA table update [all units are in microseconds].

Public Members

uint32_t frame_period#: duration of a full TDMA frame

uint32_t rx_start#: start to listen for packets

uint16_t rx_duration#: duration of the RX period

uint32_t tx_start#: start of slot for transmission

uint16_t tx_duration#: duration of the TX period

uint32_t next_period_start#: time until the start of the next TDMA frame

struct protocol_sync_frame_t#

DotBot protocol sync messages marks the start of a TDMA frame [all units are in microseconds].

Public Members

uint32_t frame_period#: duration of a full TDMA frame