View source for RFLEX plugin

==rFlex protocold==

Before you begin, understand

Packet Header:
---
 PKT_STX     | 2 bytes | 0x1b 0x02
 PORT        | 1 byte  | 0x01 - System Module
                        0x02 - Motion
                        0x03 - Joystick
                        0x04 - Sonar
                        0x05 - Digital I/O (Bump panels)
                        0x06 - IR
 PACKET_ID   | 1 byte  | Not used, but packets returned from base
 		        have increasing ID's
 OPCODE      | 1 byte  | Depends on module and command
 DATA_LENGTH | 1 byte  | Length of following data
 DATA        | n bytes | Actual data
 CHECKSUM    | 1 byte  | xor of all bytes from PORT to end of DATA
 PKT_ETX     | 2 bytes | 0x1b 0x03


Byte stuffing 

As communication is binary and PKT_STX and PKT_ETX needs to be unique, then if the escape character is in the data, and escape sequence is stuffed, like:

By code inspection in http://wurde.sourceforge.net/doxygen/a00376.html#l00473 it seems like an escape sequence of 0x1b 0x00 should be replaced by just 0x1b, and escape sequence 0x1b 0x01 should just be removed (a bit odd that it is there in the first place).

Testing has shown that "all" packages are now received with no errors, with this interpretation if byte stuffing (jca 16 sep 2013).
- change included in mobotware version 3.240.


Opcodes and Packet Descriptions
---

SYS_LCD_DUMP            0
---
 Timestamp             | 4 bytes
 Row		      | 1 byte
 Number of bytes	      | 1 byte
 LCD Screen contents   | Variable

SYS_STATUS              1
---
 Timestamp	      | 4 bytes
 Volts		      | 4 bytes
 Brake Status	      | 1 byte


Motion Opcodes
---
 Motion Axis:
 0 - translation
 1 - rotation
 2 & 3 - not used

MOT_AXIS_GET_SYSTEM      0
---
 Axis		      | 1 byte

MOT_AXIS_GET_MODEL       1
---
 Axis		      | 1 byte

MOT_AXIS_GET_TARGET      2
---
 Axis		      | 1 byte

MOT_AXIS_SET_DIR         7
---
 Axis		      | 1 byte
 Velocity	      | 4 bytes
 Acceleration	      | 4 byte
 Torque		      | 4 bytes
 Direction	      | 1 byte

MOT_AXIS_SET_POS         8
---
 Axis		      | 1 byte
 Velocity	      | 4 bytes
 Acceleration	      | 4 byte
 Torque		      | 4 bytes
 Position	      | 4 bytes

MOT_AXIS_GET_MODE        9
---
 Axis		      | 1 byte

MOT_SET_DEFAULTS        10
---
 No Data Segment

MOT_BRAKE_SET           11
---
 No Data Segment

MOT_BRAKE_RELEASE       12
---
 No Data Segment

MOT_SYSTEM_REPORT       33
---
 rv		      | 4 bytes  | Unknown data
 Timestamp	      | 4 bytes
 Axis		      | 1 byte
 Position	      | 4 bytes
 Velocity	      | 4 bytes
 Acceleration	      | 4 byte
 Torque		      | 4 bytes

MOT_SYSTEM_REPORT_REQ   34
---
 Period		      | 4 bytes  | Time between published system reports
 Mask		      | 4 bytes  | Which axes to publish for.
		                 | Mask |= 1 << axis

Unused Opcodes:
---
 MOT_AXIS_SET_LIMITS      3
 MOT_AXIS_GET_LIMITS      4
 MOT_AXIS_SET_POS_LIMITS  5
 MOT_AXIS_GET_POS_LIMITS  6
 MOT_GET_NAXES           65
 MOT_SET_GEARING         66
 MOT_GET_GEARING         67
 MOT_MOTOR_SET_MODE      68
 MOT_MOTOR_GET_MODE      69
 MOT_MOTOR_SET_PARMS     70
 MOT_MOTOR_GET_PARMS     71
 MOT_MOTOR_SET_LIMITS    72
 MOT_MOTOR_GET_LIMITS    73
 MOT_MOTOR_GET_DATA      74
 MOT_AXIS_SET_PARMS      75
 MOT_AXIS_GET_PARMS      76
 MOT_AXIS_SET_PWM_LIMIT  77
 MOT_AXIS_GET_PWM_LIMIT  78
 MOT_AXIS_SET_PWM        79
 MOT_AXIS_GET_PWM        80

Motion Opcodes
---

From client to base:
JSTK_GET_STATE           0
---
 No Data Segment

From base to client:
JSTK_GET_STATE           0
---
 Timestamp	      | 4 bytes
 X		      | 4 bytes
 Y		      | 4 bytes
 Buttons		      | 1 byte

Sonar Opcodes
---

SONAR_RUN          0
---
 Echo Delay	      | 4 bytes  | Default is 30000
 Ping Delay	      | 4 bytes  | Default is 0
 Set Delay	      | 4 bytes  | Default is 0
 Mode		      | 1 byte   | 0 off
 				   2 on

SONAR_GET_UPDATE   1
---
 Timestamp	      | 4 bytes

SONAR_REPORT       2
---
 Retval		      | 4 bytes  | Unknown data
 Timestamp	      | 4 bytes
 Sonar ID	      | 1 byte   | There are a variable number of these, given
 Range		      | 2 bytes  | by (DATA_LENGTH - 8)/2

Digital I/O Opcodes
---
DIO_REPORTS_REQ  0
---
 Period		      | 4 bytes

From base to client:
DIO_REPORTS_REQ  0
---
 Retval		      | 4 bytes  | Unknown data
 Timestamp	      | 4 bytes

DIO_REPORT       1
---
 Timestamp	      | 4 bytes
 Net ID		      | 1 byte
 Offset 		      | 1 byte
 State		      | 1 byte

From client to base:
DIO_GET_UPDATE   2
---
 Timestamp	      | 4 bytes

From base to client:
DIO_GET_UPDATE   2
---
 Retval		      | 4 bytes  | Unknown data
 Timestamp	      | 4 bytes
 Count		      | 4 bytes	 | Unknown data

DIO_UPDATE       3
---
 Timestamp	      | 4 bytes
 Net ID		      | 1 byte
 Offset 		      | 1 byte
 State		      | 1 byte

From client to base:
DIO_SET          4
---
 Net ID		      | 1 byte
 Offset 		      | 1 byte
 State		      | 1 byte
 Mask		      | 1 byte

From base to client:
DIO_SET          4
---
 Retval		      | 4 bytes  | Unknown data
 Timestamp	      | 4 bytes

I/R Opcodes
---
 There are no used I/R opcodes
 IR_RUN          0
 IR_REPORT       1