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doc:crazyflie:dev:firmware:deck_memory_format

Deck memory format

The OneWire (OW) memory contained in all Crazyflie 2.0 decks is used to detect the boards connected in order to:

  • Decide if it is safe to start the system.
  • When the system is started, initialize the required drivers for the deck installed.

The memory format has CRC to guarantee data integrity. It is separated in two part:

  • The header is 7 bytes long and contains the identity of the board encoded in VID/PID (Vendor ID and Product ID) as well as a bitfield describing the pins the deck is driving (to avoid conflict).
  • The key/value area is extendable and contains more information like the deck name, board revision and driver-specific information (ie. for configuration or calibration for example).

Content

  1. Header		1 Byte 0xEB
  2. UsedPins		4 Bytes
  3. VID		1 Byte
  4. PID		1 Byte
  5. crc		1 Byte CRC32[0] (LSB byte) from 1 to 4.
  6. Version		1Byte, 0 for now
  7. DataLength		1 Byte (255 max data length…)
  8. key/value data	<DataLength> bytes
  9. crc		1 Byte CRC32[0] (LSB byte) from 6 to 8
  • The header area is from 1 to 5.
  • The key/value area is from 6 do 9

The header allows to detect the deck installed and to verify that the deck stack is compatible.

The UsedPins value indicates which pins the deck is driving on the expansion port. For example a UART TX pin is driving both high and low when an i2c port is only driving low. For every GPIO on the expantion port one bit indicate if the GPIO can be driven high and one bit if it can be driven low:

Drive PC11 PC10 PB7 PB6 PB8 PB5 PB4 PC12 PA2 PA3 PA5 PA6 PA7 P0.11 P0.12 P0.08
Low 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
High 16 17 18 19 20 21 22 23 24 25 26 27 28 29 31 31

For example is a deck has a GPS that has its UART TX on PC11 (push-pull, drives high and low), the UsedPins value will be (1«0) | (1«16) = 0x00010001. As another example is a deck has an I2C sensor on PB6,PB7 (Open collector, only drives low), the UsedPins value is then: (1«2) | (1«3) = 0x0000000C

The VID is the vendor ID (or Maker ID :). Currently only 0xBC is reserved for Bitcraze and 0x00 is reserved for test/development. Contact Bitcraze if you plan to distribute decks and want a VID.

A deck with VID/PID = 0/0 must have its name in the key/value area (the driver will then be chosen by name instead of pid/vid).

Key/value area

The version is 0. The key/value data contains a succession of elements. Elements id and types are predefined. Unknown elements are ignored.

Elements have this format:

Id 1Byte
length 1Byte
data <length> Bytes

The following elements are defined:

Element Element_id Data type Note
boardName 1 string Short. Starts by “bc” for Bitcraze boards
revision 2 string
customData 3 binary Data understood by the deck driver

Example

This is an example of OW memory content for the led ring deck.

0000000: eb 00 00 00 00 bc 01 44 00 0e 01 09 62 63 4c 65  .......D....bcLe
0000010: 64 52 69 6e 67 02 01 62 55                       dRing..bU

Content:

{
    "header": {
        "usedPin": 0,
        "vid": 188,
        "pid": 1
    },
    "data": {
        "boardName": "bcLedRing",
        "revision": "b"
    }
}

Element IDs and types (DTD):

{
    "boardName": {
        "type": "string",
        "id": 1
    },
    "revision": {
        "type": "string",
        "id": 2
    },
    "customData": {
        "type": "binary",
        "id": 3
    }
}
doc/crazyflie/dev/firmware/deck_memory_format.txt · Last modified: 2016-11-16 11:33 by tobias