Quadrotor

//**** ATMEL AVR - A P P L I C A T I O N   N O T E  ************************

//*

//* Title:                AVR068 - STK500 Communication Protocol

//* Filename:                command.h

//* Version:                1.0

//* Last updated:        31.01.2005

//*

//* Support E-mail:        avr@atmel.com

//*

//**************************************************************************

// *****************[ STK message constants ]***************************

#define MESSAGE_START                       0x1B        //= ESC = 27 decimal

#define TOKEN                               0x0E

// *****************[ STK general command constants ]**************************

#define CMD_SIGN_ON                         0x01

#define CMD_SET_PARAMETER                   0x02

#define CMD_GET_PARAMETER                   0x03

#define CMD_SET_DEVICE_PARAMETERS           0x04

#define CMD_OSCCAL                          0x05

#define CMD_LOAD_ADDRESS                    0x06

#define CMD_FIRMWARE_UPGRADE                0x07

// *****************[ STK ISP command constants ]******************************

#define CMD_ENTER_PROGMODE_ISP              0x10

#define CMD_LEAVE_PROGMODE_ISP              0x11

#define CMD_CHIP_ERASE_ISP                  0x12

#define CMD_PROGRAM_FLASH_ISP               0x13

#define CMD_READ_FLASH_ISP                  0x14

#define CMD_PROGRAM_EEPROM_ISP              0x15

#define CMD_READ_EEPROM_ISP                 0x16

#define CMD_PROGRAM_FUSE_ISP                0x17

#define CMD_READ_FUSE_ISP                   0x18

#define CMD_PROGRAM_LOCK_ISP                0x19

#define CMD_READ_LOCK_ISP                   0x1A

#define CMD_READ_SIGNATURE_ISP              0x1B

#define CMD_READ_OSCCAL_ISP                 0x1C

#define CMD_SPI_MULTI                       0x1D

// *****************[ STK PP command constants ]*******************************

#define CMD_ENTER_PROGMODE_PP               0x20

#define CMD_LEAVE_PROGMODE_PP               0x21

#define CMD_CHIP_ERASE_PP                   0x22

#define CMD_PROGRAM_FLASH_PP                0x23

#define CMD_READ_FLASH_PP                   0x24

#define CMD_PROGRAM_EEPROM_PP               0x25

#define CMD_READ_EEPROM_PP                  0x26

#define CMD_PROGRAM_FUSE_PP                 0x27

#define CMD_READ_FUSE_PP                    0x28

#define CMD_PROGRAM_LOCK_PP                 0x29

#define CMD_READ_LOCK_PP                    0x2A

#define CMD_READ_SIGNATURE_PP               0x2B

#define CMD_READ_OSCCAL_PP                  0x2C    

#define CMD_SET_CONTROL_STACK               0x2D

// *****************[ STK HVSP command constants ]*****************************

#define CMD_ENTER_PROGMODE_HVSP             0x30

#define CMD_LEAVE_PROGMODE_HVSP             0x31

#define CMD_CHIP_ERASE_HVSP                 0x32

#define CMD_PROGRAM_FLASH_HVSP  `     0x33

#define CMD_READ_FLASH_HVSP                 0x34

#define CMD_PROGRAM_EEPROM_HVSP             0x35

#define CMD_READ_EEPROM_HVSP                0x36

#define CMD_PROGRAM_FUSE_HVSP               0x37

#define CMD_READ_FUSE_HVSP                  0x38

#define CMD_PROGRAM_LOCK_HVSP               0x39

#define CMD_READ_LOCK_HVSP                  0x3A

#define CMD_READ_SIGNATURE_HVSP             0x3B

#define CMD_READ_OSCCAL_HVSP                0x3C

// *****************[ STK status constants ]***************************

// Success

#define STATUS_CMD_OK                       0x00

// Warnings

#define STATUS_CMD_TOUT                     0x80

#define STATUS_RDY_BSY_TOUT                 0x81

#define STATUS_SET_PARAM_MISSING            0x82

// Errors

#define STATUS_CMD_FAILED                   0xC0

#define STATUS_CKSUM_ERROR                  0xC1

#define STATUS_CMD_UNKNOWN                  0xC9

// *****************[ STK parameter constants ]***************************

#define PARAM_BUILD_NUMBER_LOW              0x80

#define PARAM_BUILD_NUMBER_HIGH             0x81

#define PARAM_HW_VER                        0x90

#define PARAM_SW_MAJOR                      0x91

#define PARAM_SW_MINOR                      0x92

#define PARAM_VTARGET                       0x94

#define PARAM_VADJUST                       0x95

#define PARAM_OSC_PSCALE                    0x96

#define PARAM_OSC_CMATCH                    0x97

#define PARAM_SCK_DURATION                  0x98

#define PARAM_TOPCARD_DETECT                0x9A

#define PARAM_STATUS                        0x9C

#define PARAM_DATA                          0x9D

#define PARAM_RESET_POLARITY                0x9E

#define PARAM_CONTROLLER_INIT               0x9F

// *****************[ STK answer constants ]***************************

#define ANSWER_CKSUM_ERROR                  0xB0