M2RET/CommProtocol.txt at master · collin80/M2RET · GitHub

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GVRET Binary Protocol:

0xE7 enables binary sending of incoming frames. Prior to this command it is configurable whether incoming
frames will be output as ascii or binary. Once 0xE7 is seen while IDLE the comm will be binary. However, any time
a binary command is not in process one can use the text based console. As such, it is possible to turn off binary sending
mode from the console even if it has been enabled by the 0xE7 command.

0xF1 character signifies the beginning of a binary mode command. After this byte is processed the firmware will be looking for
command data in binary mode. The response to a command (if applicable) is 0xF1 followed by the command byte being responded
to, followed by response. SO, basically it's the same data sent to it plus any relevant replies.

Binary mode command byte:
0 - Send a frame out one of the buses
1 - Time Sync - Output the current time since start up in microseconds
2 - Get state of digital input pins
3 - Get state of analog input pins
4 - Set state of digital outputs
5 - Set CAN bus configuration
6 - Get CAN bus config
7 - Get device info
8 - Set singlewire mode
9 - Keep alive
10 - Set system type
11 - Echo CAN frame


Detail of each command:

0 - Send a frame out one of the buses
    byte 0-3 - Frame ID LSB to MSB
    byte 4 - which bus (0 = CAN0, 1 = CAN1, 2 = SWCAN, 3 = LIN1, 4 = LIN2)
    byte 5 - Frame length
    Byte 6-? - Data bytes
    Reply: Nothing. It just sends the frame

1 - Time Sync
    No additional data sent
    Reply:
    byte 2-5 = Microseconds since start up LSB to MSB

2 - Set state of digital inputs
    No additional input bytes
    Reply:
    Byte 2 - Bitfield of inputs (Bit 0 = Input 0, etc) 0 = Low, 1 = High
    Byte 3 - Checksum byte

3 - Get state of analog input pins
    No additional input bytes
    Reply:
    Byte 2-3 - Analog input 1 LSB then MSB
    Byte 4-5 - Analog input 2 LSB then MSB
    Byte 6-7 - Analog input 3 LSB then MSB
    Byte 8-9 - Analog input 4 LSB then MSB
    Byte 10 - Checksum byte

4 - Set state of digital outputs
    Byte 0 - Bitfield - Bit 0 = DIgital output 1, etc. 0 = Low, 1 = High
    Reply: None

5 - Set CAN bus configuration
    Byte 0 - 3 - CAN0 Speed. If Bit 31 set then Bit 30 = Enable Bit 29 = Listen Only
    Byte 4 - 7 - CAN1 Speed. Same deal, if bit 31 set then use 30 and 29 for config options
    Reply: None

6 - Get CAN bus config
    No additional input bytes
    Reply:
    Byte 2 = Bit 0 - Enable  Bit 4 - Listen only
    Byte 3-6 - CAN0 Speed LSB to MSB
    Byte 7 = Bit 0 - Enable  Bit 4 - ListenOnly
    Byte 8-11 - CAN1 Speed LSB to MSB

7 - Get device info
    Not additional input bytes
    Reply:
    Byte 2-3 - Build number LSB to MSB
    Byte 4 - EEPROM version
    Byte 5 - File output type
    Byte 6 - Auto start logging
    Byte 7 - Single wire mode

8 - Set singlewire mode
    Byte 0 - if 0x10 then single wire mode, otherwise no. Not very applicable to M2
    Reply: Nothing

9 - Keep alive
    No additional inputs
    Reply:
    Byte 2 - 0xDE
    Byte 3 - 0xAD - So, if it isn't dead it responds with DEAD.

10 - Set system type
    Byte 0 - System type (right now only 0 for M2 project but GVRET takes 0-2)
    Reply: None

11 - Echo CAN frame
    byte 0-3 - Frame ID LSB to MSB
    byte 4 - which bus (0 = CAN0, 1 = CAN1, 2 = SWCAN, 3 = LIN1, 4 = LIN2)
    byte 5 - Frame length
    Byte 6-? - Data bytes
    Reply: As if the frame were received.

Receiving a frame:
There are three modes for frame reception:

LAWICEL:
    If Lawicel mode is active then frames are returned as proper for that standard:
T for extended frames, t for standard frames
Then, 3 or 8 hexadecimal digits
Then, the length digit (0-8)
Then, each byte as two hex digits
Finally, if timestamping mode is on, return milliseconds as four hex digits
Example: t01F80000112233445500

Ascii:
Microseconds in decimal followed by " - "
Then, the frame ID in hexadecimal
Then " X " if extended or " S " if standard frame
Then, bus number followed by another space
Then frame length followed by a space
Then, data bytes in hexadecimal and separated by spaces
Example: 2346623 - 3DE S 0 8 0 0 11 22 33 44 55 0

Binary:
Byte 0 - 0xF1
Byte 1 - 00
Byte 2-5 - Time stamp in microseconds LSB to MSB
Byte 6-9 - Frame ID, Bit 31 - Extended Frame
Byte 10 - Frame length in bottom 4 bits, Bus received on in upper 4 bits
Byte 11-? - Data bytes
Byte ?+1 - 0