parrot无人机蓝牙协议

最新推荐文章于 2023-02-27 12:05:08 发布

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最新推荐文章于 2023-02-27 12:05:08 发布

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本文链接：https://blog.csdn.net/a245387976/article/details/96152850

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本文介绍了无人机通过蓝牙低功耗(BLE)技术实现的多种服务及其对应的特性。包括发送指令服务(ARCOMMAND_SENDING_SERVICE)及接收通知服务(ARCOMMAND_RECEIVING_SERVICE)，并详细解释了如何使用这些服务进行数据交互。

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Services

Short UUID of published services are (Controller side)

ARCOMMAND_SENDING_SERVICE "FA00"   用于发送指令给无人机

ARCOMMAND_RECEIVING_SERVICE "FB00"    用于接收无人机notification数据

PERFORMANCE_COUNTER_SERVICE "FC00"  

NORMAL_BLE_FTP_SERVICE "FD21" 

UPDATE_BLE_FTP_SERVICE "FD51" 

UPDATE_RFCOMM_SERVICE "FE00"

Short UUIDs are derived from the 3rd and 4th bytes of the BLE service full UUID.

For exemple for a sending service UUID:

9a66fa00-0800-9191-11e4-012d1540cb8e

Characteristics

ARCOMMAND_SENDING_SERVICE and ARCOMMAND_RECEIVING_SERVICE each have 16 characteristics corresponding to the 16 IO channels.

Send characteristics

ARCOMMAND_SENDING_SERVICE characteristics are configured in mode “Write Without Response”.

Only the four following characteristics are used for sending:

Characteristic id Channel use

0x0A (10) 发送无响应数据

0x0B (11) 发送有相应数据

0x0C (12) 发送优先级高的命令

0x1E (30) 确认已收到命令应答

Receive characteristics

ARCOMMAND_RECEIVING_SERVICE characteristics are configured in mode “Notify”.

Only the four following characteristics are used for receiving:

Characteristic id Channel use

0x0E (14) Receive commands with ACK

0x0F (15) Receive commands without ACK

0x1B (27) Acknowledgment for device commands with ACK

0x1C (28) Acknowledgment for high priority commands

Characteristic ids are derived from the 4th byte of the BLE characteristic full UUID.

For exemple for the no-ACK send command characteristic id:

9a66fa0a-0800-9191-11e4-012d1540cb8e