Question about Native Protocol Sequence Numbers

[jscott]

Looking over the Native Protocol specs the Sequence Number fields looks pretty straight forward.

That is until I see an old post…

Using native protocol with Arduino

Not sure where, or if, it’s linked to in the doc index or similar, but here are details on the packet format: https://github.com/madcowswe/ODrive/blob/master/docs/protocol.md Also keep in mind this particular workaround https://github.com/madcowswe/ODrive/blob/eb07260c3ea57e74c59432fd036b275b608d85d0/Firmware/fibre/python/fibre/protocol.py#L276 when writing your client code. e.g. if you’re sending message with sequence number “1”, the firmware is going to reply to that message with 129 instead…

This article looks like it is talking about the odrive responding with the sequence number you send, but with bit 7 (msb of low order byte of a uint16) set.

Is this still the case?

The spec says the MSB will be set to 1, but that would be bit 15, not bit 7.

Thanks
-John

[Wetmelon]

@Samuel will have to answer. As mentioned in your other post, you may want to look at the fibre-cpp or fibre repos and ask questions on Github.

samuelsadok/fibre-cpp

samuelsadok/fibre

[Samuel]

With the latest release, if you’re writing your own client you don’t have to hardwire bit 7 of the sequence number to 1 anymore. This was only done for Fibre+ASCII protocol coexistence on the same physical interface but this is no longer a possible configuration option in firmware 0.5.2.