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+<h1><span class="title">How to talk to your microcontroller over serial</span></h1>
+
+<h2 class="date">2018/05/19</h2>
+<p class="terms">
+  
+  
+  
+  
+  
+</p>
+</div>
+
+
+
+<main>
+<div class="document">
+
+
+<p>Scroll to the end for the <a class="reference internal" href="#conclusion">TL;DR</a>.</p>
+<p>In this article I will give an overview on the protocols spoken on serial ports, highlighting common pitfalls. I will
+summarize some points on how to design a serial protocol that is simple to implement and works reliably even under error
+conditions.</p>
+<p>If you have done low-level microcontroller firmware you will regularly have had to stuff some data up a serial port to
+another microcontroller or to a computer. In the age of USB, a serial port is still the simplest and quickest way to get
+communication to a control computer up and running. Integrating a ten thousand-line USB stack into your firmware and
+writing the necessary low-level drivers on the host side might take days. Poking a few registers to set up your UART to
+talk to an external hardware USB to serial converter is a matter of minutes.</p>
+<p>This simplicity is treacherous, though. Oftentimes, you start writing your serial protocol as needs arise. Things might
+start harmless with something like <tt class="docutils literal">SET_LED ON\n</tt>, but unless you proceed it is easy to end up in a hot mess of command
+modes, protocol states that breaks under stress. The ways in which serial protocols break are manifold. The simplest one
+is that at some point a character is mangled, leading to both ends of the conversation ending up in misaligned protocol
+states. With a fragile protocol, you might end up in a state that is hard to recover from. In extreme cases, this leads
+to code such as <a class="reference external" href="https://github.com/juhasch/pyBusPirateLite/blob/master/pyBusPirateLite/BBIO_base.py#L68">this gem</a> performing some sort of arcane ritual to get back to some known state, and all just because
+someone did not do their homework. Below we'll embark on a journey through the lands of protocol design, exploring the
+facets of this deceptively simple problem.</p>
+<div class="section" id="text-based-serial-protocols">
+<h2>Text-based serial protocols</h2>
+<p>The first serial protocol you've likely written is a human-readable, text-based one. Text-based protocols have the big
+advantage that you can just print them on a terminal and you can immediately see what's happening. In most cases you can
+even type out the protocol with your bare hands, meaning that you don't really need a debugging tool beyond a serial
+console.</p>
+<p>However, text-based protocols also have a number of disadvantages. Depending on your application, these might not matter
+and in many cases a text-based protocol is the most sensible solution. But then, in some cases they might and it's good
+to know when you hit one of them.</p>
+<div class="section" id="problems">
+<h3>Problems</h3>
+<div class="section" id="low-information-density">
+<h4>Low information density</h4>
+<p>Generally, you won't be able to stuff much more than four or five bit of information down a serial port using a
+human-readable protocol. In many cases you will get much less. If you have 10 commands that are only issued a couple
+times a second nobody cares that you spend maybe ten bytes per command on nice, verbose strings such as <tt class="docutils literal">SET LED</tt>. But
+if you're trying to squeeze a half-kilobyte framebuffer down the line you might start to notice the difference between
+hex and base-64 encoding, and a binary protocol might really be more up to the job.</p>
+</div>
+<div class="section" id="complex-parsing-code">
+<h4>Complex parsing code</h4>
+<p>On the computer side of thing, with the whole phalanx of an operating system, the standard library of your programming
+language of choice and for all intents and purposes unlimted CPU and memory resources to spare you can easily parse
+anything spoken on a serial port in real time, even at a blazing fast full Megabaud. The microcontroller side however is
+an entirely different beast. On a small microcontroller, <a class="reference external" href="http://git.musl-libc.org/cgit/musl/tree/src/stdio/vfprintf.c">printf</a> alone will eat about half your flash. On most small
+microcontrollers, you just won't get a regex library even though it would make parsing textual commands <em>so much
+simpler</em>. Lacking these resources, you might end up hand-knitting a lot of low-level C code to do something seemingly
+simple such as parsing <tt class="docutils literal">set_channel (13, <span class="pre">1.1333)\n</span></tt>. These issues have to be taken into account in the protocol design
+from the beginning. If you don't really need matching parentheses, don't use them.</p>
+</div>
+<div class="section" id="fragile-protocol-state">
+<h4>Fragile protocol state</h4>
+<p>Say you have a <tt class="docutils literal">SET_DISPLAY</tt> command. Now say your display can display four lines of text. The obvious approach to this
+is probably the <a class="reference external" href="https://en.wikipedia.org/wiki/Simple_Mail_Transfer_Protocol">SMTP</a> or <a class="reference external" href="https://en.wikipedia.org/wiki/Hypertext_Transfer_Protocol">HTTP</a> way of sending <tt class="docutils literal">SET_DISPLAY\nThis is line 1\nThis is line 2\n\n</tt>. This would certainly
+work, but it is very fragile. With this protocol, you're in trouble if at any point the terminating second newline
+character gets mangled (say, someone unplugs the cable, or the control computer reboots, or a cosmic ray hits something
+and <tt class="docutils literal">0x10 '\n'</tt> turns into <tt class="docutils literal">0x50 'P'</tt>).</p>
+</div>
+<div class="section" id="timeouts-don-t-work">
+<h4>Timeouts don't work</h4>
+<p>You might try to solve the problem of your protocol state machine tangling up with a timeout. &quot;If I don't get a valid
+command for more than 200ms I go back to default state.&quot; But consider the above example. Say, your control computer
+sends a <tt class="docutils literal">SET_DISPLAY</tt> command every 100ms. If in one of them the state machine tangles up, the parser hangs since the
+timeout is never hit, a new line of text arriving every 100ms.</p>
+</div>
+<div class="section" id="framing-is-hard">
+<h4>Framing is hard</h4>
+<p>You might also try to drop the second newline and using a convention such as <tt class="docutils literal">SET_DISPLAY</tt> is followed by two lines of
+text, then commands resume.&quot;. This works as long as your display contents never look like commands. If you are only ever
+displaying the same three messages on a character LCD that might work, but if you're displaying binary framebuffer
+data you've lost.</p>
+</div>
+</div>
+<div class="section" id="solutions">
+<h3>Solutions</h3>
+<div class="section" id="keep-the-state-machine-simple">
+<h4>Keep the state machine simple</h4>
+<p>Always use a single line of text to represent a single command. Don't do protocol states or modes where you can toggle
+between different interpretations for a line. If you have to send human-readable text as part of a command (such as
+<tt class="docutils literal">SET_DISPLAY</tt>) escape it so it doesn't contain any newlines.</p>
+<p>This way, you keep your protocol state machine simple. If at any time your serial trips and flips a bit or looses a byte
+your protocol will recover on the next newline character, returning to its base state.</p>
+</div>
+<div class="section" id="encode-numbers-in-hex-when-possible">
+<h4>Encode numbers in hex when possible</h4>
+<p>Printing a number in hexadecimal is a very tidy operation, even on the smalest 8-bit microcontrollers. In contrast,
+printing decimal requires both division and remainder in a loop which might get annoyingly code- and time-intensive on
+large numbers (say a 32-bit int) and small microcontrollers.</p>
+<p>If you have to send fractional values, consider their precision. Instead of sending a 12 bit ADC result as a 32-bit
+float formatted like <tt class="docutils literal">0.176513671875</tt> sending <tt class="docutils literal">0x2d3</tt> and dividing by 4096 on the host might be more sensible. If you
+really have to communicate big floats and you can't take the overhead of including both <a class="reference external" href="http://git.musl-libc.org/cgit/musl/tree/src/stdio/vfprintf.c">printf</a> and <a class="reference external" href="http://git.musl-libc.org/cgit/musl/tree/src/stdio/vfscanf.c">scanf</a> you can
+use hexadecimal floating point, which is basically <tt class="docutils literal"><span class="pre">hex((int)foo)</span> + &quot;.&quot; + <span class="pre">hex((int)(65536*(foo</span> - <span class="pre">(int)foo)))</span></tt> for four
+digits. You can also just hex-encode the binary <a class="reference external" href="https://en.wikipedia.org/wiki/IEEE_754">IEEE-754</a> representation of the float, sending <tt class="docutils literal"><span class="pre">hex(*(int</span> <span class="pre">*)&amp;float)</span></tt>.
+Most programming languages will have a <a class="reference external" href="https://docs.python.org/3.5/library/struct.html">simple, built-in means to parse this sort of thing</a>.</p>
+</div>
+<div class="section" id="escape-multiline-strings">
+<h4>Escape multiline strings</h4>
+<p>If you have to send arbitrary strings, escape special characters. This not only has the advantage of yielding a robust
+protocol: It also ensures you can actually see everything that's going on when debugging. The string <tt class="docutils literal">&quot;\r\n&quot;</tt> is easy to
+distinguish from <tt class="docutils literal">&quot;\n&quot;</tt> while your terminal emulator might not care.</p>
+<p>The simplest encoding to use is the C-style backslash encoding. Host-side, most languages will have a <a class="reference external" href="https://docs.python.org/3.5/library/codecs.html#text-encodings">built-in means of
+escaping a string like that</a>.</p>
+</div>
+</div>
+<div class="section" id="encoding-binary-data">
+<h3>Encoding binary data</h3>
+<p>For binary data, hex and base-64 are the most common encodings. Since hex is simpler to implement I'd go with it unless
+I really need the 30% bandwidth improvement base-64 brings.</p>
+</div>
+</div>
+<div class="section" id="binary-serial-protocols">
+<h2>Binary serial protocols</h2>
+<p>In contrast to anything human-readable, binary protocols are generally more bandwidth-efficient and are easier to format
+and parse. However, binary protocols come with their own version of the caveats we discussed for text-based protocols.</p>
+<div class="section" id="the-framing-problem-in-binary-protocols">
+<h3>The framing problem in binary protocols</h3>
+<p>The most basic problems with binary protocols as with text-based ones is framing, i.e. splitting up the continuous
+serial data stream into discrete packets. The issue is that it is that you have to somehow mark boundaries between
+frames. The simplest way would be to use some special character to delimit frames, but then any 8-bit character you
+could choose could also occur within a frame.</p>
+<div class="section" id="slip-ppp-like-special-character-framing">
+<h4>SLIP/PPP-like special character framing</h4>
+<p>Some protocols solve this problem much like we have solved it above for strings in line-based protocols, by escaping any
+occurence of the special delimiter character within frames. That is, if you want to use <tt class="docutils literal">0x00</tt> as a delimiter, you would
+encode a packet containing <tt class="docutils literal">0xde 0xad 0x00 0xbe 0xef</tt> as something like <tt class="docutils literal">0xde 0xad 0x01 0x02 0xbe 0xef</tt>, replacing the
+null byte with a magic sequence. This framing works, but is has one critical disadvantage: The length of the resulting
+escaped data is dependent on the raw data, and in the worst case twice as long. In a raw packet consisting entirely of
+null bytes, every byte must be escaped with two escape bytes. This means that in this case the packet length doubles,
+and in this particular case we're even less efficient than base-64.</p>
+<p>Highly variable packet length is also bad since it makes it very hard to make any timing guarantees for our protocol.</p>
+</div>
+<div class="section" id="bit-framing">
+<h4>9-bit framing</h4>
+<p>A framing mode sometimes used is to configure the UARTs to transmit 9-bit characters and to use the 9th bit to designate
+control characters. This works really well, and gives plenty of control characters to work with. The main problem with
+this is that a 9-bit serial interface is highly nonstandard and you need UARTs on both ends that actually support this
+mode. Another issue is that though more efficient than both delmitier-based and purely text-based protocols, it still
+incurs an extra about 10% of bandwidth overhead. This is not a lot if all you're sending is a little command every now
+and then, but if you're trying to push large amounts of data through your serial it's still bad.</p>
+</div>
+<div class="section" id="cobs">
+<h4>COBS</h4>
+<p>Given the limitations of the two above-mentioned framing formats, we really want something better. The <a class="reference external" href="https://en.wikipedia.org/wiki/Serial_Line_Internet_Protocol">Serial Line
+Internet Protocol (SLIP)</a> as well as the <a class="reference external" href="https://en.wikipedia.org/wiki/Point-to-Point_Protocol">Point to Point Protocol (PPP)</a>, standardized in 1988 and 1994 respectively,
+both use escape sequences. This might come as a surprise, but humanity has actually still made significant technological
+progress on protocols for 8-bit serial interfaces until the turn of the millennium. In 1999, <a class="reference external" href="http://www.stuartcheshire.org/papers/COBSforToN.pdf">Consistent Overhead Byte
+Stuffing (COBS)</a> (<a class="reference external" href="https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing">wiki</a>) was published by a few
+researchers from Apple Computer and Stanford University. As a reaction on the bandwidth doubling problem present in
+<a class="reference external" href="https://en.wikipedia.org/wiki/Point-to-Point_Protocol">PPP</a>, COBS <em>always</em> has an overhead of a single byte, no matter what or how long a packet's content is.</p>
+<p>COBS uses the null byte as a delimiter interleaves all the raw packet data and a <a class="reference external" href="https://en.wikipedia.org/wiki/Run-length_encoding">run-length encoding</a> of the non-zero
+portions of the raw packet. That is, it prepends the number of bytes until the first zero byte to the packet, plus one.
+Then it takes all the leading non-zero bytes of the packet, unmodified. Then, it again encodes the distance from the
+first zero to the second zero, plus one. And then it takes the second non-zero run of bytes unmodified. And so on. At
+the end, the packet is terminated with a zero byte.</p>
+<p>The result of this scheme is that the encoded packet does not contain any zero bytes, as every zero byte has been
+replaced with the number of bytes until the next zero byte, plus one, and that can't be zero. Both formatter and parser
+each have to keep a counter running to keep track of the distances between zero bytes. The first byte of the packet
+initializes that counter and is dropped by the parser. After that, every encoded byte received results in one raw byte
+parsed.</p>
+<p>While this might sound more complicated than the escaping explained above, the gains in predictability and efficiency
+are worth it. An implementation of encoder and decoder should each be about ten lines of C or two lines of Python. A
+minor asymmetry of the protocol is that while decoding can be done in-place, encoding either needs two passes or you
+need to scan forward for the next null byte.</p>
+</div>
+</div>
+<div class="section" id="state-machines-and-error-recovery">
+<h3>State machines and error recovery</h3>
+<p>In binary protocols even more than in textual ones it is tempting to build complex state machines triggering actions on
+a sequence of protocol packets. Please resist that temptation. As with textual protocols keeping the protocol state to
+the minimum possible allows for a self-synchronizing protocol. A serial protocol should be designed such that if due to
+a dropped packet or two both ends will naturally re-synchronize within another packet or two. A simple way of doing that
+is to always transmit one semantic command per packet and to design these commands in the most <a class="reference external" href="https://en.wikipedia.org/wiki/Idempotence#Computer_science_meaning">idempotent</a> way possible.
+For example, when filling a framebuffer piece by piece, include the offset in each piece instead of keeping track of it
+on the receiving side.</p>
+</div>
+</div>
+<div class="section" id="conclusion">
+<h2>Conclusion</h2>
+<p>Here's your five-step guide to serial bliss:</p>
+<ol class="arabic simple">
+<li>Unless you have super-special requirements, always use the slowest you can get away with from 9600Bd, 115200Bd or
+1MBd. 8N1 framing if you're talking to anything but another microcontroller on the same board. These settings are
+the most common and cover any use case. You'll inevitably have to guess these at some point in the future.</li>
+<li>If you're doing something simple and speed is not a particular concern, use a human-readable text-based protocol. Use
+one command/reply per line, begin each line with some sort of command word and format numbers in hexadecimal. You get
+bonus points if the device replies to unknown commands with a human-readable status message and prints a brief
+protocol overview on boot.</li>
+<li>If you're doing something even slightly nontrivial or need moderate throughput (&gt;1k commands per second or &gt;20 byte of
+data per command) use a COBS-based protocol. If you don't have a better idea, go for an <tt class="docutils literal">[target <span class="pre">MAC][command</span>
+<span class="pre">ID][command</span> arguments]</tt> packet format for multidrop busses. For single-drop you may decide to drop the MAC address.</li>
+<li>Always include some sort of &quot;status&quot; command that prints life stats such as VCC, temperature, serial framing errors
+and uptime. You'll need some sort of ping command anyway and that one might as well do something useful.</li>
+<li>If at all possible, keep your protocol context-free across packets/lines. That is, a certain command should always be
+self-contained, and no command should change the meaning of the next packet or line that is sent. This is really
+important to allow for self-synchronization. If you really need to break up something into multiple commands, say you
+want to set a large framebuffer in pieces, do it in a <a class="reference external" href="https://en.wikipedia.org/wiki/Idempotence#Computer_science_meaning">idempotent</a> way: Instead of sending something like <tt class="docutils literal">FRAMEBUFFER
+<span class="pre">INCOMING:\n[byte</span> <span class="pre">0-16]\n[byte</span> <span class="pre">17-32]\n[...]\nEND</span> OF FRAME</tt> rather send <tt class="docutils literal">FRAMEBUFFER DATA FOR OFFSET 0: [byte
+<span class="pre">0-16]\nFRAMEBUFFER</span> DATA FOR OFFSET 17: [byte <span class="pre">17-32]\n[...]\nSWAP</span> BUFFERS\n</tt>.</li>
+</ol>
+</div>
+</div>
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author	jaseg <git@jaseg.de>	2021-11-25 11:54:57 +0100
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