ULS-DeCoNet Protocol Documentation on UAVLAS Docs

ULS Blitz Types and Description

Mon, 03 Nov 2025 00:00:00 +0000

ULSDC-PBDS031025 · version 1.0.1 · issued November 3, 2025
The numbered PDF is the controlled copy: download it from the portal.

Overview

The protocol used by devices for configuration is proprietary and is described in other documents. However, the protocol implements the possibility of transmitting messages (Blitz messages) that can be used by the user to control the device and obtain information. These messages are universal, and the format describes the data that is transmitted by various devices in our system connected to a single network.

ULS-DeCoNet Protocol Interface Control Document

Thu, 13 Nov 2025 00:00:00 +0000

ULSDC-PBICD011125 · version 1.0.5 · issued November 13, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The ULS-DeCoNet (ULS Devices Connection Network) protocol is a comprehensive communication protocol designed for Ultra-precise Location Systems (ULS). It provides a robust, hierarchical network architecture for connecting ULS devices across multiple transport mediums including UART and CAN bus.

Scope

This protocol defines:

Device discovery and network management
Object-oriented data exchange
System control and configuration
Firmware update mechanisms
Multi-hop routing capabilities
Blitz sensor data transmission

Key Features

Multi-transport Support: UART (with various framing modes) and CAN bus
Automatic Device Discovery: Dynamic network topology with automatic ID allocation
Hierarchical Addressing: Support for up to 63 local devices per interface
Multi-hop Routing: Packet forwarding through intermediate nodes
Object-based Data Model: Structured access to device parameters and data
Permission System: Read/write/protected access control for objects
Firmware Update: Secure bootloader mode with signature verification
Low Overhead: Optimized for embedded systems with limited resources

Terminology

Term	Description
DID	Device ID - Logical identifier for devices on a network segment (0-63)
LID	Local ID - Synonym for DID
CID	Connection ID - Identifies which connection interface (0-3)
HB	Heartbeat - Periodic keep-alive message
NM	Network Management - Protocol layer for device discovery
CN	Connection - Higher-level protocol for data exchange
Blitz	Fast sensor data messaging subsystem
MRX	Multi-Receiver eXtension - Secondary receiver support
GIMU	Ground IMU - Inertial Measurement Unit on transmitter
TXC	Transmitter Control - Ground unit control interface

Protocol Architecture

Protocol Stack

block-beta
 columns 1
 A["Application Layer\n(Device Objects, Blitz Messages, Config)"]
 B["Connection Layer (CN)\n(Object Access, System Commands, Routing)"]
 C["Interface Layer (IF)\n(Network Management, Device Discovery)"]
 D["Framing Layer\n(UART: ESC/COBS, CAN: Multi-frame)"]
 E["Physical Layer\n(UART, CAN/FDCAN)"]

Design Principles

Layered Architecture: Clear separation of concerns between protocol layers
Transport Agnostic: Core protocol independent of physical medium
Efficient Framing: Multiple framing modes optimized for different scenarios
Scalable Addressing: Support for hierarchical and flat addressing schemes
Robust Error Handling: CRC protection and timeout-based error recovery
Plug-and-Play: Automatic device discovery and ID allocation

OSI Layer Model Mapping

The ULS-DeCoNet protocol maps to the OSI reference model as follows:

ULS-DeCoNet Quick Reference Guide

Thu, 13 Nov 2025 00:00:00 +0000

ULSDC-PBDS041125 · version 1.0.0 · issued November 13, 2025
The numbered PDF is the controlled copy: download it from the portal.

Protocol Stack

Application Layer │ Objects, Blitz Messages, Device Data
Connection Layer │ Routing, Object Access, System Commands
Interface Layer │ Network Management, Device Discovery
Framing Layer │ UART: ESC/COBS | CAN: Multi-frame
Physical Layer │ UART 115200+ | CAN 1Mbps

Addressing

Component	Size	Range	Description
Device ID (DID)	6 bits	0-63	Local device address
Connection ID (CID)	2 bits	0-3	Interface identifier
CNRID	8 bits	0-255	Combined routing ID: `(CID<<6)\|DID`

Special Addresses:

ULS-DeCoNet Blitz Messages Specification

Thu, 13 Nov 2025 00:00:00 +0000

ULSDC-PBDS051125 · version 1.0.4 · issued November 13, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

The Blitz protocol is a specialized messaging subsystem within ULS-DeCoNet designed for high-frequency transmission of sensor measurement data from ULS positioning systems.

Key Characteristics

Low Overhead: Fixed 11-byte messages (3-byte header + 8-byte payload)
High Frequency: Optimized for 100+ Hz update rates
Real-time: Minimal latency from sensor to network
Type-safe: Strongly typed message definitions
Compact: Efficient packing of measurement data

Blitz Protocol Overview

Protocol Stack Position

block-beta
 columns 1
 A["Application Layer\n(Blitz Message Handling)"]
 B["IF Protocol\n(IF_CMD_BLITZ = 0x06)"]
 C["Framing Layer"]

Message Flow

flowchart LR
 Sensor --> Measurement --> BlitzEncode["Blitz Encode"] --> IFLayer["IF Layer"] --> Transport --> Receiver
 BlitzEncode --> MsgId["MSG_ID + Data"] --> BlitzCmd["IF_CMD_BLITZ"] --> Frame["UART/CAN Frame"]

Message Format

IF Layer Packet Structure

packet-beta
title "Blitz IF Layer Packet"
0-7: "CMD 0x06 (1 byte)"
8-15: "SRC_LID (1 byte)"
16-31: "MSG_ID (2 bytes)"
32-95: "DATA (8 bytes)"

Total Size: 11 bytes

ULS-DeCoNet CAN Transport Specification

Thu, 13 Nov 2025 00:00:00 +0000

ULSDC-PBDS021125 · version 1.0.5 · issued November 13, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document specifies how ULS-DeCoNet protocol messages are transmitted over CAN bus, including frame structure, multi-frame messaging, and error handling specific to the CAN transport.

CAN Bus Advantages

Why CAN for ULS-DeCoNet:

Multi-master: Any device can initiate communication
Robust: Built-in error detection and retry
Priority-based: Critical messages transmitted first
Collision-free: Hardware arbitration prevents collisions
Long-distance: Up to 40m @ 1Mbps, longer at lower speeds
Industrial proven: Widely used in automotive and industrial applications

Scope

This specification covers:

ULS-DeCoNet UART Transport Specification

Thu, 13 Nov 2025 00:00:00 +0000

ULSDC-PBDS031125 · version 1.0.9 · issued November 13, 2025
The numbered PDF is the controlled copy: download it from the portal.

Introduction

Purpose

This document specifies the UART framing layer of the ULS-DeCoNet protocol, providing detailed information about packet delimiting, byte stuffing, and error detection mechanisms.

Scope

The UART protocol layer operates between the Physical Layer (UART hardware) and the Network Layer (IF protocol), providing:

Frame delimiting
Error detection (CRC/checksum)
Transparent data transmission
Multiple operating modes

Physical Layer

UART Configuration

Standard Settings: