Table of Contents

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Memory access

Memory access is not used for the Crazyflie Nano Quadcopter, it's currently only implemented in the Crazyflie 2.0. Using the memory access gives the possibility to:

Currently the following memories are supported:

There's more information available for how the EEPROM is structured and how the 1-wire memories work and are structured.

Logical flow

Getting information and reading/writing the memories is optional for the clients, but the -Crazyflie Python Client- always downloads information about the memories on connect.

Communication protocol

The memory port uses 3 different channels:

Port Channel Function
4 0 Get information about amount and types of memory as well as erasing
4 1 Read memories
4 2 Write memories

Channel 0: Info/settings

This channel is used to get the number of memories present, information about the memories and the possibility to mass erase memories. The first byte of every packet is a command byte:

Command byte Command Operation
1 GET_NBR_OF_MEMS Get the number of memories
2 GET_MEM_INFO Get information about a memory
3 SET_MEM_ERASE Mass erase a memory

GET_NBR_OF_MEMS

This command is used to get the number of memories present.

The request from host to Crazyflie:

Byte Field Value Length Comment
0 GET_NUMBER_OF_MEMS 0x01 1 The command byte

Reply from Crazyflie to host:

Byte Field Value Length Comment
0 GET_NUMBER_OF_MEMS 0x01 1 The command byte
1 Number of memories 1 The number of memories preset (all types)

Example where there are 3 memories present on the Crazyflie: 

Host-to-Crazyflie: <port/chan> 0x01
Crazyflie-to-Host: <port/chan> 0x01 0x03

GET_MEM_INFO

This command is used to get information about a memory give it's id. The id of memories is sequential and is from 0 to one less than the returned number of memories from GET_NUMBER_OF_MEMS.

The request from host to Crazyflie:

Byte Field Value Length Comment
0 GET_MEM_INFO 0x02 1 The command byte
1 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS

Reply from Crazyflie to host if the id is valid:

Byte Field Value Length Comment
0 GET_MEM_INFO 0x02 1 The command byte
1 MEM_ID 1 The memory id
2 MEM_TYPE 1 The memory type (see below)
3 MEM_SIZE 4 The size in bytes of the memory
7 MEM_ADDR 8 The address of the memory (only valid for 1-wire memories)

Where the MEM_TYPE field is:

MEM_TYPE Memory type Comment
0 I2C
1 1-wire

Reply from Crazyflie to host if the id is not valid:

Byte Field Value Length Comment
0 GET_MEM_INFO 0x02 1 The command byte
1 MEM_ID 1 The memory id

Example of requesting the information for a 1-wire memory with MEM_ID=1, MEM_SIZE=112bytes, MEM_ADDR=0x1234567890ABCDEF 

Host-to-Crazyflie: <port/chan> 0x02 0x01
Crazyflie-to-Host: <port/chan> 0x02 0x01 0x01 0x70 0x00 0x00 0x00 0xEF 0xCD 0xAB 0x90 0x78 0x56 0x34 0x12

Example of requesting the information for a memory index that is not valid 

Host-to-Crazyflie: <port/chan> 0x01 0x10
Crazyflie-to-Host: <port/chan> 0x01 0x10

SET_MEM_ERASE

This command is used to mass erase a memory with a given id. The id of memories is sequential and is from 0 to one less than the returned number of memories from GET_NUMBER_OF_MEMS.

The request from host to Crazyflie:

Byte Field Value Length Comment
0 SET_MEM_ERASE 0x03 1 The command byte
1 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS

Reply from Crazyflie to host:

Byte Field Value Length Comment
0 SET_MEM_ERASE 0x03 1 The command byte
1 MEM_ID 1 The memory id
2 STATUS 1 The status of the command (see below)

Example of requesting a mass erase for a memory with MEM_ID=2 

Host-to-Crazyflie: <port/chan> 
Crazyflie-to-Host: <port/chan>

Example of 

Host-to-Crazyflie: <port/chan> 
Crazyflie-to-Host: <port/chan>

Channel 1: Memory read

This channel is only used to read memories and therefore the messages do not contain any command byte.

The request from host to Crazyflie:

Byte Field Value Length Comment
0 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS
1 MEM_ADDR 4 The address where the first byte should be read
5 LEN 1 The number of bytes to be read

Reply from Crazyflie to host if memory id is valid and the address and length to be read is valid:

Byte Field Value Length Comment
0 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS
1 MEM_ADDR 4 The address where the first byte should be read
5 STATUS 1 The status of the request (see below)
6 DATA 1..24? The data that was read (only if MEM_ID/MEM_ADDR/LEN is valid)

Where the STATUS field is:

STATUS Comment
0 …
1 ….

Example of reading LEN=0x0F bytes from MEM_ID=0x01 MEM_ADDR=0x0A 

Host-to-Crazyflie: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x0F
Crazyflie-to-Host: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x00 0x01 0x09 0x62 0x63 0x4C 0x65 0x64 0x52 0x69 0x6E 0x67 0x02 0x01 0x62 0x55

Channel 2: Memory write

This channel is only used to write memories and therefore the messages do not contain any command byte.

The request from host to Crazyflie:

Byte Field Value Length Comment
0 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS
1 MEM_ADDR 4 The address where the first byte should be read
5 DATA 1..24? The data to be written

Reply from Crazyflie to host if memory id is valid and the address and length to be written is valid:

Byte Field Value Length Comment
0 MEM_ID 1 A memory id that is 0 ⇐ id < NBR_OF_MEMS
1 MEM_ADDR 4 The address where the first byte should be read
4 STATUS 1 The status of the request (see below)

Where the STATUS field is:

STATUS Comment
0 …
1 ….

Example