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--- doc:crazyradio:usb:index [2012-05-17 13:53]
arnaud
+++ doc:crazyradio:usb:index [2013-01-05 23:43]
arnaud [Continuous carrier mode]
@@ Line 12: / Line 12: @@
 | EP1IN/OUT | Bulk    | Data endpoints. Used to send and receive radio packets |
-==== Dongle configuration ====
+==== Data transfer ====
+The radio dongle being configured in PTX (emmiter) mode it sends packet to the copter and waits for the acknowledge. The acknowledge can contains a Payload which is the mean to receive data. If the auto acknowledge is disable there is no IN transaction.
+To send a packet the following sequence must be followes:
+  * Send the packet to EP1_OUT. Its length should be between 1 to 32Bytes
+  * Read the ACK from EP1_IN. The first byte is the transfers status and the following bytes are the content of the ACK payload, if any.
+<ditaa>
+..32Bytes
+               <------------------------>
+              +-------------------------+
+To EP1_OUT:   | Packet to be transmited |
+              +-------------------------+
+Byte       1..32 Bytes
+               <------> <-------------------->
+              +--------+----------------------+
+From EP1_IN:  | Status | Ack payload received |
+              +--------+----------------------+
+</ditaa>
+The status byte contains flags indicating the quality of the link:
+^ Status  Bit   ^ Role                    ^
+| 4..7          | Number of retransmition |
+| 2..3          | Reserved                |
+| 1             | Power detector          |
+| 0             | Ack received            |
+==== Dongle configuration and functions summary ====
 Crazyradio vendor requests summary:
@@ Line 25: / Line 54: @@
 |          0x40 | ACK_ENABLE (0x10)        | Active   | Zero   | Zero    | None    |
 |          0x40 | SET_CONT_CARRIER (0x20)  | Active   | Zero   | Zero    | None    |
+|          0x40 | SCAN_CHANNELS (0x21)     | Start    | Stop   | Length  | Packet  |
+|          0xC0 | SCAN_CHANNELS (0x21)     | Zero     | Zero   | 63      | Result  |
 |          0x40 | LAUNCH_BOOTLOADER (0xFF) | Zero     | Zero   | Zero    | None    |
-=== Set radio channel ===
+==== Set radio channel ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 34: / Line 65: @@
 The nrf24L chips provides 126 Channels of 1MHz from 2400MHz to 2525MHz. The channel parameter shall be between 0 and 125 (if not the command will be ignored).
-The radio channel is set as soon as the setup transaction is completed which takes about 1ms. The new frequency is going to be used for the following transfered packets. Default value for the radio channel is 2.
+The radio channel is set as soon as the USB setup transaction is completed which takes about 1ms. The new frequency is going to be used for the following transfered packets. Default value for the radio channel is 2.
-=== Set radio address ===
+==== Set radio address ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 53: / Line 84: @@
 The default address is 0xE7E7E7E7E7.
-=== Set datarate ===
+==== Set datarate ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 65: / Line 96: @@
-=== Set radio power ===
+==== Set radio power ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
 |          0x40 | SET_RADIO_POWER (0x04)   | Power    | Zero   | Zero    | None    |
+Sets the radio amplifier output power. Possible values:
-=== Configure auto retry (ARD/ARC) ===
+^ Value ^ Power   ^
+|     0 | -18dBm  |
+|     1 | -12dBm  |
+|     2 | -6dBm   |
+|     3 | 0dBm    |
+==== Configure auto retry (ARD/ARC) ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 88: / Line 126: @@
 |   ... | ...            |
 |  0x0F | 4000us         |
 ^ Value ^ Ack payload length ^
 |  0x80 | 0Byte              |
@@ Line 99: / Line 136: @@
 By default ARD=32Bytes (0xA0) and ARC=3.
-=== Continuous carrier mode ===
+==== Auto ACK configuration ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 110: / Line 147: @@
 | Not 0         | Auto ack enable (default) |
-=== Continuous carrier mode ===
+==== Continuous carrier mode ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 123: / Line 160: @@
 | Not 0         | Dongle in continuous carrier mode |
-=== Launch bootloader ===
+==== Channels scanning ====
+^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
+==== Launch bootloader ====
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
@@ Line 134: / Line 177: @@
 A PC client for the bootloader is part of the Crazyflie ground station program.
-==== Data transfer ====
-The radio dongle is configured in PTX mode (in the Nordic terminology) which means that it sends packet to the copter and waits for the acknowledge. The acknowledge can contains a Payload which is the mean to get data from the copter.
-The packet is to send is sent to the EP1 and the ack status is then received from the EP1. There are no buffering in the radio dongle, the ACK must be received by the PC before the next packet can be sent.
-<ditaa>
-..32Bytes
-               <------------------------>
-              +-------------------------+
-To EP1_OUT:   | Packet to be transmited |
-              +-------------------------+
-..32 Bytes
-Byte <-------------------->
-              +-----+----------------------+
-From EP1_IN:  | Ack | Ack payload received |
-              +-----+----------------------+
-</ditaa>
-This protocol permits to transfer about 500 packets per seconds.
 ===== Radio protocol =====

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