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doc:crazyradio:usb:index [2012-05-17 13:53]
arnaud 		doc:crazyradio:usb:index [2013-07-11 17:54]
arnaud [Radio protocol]
Line 12: Line 12:
 | EP1IN/OUT | Bulk    | Data endpoints. Used to send and receive radio packets | | 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> 
 +                       1..32Bytes 
 +               <------------------------> 
 +              +-------------------------+ 
 +To EP1_OUT:   | Packet to be transmited | 
 +              +-------------------------+ 
 +                 1Byte       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: Crazyradio vendor requests summary:
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
-|          0x40 | SET_RADIO_CHANNEL (0x01) | channel  | Zero   | Zero    | None    | +|          0x40 | SET_RADIO_CHANNEL (0x01)   | channel  | Zero   | Zero    | None    | 
-|          0x40 | SET_RADIO_ADDRESS (0x02) | Zero     | Zero   | 5       | Address | +|          0x40 | SET_RADIO_ADDRESS (0x02)   | Zero     | Zero   | 5       | Address | 
-|          0x40 | SET_DATA_RATE (0x03)     | Datarate | Zero   | Zero    | None    | +|          0x40 | SET_DATA_RATE (0x03)       | Datarate | Zero   | Zero    | None    | 
-|          0x40 | SET_RADIO_POWER (0x04)   | Power    | Zero   | Zero    | None    | +|          0x40 | SET_RADIO_POWER (0x04)     | Power    | Zero   | Zero    | None    | 
-|          0x40 | SET_RADIO_ARD (0x05)     | ARD      | Zero   | Zero    | None    | +|          0x40 | SET_RADIO_ARD (0x05)       | ARD      | Zero   | Zero    | None    | 
-|          0x40 | SET_RADIO_ARC (0x06)     | ARC      | Zero   | Zero    | None    | +|          0x40 | SET_RADIO_ARC (0x06)       | ARC      | Zero   | Zero    | None    | 
-|          0x40 | ACK_ENABLE (0x10)        | Active   | Zero   | Zero    | None    | +|          0x40 | ACK_ENABLE (0x10)          | Active   | Zero   | Zero    | None    | 
-|          0x40 | SET_CONT_CARRIER (0x20)  | Active   | Zero   | Zero    | None    | +|          0x40 | SET_CONT_CARRIER (0x20)    | Active   | Zero   | Zero    | None    | 
-|          0x40 | LAUNCH_BOOTLOADER (0xFF) | Zero     | Zero   | Zero    | None    |+|          0x40 | START_SCAN_CHANNELS (0x21) | Start    | Stop   | Length  | Packet  | 
 +|          0xC0 | GET_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    ^ ^ 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 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    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
Line 53: Line 84:
 The default address is 0xE7E7E7E7E7. The default address is 0xE7E7E7E7E7.
  
-=== Set datarate ===+==== Set datarate ====
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
Line 65: Line 96:
  
  
-=== Set radio power ===+==== Set radio power ====
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
 |          0x40 | SET_RADIO_POWER (0x04)   | Power    | Zero   | Zero    | None    | |          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    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
Line 88: Line 126:
 |   ... | ...            |           |   ... | ...            |          
 |  0x0F | 4000us         | |  0x0F | 4000us         |
- 
 ^ Value ^ Ack payload length ^ ^ Value ^ Ack payload length ^
 |  0x80 | 0Byte              | |  0x80 | 0Byte              |
Line 99: Line 136:
 By default ARD=32Bytes (0xA0) and ARC=3. By default ARD=32Bytes (0xA0) and ARC=3.
  
-=== Continuous carrier mode ===+==== Auto ACK configuration ====
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
Line 110: Line 147:
 | Not 0         | Auto ack enable (default) | | Not 0         | Auto ack enable (default) |
  
-=== Continuous carrier mode ===+==== Continuous carrier mode ====
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
Line 123: Line 160:
 | Not 0         | Dongle in continuous carrier mode | | Not 0         | Dongle in continuous carrier mode |
  
-=== Launch bootloader ===+==== Channels scanning ==== 
 + 
 +This function is implemented in Crazyradio version 0.5 and over.
  
 ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ ^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^
-|          0x40 | LAUNCH_BOOTLOADER (0xFF) | Zero     | Zero   | Zero    | None    |+|          0x40 | START_SCAN_CHANNELS (0x21) | Start    | Stop   | Length  | Packet  | 
 +|          0xC0 | GET_SCAN_CHANNELS (0x21)   | Zero     | Zero   | 63      | Result  |
  
-This command is used to launch the Nordic semiconductor USB bootloader. After sending this command a USB reset shall be emitted which will trigger the dongle to start the bootloader. After sending this command the Dongle is only waiting for a USB reset which means that any other commands or data will be ignored.+Scan a range of channels and compile a list of channel from which an ack has been received. The command START_SCAN_CHANNELS should be executed first with start being the first scanned channel and stop the last one. Those should be within 0 to 125. The data is the packet payload sent on each channel, it should be at least one byte long.
  
-The bootloader is pre-loaded by Nordic Semi. in the nRF24LU1 chip at the address 0x7800. The Crazyradio firmware will jump to it when the sequence LAUCH_BOOTLOADER following by a USB reset is executed. The bootloader will appear at VID/PID of 0x1915/0x0101. See nRF24LU1 datasheet for the bootloader documentation.+All parameters, except the channel, are used unmodified during the scan. If the datarate is set to 2MBPs the scan is done every second channel. To get the list of channel that answered GET_SCANN_CHANNELS should be called just after a scan. Up to 63 bytes are returned corresponding to up to 63 channels on which the packet was acknowledged.
  
-A PC client for the bootloader is part of the Crazyflie ground station program.+Note. After scanning the channel will be let to the last scanned channel.
  
-==== Data transfer ====+==== Launch bootloader ====
  
-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.+^ bmRequestType ^ bRequest                 ^ wValue   ^ wIndex ^ wLength ^ data    ^ 
 +|          0x40 | LAUNCH_BOOTLOADER (0xFF) | Zero     | Zero   | Zero    | None    |
  
-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.+This command is used to launch the Nordic semiconductor USB bootloader. After sending this command a USB reset shall be emitted which will trigger the dongle to start the bootloader. After sending this command the Dongle is only waiting for a USB reset which means that any other commands or data will be ignored.
  
-<ditaa> +The bootloader is pre-loaded by Nordic Semi. in the nRF24LU1 chip at the address 0x7800. The Crazyradio firmware will jump to it when the sequence LAUCH_BOOTLOADER following by a USB reset is executed. The bootloader will appear at VID/PID of 0x1915/0x0101. See nRF24LU1 datasheet for the bootloader documentation. 
-                       1..32Bytes + 
-               <------------------------> +A PC client for the bootloader is part of the Crazyflie ground station program.
-              +-------------------------+ +
-To EP1_OUT:   | Packet to be transmited | +
-              +-------------------------+ +
-                           1..32 Bytes +
-               1Byte <--------------------> +
-              +-----+----------------------+ +
-From EP1_IN:  | Ack | Ack payload received | +
-              +-----+----------------------+ +
-</ditaa>+
  
-This protocol permits to transfer about 500 packets per seconds. 
 ===== Radio protocol ===== ===== Radio protocol =====
  
 +The Crazyradio dongle is currently only operating in PTX mode. To get downlink from the copter the ACK payload is used, which means that data are received only when data are sent. In the case of Crazyflie, to have bidirectional communication even when no data is send, a null packet (0xff) is sent periodically to pull the downlink data stream.
  
 +For Crazyflie the communication protocol is described in [[projects:crazyflie:firmware:comm_protocol|Communication protocol Overview]].
doc/crazyradio/usb/index.txt · Last modified: 2020-05-12 14:12 by kimberly

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