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--- projects:crazyflie:crtp [2013-02-22 07:03]
macke created
+++ projects:crazyflie:crtp [2013-02-22 07:24]
macke
@@ Line 1: / Line 1: @@
 ====== Crazy RealTime Protocol ======
 The protocol used to communicate with the Crazyflie is called the Crazy RealTime Protocol, or CRTP in short. It's a simple protocol mainly designed to suit the radio chip used on the Crazyflie but the protocol can also be used on other physical links.
+This page and it's sub-pages describe the protocol itself, not the implementation of some of the more complex functions such as logging and parameters.
 ===== Header =====
@@ Line 38: / Line 40: @@
 Current port allocation:
 ^  **Port**  ^   **Target**   ^  **Used for**   ^
-|   0        |   [[projects:crazyflie:firmware:console | Console ]]      | Read console text that is printed to the console on the Crazyflie using consoleprintf |
+|   0        |   [[projects:crazyflie:crtp:console | Console ]]      | Read console text that is printed to the console on the Crazyflie using consoleprintf |
-|   2        |   [[projects:crazyflie:firmware:param | Parameters]]   | Get/set parameters from the Crazyflie. Parameters are defined using a macro in the Crazyflie source-code |
+|   2        |   [[projects:crazyflie:crtp:param | Parameters]]   | Get/set parameters from the Crazyflie. Parameters are defined using a [[projects:crazyflie:firmware:param|macro in the Crazyflie source-code]] |
-|   3        |   [[projects:crazyflie:firmware:commander |Commander]]    | Sending control set-points for the roll/pitch/yaw/thrust regulators |
+|   3        |   [[projects:crazyflie:crtp:commander |Commander]]    | Sending control set-points for the roll/pitch/yaw/thrust regulators |
-|   5        |   [[projects:crazyflie:firmware:log#communication_protocol|Log]]    | Set up log blocks with variables that will be sent back to the Crazyflie at a specified period. Log variables are defined using a macro in the Crazyflie source-code |
+|   5        |   [[projects:crazyflie:crtp:log#|Log]]    | Set up log blocks with variables that will be sent back to the Crazyflie at a specified period. Log variables are defined using a [[projects:crazyflie:firmware:log|macro in the Crazyflie source-code]] |
 |   14       |   [[projects:crazyflie:pc_utils:debugdriver|Client-side debugging]]    | Debugging the UI and exists only in the Crazyflie Python API and not in the Crazyflie itself.  |
-|   15       |   [[projects:crazyflie:firmware:linklayer |Link layer ]]   | Used to control and query the communication link |
+|   15       |   [[projects:crazyflie:crtp:linklayer |Link layer ]]   | Used to control and query the communication link |
 ====== Physical layers ======
@@ Line 67: / Line 69: @@
 |    Data   |    4-34  | The data in the packet |
 |    CRC    |   35-36  | The CRC16 of the packet |

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