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projects:crazyflie:crtp [2013-04-02 15:40] arnaud [Serial port] |
projects:crazyflie:crtp [2021-06-24 16:48] (current) kimberly |
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+ | This page has deprecated and will be archived. Please go to [[https:// | ||
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====== Crazy RealTime Protocol ====== | ====== 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. | 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. | ||
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CRTP is implemented in 3 layers: | CRTP is implemented in 3 layers: | ||
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* **CRTP Link** is responsible for transferring the packets between the Crazyflie and the host. It will typically handles packet size and error detection. | * **CRTP Link** is responsible for transferring the packets between the Crazyflie and the host. It will typically handles packet size and error detection. | ||
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| Data | | Data | ||
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+ | ==== Example ==== | ||
+ | To send setpoints to the [[projects: | ||
+ | < | ||
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+ | To ping Crazyflie: | ||
+ | < | ||
+ | | ||
+ | < | ||
+ | </ |