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projects:crazyflie:crtp [2013-04-02 15:37] arnaud [USB port] |
projects:crazyflie:crtp [2015-07-15 16:31] 127.0.0.1 external edit |
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CRTP is implemented in 3 layers: | CRTP is implemented in 3 layers: | ||
- | <code> | + | <ditaa> |
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- | </code> | + | </ditaa> |
* **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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This is currently not implemented but it will potentially replace the serial port link. The use of this is to get CRTP at higher speeds than the radio can transmit. | This is currently not implemented but it will potentially replace the serial port link. The use of this is to get CRTP at higher speeds than the radio can transmit. | ||
- | ==== Serial port ==== | + | ===== Serial port ===== |
+ | The serial port is configured in 115200 8N1. CRTP packets are sent and received asynchronously using the following packet format: | ||
< | < | ||
7 | 7 | ||
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+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
: : | : : | ||
- | +---+---+---+---+---+---+---+---+ | ||
- | | DATA 30 | | ||
+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
| Cksum | | | Cksum | | ||
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| Data | | Data | ||
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+ | |||
+ | ==== Example ==== | ||
+ | To send setpoints to the [[projects: | ||
+ | < | ||
+ | 0xaa 0xaa 0x30 0x0e 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x3e | ||
+ | </ | ||
+ | |||
+ | To ping Crazyflie: | ||
+ | < | ||
+ | | ||
+ | < | ||
+ | </ |