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--- projects:crazyflie:crtp [2013-04-02 15:38]
arnaud [Serial port]
+++ projects:crazyflie:crtp [2015-07-15 16:31]
127.0.0.1 external edit
@@ Line 22: / Line 22: @@
 CRTP is implemented in 3 layers:
-<code>
+<ditaa>
  +-----------------------+
  |   Application/ports   |
@@ Line 30: / Line 30: @@
  |       CRTP Link       |
  +-----------------------+
-</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.
@@ Line 56: / Line 56: @@
 ===== Serial port =====
+The serial port is configured in 115200 8N1. CRTP packets are sent and received asynchronously using the following packet format:
 <code>
    6   5   4   3   2   1   0
@@ Line 70: / Line 72: @@
 +---+---+---+---+---+---+---+---+
 :   :   :   :   :   :   :   :   :
-+---+---+---+---+---+---+---+---+
-|            DATA 30            |
 +---+---+---+---+---+---+---+---+
 |            Cksum              |
@@ Line 89: / Line 89: @@
 |    Data   |    4-..  |         | The data in the packet |
 |   Cksum   |  4+size  |         | Checksum. Sum of all the bytes, excluding //Start//, modulo 256. |
+==== Example ====
+To send setpoints to the [[projects:crazyflie:crtp:commander|commander]] send:
+<code>
+xaa 0xaa 0x30 0x0e 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x3e
+</code>
+To ping Crazyflie:
+<code>
+ ->   0xaa 0xaa 0xf0 0x01 0x01 0xf2     # Sent to the copter
+ <-   0xaa 0xaa 0xf0 0x01 0x01 0xf2     # Received from the copter
+</code>

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