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projects:crazyflie:crtp

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projects:crazyflie:crtp [2013-04-02 15:41]
arnaud [Layers]
projects:crazyflie:crtp [2017-04-01 21:29]
theseankelly [Port allocation]
Line 44: Line 44:
 |   ​3 ​       |   ​[[projects:​crazyflie:​crtp:​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:​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]] | |   ​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]] |
 +|   ​7 ​       |   ​[[projects:​crazyflie:​crtp:​setpointgeneric | Setpoint Generic]] | For sending generic, extensible setpoints |
 |   ​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. ​ | |   ​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:​crtp:​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 |
Line 89: Line 90:
 |    Data   ​| ​   4-..  |         | The data in the packet | |    Data   ​| ​   4-..  |         | The data in the packet |
 |   ​Cksum ​  ​| ​ 4+size ​ |         | Checksum. Sum of all the bytes, excluding //Start//, modulo 256. | |   ​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>​
 +0xaa 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>​
projects/crazyflie/crtp.txt · Last modified: 2017-04-01 21:29 by theseankelly