Differences

This shows you the differences between two versions of the page.

--- projects:crazyflie:crtp [2013-04-02 15:36]
arnaud [Serial port]
+++ projects:crazyflie:crtp [2021-06-24 16:48] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and will be archived. Please go to [[https://www.bitcraze.io/]].
+</WRAP>
 ====== 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.
@@ Line 22: / Line 25: @@
 CRTP is implemented in 3 layers:
-<code>
+<ditaa>
  +-----------------------+
  |   Application/ports   |
@@ Line 30: / Line 33: @@
  |       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 44: / Line 47: @@
 |   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]] |
+|   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.  |
 |   15       |   [[projects:crazyflie:crtp:linklayer |Link layer ]]   | Used to control and query the communication link |
@@ Line 54: / Line 58: @@
 ===== USB port =====
 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 =====
+The serial port is configured in 115200 8N1. CRTP packets are sent and received asynchronously using the following packet format:
 <code>
@@ Line 69: / Line 76: @@
 +---+---+---+---+---+---+---+---+
 :   :   :   :   :   :   :   :   :
-+---+---+---+---+---+---+---+---+
-|            DATA 30            |
 +---+---+---+---+---+---+---+---+
 |            Cksum              |
@@ Line 89: / Line 94: @@
 |   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>

Bitcraze Wiki

User Tools

Site Tools

Differences

Page Tools