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projects:crazyflie:crtp [2013-04-02 15:38]
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 ====== ====== 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.
Line 22: Line 25:
 CRTP is implemented in 3 layers: CRTP is implemented in 3 layers:
  
-<code>+<ditaa>
  +-----------------------+  +-----------------------+
    Application/ports   |    Application/ports   |
Line 30: Line 33:
        CRTP Link       |        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.   * **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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 |          |   [[projects:crazyflie:crtp:commander |Commander]]    | Sending control set-points for the roll/pitch/yaw/thrust regulators | |          |   [[projects:crazyflie:crtp:commander |Commander]]    | Sending control set-points for the roll/pitch/yaw/thrust regulators |
 |          |   [[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]] | |          |   [[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]] |
 +|          |   [[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 |
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 ===== Serial port ===== ===== Serial port =====
 +The serial port is configured in 115200 8N1. CRTP packets are sent and received asynchronously using the following packet format:
 +
 <code> <code>
   7               0   7               0
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 +---+---+---+---+---+---+---+---+ +---+---+---+---+---+---+---+---+
 :   :   :   :   :   :   :   :   : :   :   :   :   :   :   :   :   :
-+---+---+---+---+---+---+---+---+ 
-|            DATA 30            | 
 +---+---+---+---+---+---+---+---+ +---+---+---+---+---+---+---+---+
 |            Cksum              | |            Cksum              |
Line 89: Line 93:
 |    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.1364909896.txt.gz · Last modified: 2015-07-15 16:30 (external edit)