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projects:crazyflie:crtp [2013-04-02 15:41]
arnaud [Layers] 		projects:crazyflie:crtp [2021-06-24 16:48] (current)
kimberly
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 +<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.
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 |   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 |
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 |    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.1364910086.txt.gz · Last modified: 2015-07-15 16:30 (external edit)

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