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projects:crazyflie:firmware:comm_protocol [2013-07-11 17:48] arnaud [Overview] |
projects:crazyflie:firmware:comm_protocol [2014-05-09 04:21] fred [Logging] fixed tiny but significant typo in hex string that cost me an hour of debugging |
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Line 21: | Line 21: | ||
^ **Link** | ^ **Link** | ||
| [[comm_protocol# | | [[comm_protocol# | ||
- | | [[comm_protocol# | + | | [[comm_protocol# |
- | | [[comm_protocol# | + | | [[comm_protocol# |
Current port allocation: | Current port allocation: | ||
Line 61: | Line 61: | ||
==== 2.4 GHz NordicSemi Radio ==== | ==== 2.4 GHz NordicSemi Radio ==== | ||
- | The wireless interface will add additional header data like CRC when sending the packet and therefore the packet sent to the wireless interface is only a CRTP packet. | + | The wireless interface will add additional header data like CRC when sending the packet and therefore the packet sent to the wireless interface is only a CRTP packet |
==== USB port ==== | ==== USB port ==== | ||
Line 124: | Line 124: | ||
| | | | ||
- | === Table of content access === | + | === Table of content access |
This channel is used to access the loggable variables table of content. | This channel is used to access the loggable variables table of content. | ||
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Each message uses an additional command byte that is followed by 0 to 31 bytes of data depending of the command. For every command byte there' | Each message uses an additional command byte that is followed by 0 to 31 bytes of data depending of the command. For every command byte there' | ||
- | The logging variables are sequentially | + | The logging variables are requested by the receiver until all variables are returned. When the variable |
- | The CRC32 is a hash of the copter' | + | The CRC32 is a hash of the copter' |
The following messages are sent from the Client to the Crazyflie: | The following messages are sent from the Client to the Crazyflie: | ||
^ **Request for** ^ **Byte** | ^ **Request for** ^ **Byte** | ||
- | | TOC item | | + | | TOC item | |
- | | ::: | + | | ::: |
- | | TOC CRC and count | 0 | Request the TOC CRC and item count | | + | | TOC CRC and count | 0 |
The following messages are sent from the Crazyflie to the Client: | The following messages are sent from the Crazyflie to the Client: | ||
^ **Reply for** ^ **Byte** | ^ **Reply for** ^ **Byte** | ||
- | | TOC item | + | | TOC item |
- | | ::: | + | | ::: |
- | | ::: | + | | ::: |
- | | ::: | + | | ::: |
- | | ::: | + | |
| ::: | | ::: | ||
- | | TOC CRC and count | | + | | TOC CRC and count | |
| ::: | | ::: | ||
- | | ::: | + | | ::: |
+ | | ::: | ||
+ | | ::: | ||
== Usage == | == Usage == | ||
Line 166: | Line 167: | ||
| | ||
| | ||
- | Request for TOC item ---> | + | Request for TOC item 0 ---> |
- | with ID omitted | + | |
- | < | + | Request for TOC item 1 ---> |
- | Request for TOC item ---> | + | |
- | | + | |
- | | + | |
- | | + | Request for TOC item N-1 ---> |
- | Request for TOC item ---> | + | where N is Number of |
- | | + | total variables in TOC |
+ | < | ||
+ | [optional] | ||
+ | Request for TOC item N | ||
+ | (or any higher) | ||
+ | < | ||
[Fetch complete] | [Fetch complete] | ||
</ | </ | ||
- | === Log settings access === | + | |
+ | === Log settings access | ||
This channel is used to access the log settings to add/ | This channel is used to access the log settings to add/ | ||
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The following messages are sent from the Client to the Crazyflie: | The following messages are sent from the Client to the Crazyflie: | ||
^ **Request for** ^ **Byte** | ^ **Request for** ^ **Byte** | ||
- | | | + | | |
- | | ::: | + | | ::: | |
- | | ::: | + | | ::: | 2-31 | [[comm_protocol# |
- | | ::: | + | | Append to existing |
- | | Append to log | + | | ::: | |
- | | ::: | + | | ::: | 2-31 | [[comm_protocol# |
- | | ::: | + | | Delete a log block | |
- | | Delete a log | | + | | ::: | |
- | | ::: | + | | Start a log block | |
- | | | + | | ::: | |
- | | ::: | + | | ::: | |
- | | | + | | |
- | | ::: | + | | ::: | |
+ | | Reset log | ||
+ | |||
The response for all of the above messages is sent from the Crazyflie to the Client: | The response for all of the above messages is sent from the Crazyflie to the Client: | ||
^ **Byte** | ^ **Byte** | ||
| | | | ||
- | | | + | | |
| | | | ||
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The following format is used to identify a variable that is to be logged from the Crazyflie | The following format is used to identify a variable that is to be logged from the Crazyflie | ||
+ | Log Type represents type of value sent in packet. Logged value is converted to this type before storing into log packet. Upper bytes will be discarded if Log Type is integer and value does not fit. | ||
^ **Log Type** | ^ **Log Type** | ||
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| | | | ||
- | ^ **Storage Type** | + | ^ **Storage Type** |
- | | | + | | |
| | | | ||
| | | | ||
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| | | | ||
+ | TOC variable request (Storage type is ignored, it is taken from Crazyflie internal TOC): | ||
< | < | ||
7 | 7 | ||
+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
- | | Log type | Storage type | + | | Storage type |
+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
| Variable ID | | | Variable ID | | ||
Line 237: | Line 249: | ||
</ | </ | ||
+ | Arbitrary memory address request: | ||
< | < | ||
7 | 7 | ||
+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
- | | Log type | + | | Storage type | Log type | |
+ | +---+---+---+---+---+---+---+---+ | ||
+ | | 0xff | | ||
+---+---+---+---+---+---+---+---+ | +---+---+---+---+---+---+---+---+ | ||
| Mem Address 0 | | | Mem Address 0 | | ||
Line 253: | Line 268: | ||
- | == List of return codes == | + | == List of return codes ( errno.h codes are used, returned values are positive ) == |
- | ^ **Error** | + | ^ **Error** |
- | | 0x00 | + | | |
- | | 0x01 | + | | |
- | | 0x02 | + | | E2BIG (7) |
- | | 0xFF | + | | |
+ | | ENOMEM (12) | No memory to allocate Log Block or Log Item | ||
== Usage == | == Usage == | ||
- | Adding a new log block to the settings: | + | Adding a new log block with id 0x0a with variable 0x55 type uint32_t and variable 0x66 type float32 |
< | < | ||
| | ||
| | ||
- | Add log packet | + | Add log block |
- | < | + | < |
[DONE] | [DONE] | ||
Packet structure: | Packet structure: | ||
- | Computer -> CF : 0x[5,1] 0x00 0x01 0x0A 0x02 0x55 | + | Computer -> CF : 0x[5,1] 0x00 0x0a 0x03 0x55 0x07 0x66 |
- | CF -> Computer : 0x[5,1] 0x00 0x55 0x00 | + | CF -> Computer : 0x[5,1] 0x00 0x0a 0x00 |
</ | </ | ||
- | Deleting an existing log block from the settings: | + | Deleting an existing log block 0x55 from the settings: |
< | < | ||
| | ||
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</ | </ | ||
- | === Log data access === | + | === Log data access |
- | Logging data is sent back to the copter as raw data with only the block id. This means that the lookup of what data is for what variable has to be done on the computer side. | + | Logging data is sent back to the copter as raw data with only the block id. This means that the lookup of what data is for what variable has to be done on the computer side. Log |
+ | block header contains 3 byte timestamp, its value is number of microseconds from Crazyflie system start (it will wrap around in about 16 seconds. Is is also currently based on xTaskGetTickCount, | ||
+ | |||
+ | ^ **Byte** | ||
+ | | | ||
+ | | 1-3 | Block send time timestamp in us, LSB first | | ||
+ | | 4-31 | Logged variable values, LSB first | | ||
< | < | ||
- | Adding a log block logging variable ID 0x55 at 100ms interval and of type uint16: | + | Adding a log block 0xbb at 100ms interval |
- | Computer -> CF : 0x[5,1] 0x00 0x01 0x0A 0x02 0x55 | + | Computer -> CF : 0x[5,1] 0x00 0xbb 0x02 0x55 // create logging block |
- | CF -> Computer : 0x[5,1] 0x00 0x55 0x00 | + | CF -> Computer : 0x[5,1] 0x00 0x55 0x00 // OK |
+ | Computer -> CF : 0x[5,1] 0x03 0xbb 0x0A // start sending block with 100ms interval | ||
+ | CF -> Computer : 0x[5,1] 0x03 0x55 0x00 // OK | ||
- | Receiving a log block logging variable | + | Receiving a log block 0xbb with timestamp 130.532s (0x1FDE4 ms), logging |
- | CF -> Computer : 0x[5, | + | CF -> Computer : 0x[5, |
</ | </ | ||
- | |||
==== Parameters ==== | ==== Parameters ==== | ||
The parameters system aims at making accessible all the gettable and settable parameters of the copter. In the copter a table of parameters is hold and can be retrieved. In this table every parameter name is associated with an ID and a group name. Three ID are used to acces the TOC and the paramareters: | The parameters system aims at making accessible all the gettable and settable parameters of the copter. In the copter a table of parameters is hold and can be retrieved. In this table every parameter name is associated with an ID and a group name. Three ID are used to acces the TOC and the paramareters: |