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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 		projects:crazyflie:firmware:comm_protocol [2021-06-24 16:49] (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>
 ====== Overview ====== ====== Overview ======
 CRTP is the protocol used to communicate with Crazyflie. Is originally stands for //Crazy RealTime Protocol//. The protocol permits to communicate independently with the copter subsystem and would have the capability to handle packet priorities. CRTP is the protocol used to communicate with Crazyflie. Is originally stands for //Crazy RealTime Protocol//. The protocol permits to communicate independently with the copter subsystem and would have the capability to handle packet priorities.
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 </code> </code>
 ==== 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 makes all the gettable and settable parameters of the copter accessible. The copter holds a table of parameters which can be retrieved. In this table every parameter name is associated with an ID and a group name. Three IDs are used to acces the TOC and the parameters:
  
-| **Port**  | **Function**      | +^ Port      ^ Channel     ^ Function          ^ 
-|  (0,9,0)  | TOC access        | +|  2        | 0           | TOC access        | 
-|  (0,9,1)  | Parameter read    | +|  2        | 1           | Parameter read    | 
-|  (0,9,2)  | Parameter write   |+|  2        | 2           | Parameter write   |
  
-=== TOC access === +=== TOC access (Port 2 channel 0) === 
-This ports permits to access the parameters table of content. The first byte of the message is a message ID, three messages ID are defined:+These messages permit to access the parameters table of content. The first byte of the message is a message ID, three messages ID are defined:
  
-| **Message ID** | **Meaning in upstream packets** | **Meaning in downstream packets** | +^  Message ID  ^  Meaning in upstream packets  ^  Meaning in downstream packets      ^ 
-|            0 | Reset TOC pointer             | Last TOC element                | +|            0 | Reset TOC pointer             | Last TOC element                    | 
-|            1 | Get next TOC element          | TOC element                     | +|            1 | Get next TOC element          | TOC element (ID, type, group, name) | 
-|            3 | Get TOC CRC32                 | TOC CRC32                       |+|            3 | Get TOC CRC32                 | Number of parameters, TOC CRC32     |
  
-The upstream ID are commands and are sent alone. The downstream have the following formats:+The upstream ID are commands and are sent alone. The downstream has the following formats:
  
 <code> <code>
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 </code> </code>
  
-The parameters are sequentially requested by the PC until the end. When the last parameter is reached it has the ID 0 'Last TOC element'. The reset command permits to reset the TOC pointers so that the next sent TOC element will be the first one. The Get CRC commands also returns the number of parameters.+The parameters are sequentially requested by the PC until the end. When the last parameter is reached it has the ID 0 'Last TOC element'. The reset command permits to reset the TOC pointers so that the next sent TOC element will be the first one. The "Get TOC CRC" command also returns the number of parameters.
  
-The CRC32 is a hash of the copter TOC. This is aim at implementing caching of the TOC in the PC Utils to avoid fetching the full TOC each time the copter is connected.+The CRC32 is a hash of the copter TOC. This is aimed at implementing caching of the TOC in the PC Utils to avoid fetching the full TOC each time the copter is connected.
  
-=== Parameter read === +=== Parameter read (Port 2 channel 1) and parameter write (Port 2 channel 2)=== 
-**TODO** + 
-=== Parameter write === +The following messages are sent from the client to the Crazyflie: 
-**TODO**+^  **Request for**   ^  **Byte**  ^  **Description**  ^ 
 +|  Parameter read    |     0      | The id of the parameter to read   | 
 +|  Parameter write   |     0      | The id of the parameter to write   | 
 +|   :::              |     1      | The value to set | 
 + 
 +The following messages are sent from the Crazyflie to the client: 
 +^  **Reply for**            ^  **Byte**  ^  **Description**  ^ 
 +|  Parameter read & write   |     0      | Parameter id      | 
 +|   :::                     |     1-n    | Parameter value   |
  
 === Fight control ==== === Fight control ====
projects/crazyflie/firmware/comm_protocol.1399602105.txt.gz · Last modified: 2015-07-15 16:30 (external edit)

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