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Both sides previous revision Previous revision Next revision | Previous revision | ||
projects:crazyflie:firmware:comm_protocol [2013-09-16 19:29] ledvinap [Logging] |
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:// | ||
+ | </ | ||
====== 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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| | | | ||
- | === 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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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 | 0x01 Request the TOC CRC and item count | | + | | TOC CRC and count | 0 | 0x01 (CMD_GET_INFO) |
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 | |
| ::: | | ::: | ||
| ::: | | ::: | ||
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[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 log | + | | Append to existing |
- | | ::: | + | | ::: | |
- | | ::: | + | | ::: | 2-31 | [[comm_protocol# |
- | | Delete a log | | + | | Delete a log block | |
- | | ::: | + | | ::: | |
- | | Start a log block | | + | | Start a log block |
- | | ::: | + | | ::: | |
- | | ::: | + | | ::: | |
- | | Stop a log block | | + | | Stop a log block |
- | | ::: | + | | ::: | |
- | | Reset log | | + | | Reset log |
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^ **Byte** | ^ **Byte** | ||
| | | | ||
- | | | + | | |
| | | | ||
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| | | | ||
- | TOC variable request (Storage type is ignored): | + | TOC variable request (Storage type is ignored, it is taken from Crazyflie internal TOC): |
< | < | ||
7 | 7 | ||
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- | == List of return codes ( errno.h codes are used ) == | + | == List of return codes ( errno.h codes are used, returned values are positive |
- | ^ **Error** | + | ^ **Error** |
- | | 0 | No error | | + | | 0 | No error | |
- | | ENOENT (2) | Block or variable not found | | + | | ENOENT (2) |
- | | E2BIG (7) | Log block is too long | | + | | E2BIG (7) | Log block is too long | |
- | | ENOEXEC (8) | unknown | + | | ENOEXEC (8) | Unknown |
| ENOMEM (12) | No memory to allocate Log Block or Log Item | | | ENOMEM (12) | No memory to allocate Log Block or Log Item | | ||
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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 0xbb 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 0xbb 0x02 0x55 // create logging block | 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, | + | Computer -> CF : 0x[5, |
+ | CF -> Computer : 0x[5,1] 0x03 0x55 0x00 // OK | ||
- | Receiving a log block 0xbb 1300ms | + | Receiving a log block 0xbb with timestamp 130.532s (0x1FDE4 ms), logging |
- | CF -> Computer : 0x[5,2] 0xBB 0xA3 0xA2 0xA1 0xBA 0xBE | + | CF -> Computer : 0x[5,2] 0xBB 0xE4 0xFD 0x01 0xBE 0xBA |
</ | </ | ||
==== Parameters ==== | ==== Parameters ==== | ||
- | The parameters system | + | The parameters system |
- | | **Port** | **Function** | | + | ^ Port ^ Channel |
- | | | + | | |
- | | | + | | |
- | | | + | | 2 | 2 | Parameter write | |
- | === TOC access === | + | === TOC access |
- | This ports permits | + | These messages permit |
- | | **Message ID** | **Meaning in upstream packets** | **Meaning in downstream packets** | | + | ^ |
- | | 0 | Reset TOC pointer | + | | 0 | Reset TOC pointer |
- | | 1 | Get next TOC element | + | | 1 | Get next TOC element |
- | | 3 | Get TOC CRC32 | TOC CRC32 | + | | 3 | Get TOC CRC32 |
- | The upstream ID are commands and are sent alone. The downstream | + | The upstream ID are commands and are sent alone. The downstream |
< | < | ||
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</ | </ | ||
- | 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 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 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** | + | ^ |
+ | | Parameter read | | ||
+ | | | ||
+ | | ::: | ||
+ | |||
+ | The following messages are sent from the Crazyflie to the client: | ||
+ | ^ | ||
+ | | Parameter read & write | ||
+ | | ::: | ||
=== Fight control ==== | === Fight control ==== |