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Both sides previous revision Previous revision Next revision | Previous revision | ||
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:// | ||
+ | </ | ||
====== 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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</ | </ | ||
==== 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 ==== |