Crate crazyflie_link 

Crazyflie Link

This Crate implement the Crazyflie radio link connection using Crazyradio. It allows to scan for Crazyflies and to open a safe bidirectional radio connection using a Crazyradio.

The entry point to this Crate is the LinkContext, it keeps track of Crazyradio dongles and provides functions to open a link Connection.

A connection can then be used to send and receive packet with the Crazyflie.

Example:

// Create a link Context
let context = crazyflie_link::LinkContext::new();

// Scan for Crazyflies
let cf_found = context.scan([0xe7; 5]).await?;

if let Some(uri) = cf_found.first() {
    let connection = context.open_link(uri).await?;
    let packet = connection.recv_packet().await?;
    println!("Packet received: {:?}", packet);
}

Cargo features

• packet_capture - Enable packet capture via Unix socket (Unix only)

Packet Capture

When the packet_capture feature is enabled, CRTP packets can be captured and sent to an external application for analysis. Call [capture::init()] at startup to connect to the capture socket.

The capture uses a Unix socket at /tmp/crazyflie-capture.sock. To view packets in Wireshark, use the extcap plugin from https://github.com/evoggy/wireshark-crazyflie.

Capture Format

Each captured packet is sent with a 41-byte header followed by the CRTP packet data:

Offset	Size	Field	Description
0	1	link_type	1 = Radio, 2 = USB
1	1	direction	0 = TX (to Crazyflie), 1 = RX (from CF)
2	12	address	Radio address (5 bytes) or empty for USB
14	1	channel	Radio channel (0 for USB)
15	16	serial	Radio/device serial number
31	8	timestamp	Microseconds since Unix epoch (LE)
39	2	length	CRTP packet length (LE)
41	N	data	CRTP packet (header + payload)

Structs

Connection

Connection to a Crazyflie

LinkContext

Context for the link connections

Packet

CRTP data packet

SharedCrazyradio

Multi-user threaded Crazyradio

Enums

ConnectionStatus

Describe the current link connection status

Error