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);
}

Link URI format

The link URI format is as follows:

radio://<radio_nth>/<channel>/[datarate]/[address]?[options=value&options=value...]

• radio_nth is the index of the Crazyradio to use (0 for the first, 1 for the second, etc.)
• channel is the radio channel to use (0-125)
• datarate is the datarate to use (optional, default is 2M, possible values are 250K, 1M, 2M)
• address is the radio address to use (optional, default is e7e7e7e7e7, 5 bytes in hex)
• options are additional options:
  • safelink: Disable safelink packet loss protection (optional, default is 1, 0 to disable)
  • ackfilter: Enable ACK filtering, if disable, empty ack packet will be send as null packet downstream (optional, default is 0, 1 to enable)
  • timeout: Set the receive timeout in milliseconds (optional, default is 1000)

Note: Crazyradio 2.0 only support channels 0-100, and datarates 1M and 2M.

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)

Re-exports

pub use error::Error;

Modules

error

Structs

Connection

Connection to a Crazyflie

LinkContext

Context for the link connections

Packet

CRTP data packet

PlatformAck

Response from a platform command

RadioLinkStatistics

Radio link statistics snapshot

SharedCrazyradio

Multi-user threaded Crazyradio

Enums

ConnectionStatus

Describe the current link connection status

Traits

ConnectionTrait