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crazyflie_client_8ino-example.html

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  7. <title>NRF24: crazyflie_client.ino</title>
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  20.    <div id="projectname">NRF24
    21. 

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  31.       <li><a href="index.html"><span>Main&#160;Page</span></a></li>
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  32.       <li><a href="annotated.html"><span>Classes</span></a></li>
    33. 

  33.       <li><a href="files.html"><span>Files</span></a></li>
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  34.       <li><a href="examples.html"><span>Examples</span></a></li>
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  37. </div><!-- top -->
    38. 

  38. <div class="header">
    39. 

  39.   <div class="headertitle">
    40. 

  40. <div class="title">crazyflie_client.ino</div>  </div>
    41. 

  41. </div><!--header-->
    42. 

  42. <div class="contents">
    43. 

  43. <p>This sketch act like a Crazyflie client (ie the transmitter) using the CRTP radiolink protocol: <a href="http://wiki.bitcraze.se/projects:crazyflie:firmware:comm_protocol">http://wiki.bitcraze.se/projects:crazyflie:firmware:comm_protocol</a> to control a Crazyflie quadcopter <a href="http://www.bitcraze.se/">http://www.bitcraze.se/</a> using a RC transmitter in trainer mode, such as the Spektrum DX6i and others.</p>
    44. 

  44. <div class="fragment"><div class="line"><span class="comment">// crazyflie_client.pde</span></div>
    45. 

  45. <div class="line"><span class="comment">// -*- mode: C++ -*-</span></div>
    46. 

  46. <div class="line"><span class="comment">//</span></div>
    47. 

  47. <div class="line"><span class="comment">// This sketch act like a Crazyflie client (ie the transmitter) using the CRTP radiolink protocol:</span></div>
    48. 

  48. <div class="line"><span class="comment">// http://wiki.bitcraze.se/projects:crazyflie:firmware:comm_protocol</span></div>
    49. 

  49. <div class="line"><span class="comment">// to control a Crazyflie quadcopter http://www.bitcraze.se/</span></div>
    50. 

  50. <div class="line"><span class="comment">//</span></div>
    51. 

  51. <div class="line"><span class="comment">// Requires </span></div>
    52. 

  52. <div class="line"><span class="comment">// - RC Transmitter that can act in trainer mode (eg Spektrum DX6i and others)</span></div>
    53. 

  53. <div class="line"><span class="comment">// - NRF24 radio module such as the sparkfun WRL-00691 http://www.sparkfun.com/products/691</span></div>
    54. 

  54. <div class="line"><span class="comment">// - Arduino such as Uno</span></div>
    55. 

  55. <div class="line"><span class="comment">//</span></div>
    56. 

  56. <div class="line"><span class="comment">// Uses NRF24 library to comunicate withthe Crazyflie, </span></div>
    57. 

  57. <div class="line"><span class="comment">// http://www.airspayce.com/mikem/arduino/NRF24</span></div>
    58. 

  58. <div class="line"><span class="comment">// and uses</span></div>
    59. 

  59. <div class="line"><span class="comment">// the  RcTrainer library to get servo positions from an RC transmitter running as a trainer</span></div>
    60. 

  60. <div class="line"><span class="comment">// see http://www.airspayce.com/mikem/arduino/RcTrainer</span></div>
    61. 

  61. <div class="line"><span class="comment">// Transmits the servo posiiotns to the Crazyflie, therefore allowing you to control the Crazyflie from </span></div>
    62. 

  62. <div class="line"><span class="comment">// a conventional RC transmitter (ie no PC and no CrazyRadio module required).</span></div>
    63. 

  63. <div class="line"><span class="comment">//</span></div>
    64. 

  64. <div class="line"><span class="comment">// Only uses the Link ECHO and commander messages. No Log or Param messages are used </span></div>
    65. 

  65. <div class="line"><span class="comment">// Author: Mike McCauley</span></div>
    66. 

  66. <div class="line"><span class="comment">// Copyright (C) 2012 Mike McCauley</span></div>
    67. 

  67. <div class="line"></div>
    68. 

  68. <div class="line"><span class="preprocessor">#include &lt;NRF24.h&gt;</span></div>
    69. 

  69. <div class="line"><span class="preprocessor">#include &lt;SPI.h&gt;</span></div>
    70. 

  70. <div class="line"><span class="preprocessor">#include &lt;RcTrainer.h&gt;</span></div>
    71. 

  71. <div class="line"></div>
    72. 

  72. <div class="line"><span class="comment">// Structure of Crazyflie commander messages</span></div>
    73. 

  73. <div class="line"><span class="preprocessor">#pragma pack(1);</span></div>
    74. 

  74. <div class="line"><span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keyword">struct </span></div>
    75. 

  75. <div class="line">{</div>
    76. 

  76. <div class="line">  <span class="keywordtype">float</span> roll;</div>
    77. 

  77. <div class="line">  <span class="keywordtype">float</span> pitch;</div>
    78. 

  78. <div class="line">  <span class="keywordtype">float</span> yaw;</div>
    79. 

  79. <div class="line">  uint16_t thrust;</div>
    80. 

  80. <div class="line">} CommanderCrtpValues;</div>
    81. 

  81. <div class="line"><span class="preprocessor">#pragma pack()</span></div>
    82. 

  82. <div class="line"><span class="preprocessor"></span></div>
    83. 

  83. <div class="line"><span class="comment">// Useful macros for CRTP message contents and formatting</span></div>
    84. 

  84. <div class="line"><span class="preprocessor">#define CRTP_HEADER(port, channel) (((port &amp; 0x0F) &lt;&lt; 4) | (channel &amp; 0x0F))</span></div>
    85. 

  85. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define CRTP_HEADER_PORT(h) ((h &gt;&gt; 4) &amp; 0xf)</span></div>
    86. 

  86. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define CRTP_HEADER_CHANNEL(h) (h &amp; 0x3)</span></div>
    87. 

  87. <div class="line"><span class="preprocessor"></span></div>
    88. 

  88. <div class="line"><span class="comment">// Param channels</span></div>
    89. 

  89. <div class="line"><span class="preprocessor">#define PARAM_TOC_CH 0</span></div>
    90. 

  90. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define PARAM_READ_CH 1</span></div>
    91. 

  91. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define PARAM_WRITE_CH 2</span></div>
    92. 

  92. <div class="line"><span class="preprocessor"></span></div>
    93. 

  93. <div class="line"><span class="comment">// Log channels</span></div>
    94. 

  94. <div class="line"><span class="preprocessor">#define LOG_TOC_CH 0</span></div>
    95. 

  95. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define LOG_CONTROL_CH 1</span></div>
    96. 

  96. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define LOG_LOG_CH 2</span></div>
    97. 

  97. <div class="line"><span class="preprocessor"></span><span class="comment">// Log packet parameters storage</span></div>
    98. 

  98. <div class="line"><span class="preprocessor">#define LOG_MAX_OPS 64</span></div>
    99. 

  99. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define LOG_MAX_BLOCKS 8</span></div>
    100. 

  100. <div class="line"><span class="preprocessor"></span></div>
    101. 

  101. <div class="line"><span class="comment">// Port definitions</span></div>
    102. 

  102. <div class="line"><span class="keyword">typedef</span> <span class="keyword">enum</span> {</div>
    103. 

  103. <div class="line">  CRTP_PORT_CONSOLE     = 0x00,</div>
    104. 

  104. <div class="line">  CRTP_PORT_PARAM       = 0x02,</div>
    105. 

  105. <div class="line">  CRTP_PORT_COMMANDER   = 0x03,</div>
    106. 

  106. <div class="line">  CRTP_PORT_LOG         = 0x05,</div>
    107. 

  107. <div class="line">  CRTP_PORT_LINK        = 0x0F,</div>
    108. 

  108. <div class="line">} CRTPPort;</div>
    109. 

  109. <div class="line"></div>
    110. 

  110. <div class="line"><span class="comment">// Common command numbers</span></div>
    111. 

  111. <div class="line"><span class="preprocessor">#define CMD_GET_ITEM 0</span></div>
    112. 

  112. <div class="line"><span class="preprocessor"></span><span class="preprocessor">#define CMD_GET_INFO 1</span></div>
    113. 

  113. <div class="line"><span class="preprocessor"></span></div>
    114. 

  114. <div class="line"><span class="comment">// Singleton instance of the radio</span></div>
    115. 

  115. <div class="line"><a name="_a0"></a><a class="code" href="classNRF24.html">NRF24</a> nrf24;</div>
    116. 

  116. <div class="line"><span class="comment">// NRF24 nrf24(8, 7); // use this to be electrically compatible with Mirf</span></div>
    117. 

  117. <div class="line"><span class="comment">// NRF24 nrf24(8, 10);// For Leonardo, need explicit SS pin</span></div>
    118. 

  118. <div class="line"></div>
    119. 

  119. <div class="line"><span class="comment">// The currently used radio channel</span></div>
    120. 

  120. <div class="line">uint8_t channel;</div>
    121. 

  121. <div class="line"></div>
    122. 

  122. <div class="line"><span class="comment">// The expected address of the Crazyflie server (copter)</span></div>
    123. 

  123. <div class="line"><span class="comment">// This is in fact also the default address of the NRF24</span></div>
    124. 

  124. <div class="line">uint8_t address[] = { 0xe7, 0xe7, 0xe7, 0xe7, 0xe7 };</div>
    125. 

  125. <div class="line">uint32_t failed_packet_count = 0;</div>
    126. 

  126. <div class="line"></div>
    127. 

  127. <div class="line"><span class="comment">// Object to get servo positions from RC trainer on pin D2</span></div>
    128. 

  128. <div class="line">RcTrainer rc;</div>
    129. 

  129. <div class="line"></div>
    130. 

  130. <div class="line"><span class="keywordtype">void</span> setup() </div>
    131. 

  131. <div class="line">{</div>
    132. 

  132. <div class="line">  Serial.begin(115200);</div>
    133. 

  133. <div class="line">  <span class="keywordflow">while</span> (!Serial)</div>
    134. 

  134. <div class="line">    ; <span class="comment">// Wait for serial port, only required for Leonardo</span></div>
    135. 

  135. <div class="line"></div>
    136. 

  136. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a name="a1"></a><a class="code" href="classNRF24.html#a6e98cf508939240c1805245170a995f6">init</a>())</div>
    137. 

  137. <div class="line">    Serial.println(<span class="stringliteral">&quot;NRF24 init failed&quot;</span>);</div>
    138. 

  138. <div class="line">  </div>
    139. 

  139. <div class="line">  <span class="comment">// Be Crazyflie radiolink compatible</span></div>
    140. 

  140. <div class="line">  <span class="comment">// We use the NRF24 library for convenience, but</span></div>
    141. 

  141. <div class="line">  <span class="comment">// we use a different configuration to the default NRF24</span></div>
    142. 

  142. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a name="a2"></a><a class="code" href="classNRF24.html#a3fa90005f98eb2744a533899f9b7e023">setChannel</a>(13))</div>
    143. 

  143. <div class="line">     Serial.println(<span class="stringliteral">&quot;setChannel failed&quot;</span>);</div>
    144. 

  144. <div class="line">  <span class="comment">// Set data rate to 250k and low power</span></div>
    145. 

  145. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a name="a3"></a><a class="code" href="classNRF24.html#a3453db8390d5be4aa99d8c7fde3062a4">setRF</a>(<a name="a4"></a><a class="code" href="classNRF24.html#a52d7af9188397d4a6f5dab55d4f04742ae4523002495ee537f2731b61a220e3af">NRF24::NRF24DataRate250kbps</a>, <a name="a5"></a><a class="code" href="classNRF24.html#a8386e81a9a4b824ab26e785879684c7eacef1d6c037e276e6dadaff2b6056ec0c">NRF24::NRF24TransmitPower0dBm</a>))</div>
    146. 

  146. <div class="line">     Serial.println(<span class="stringliteral">&quot;setRF failed&quot;</span>);  </div>
    147. 

  147. <div class="line">  <span class="comment">// Be compatible with Crazyflie: No interrupts, 2 bytes CRC</span></div>
    148. 

  148. <div class="line">  nrf24.<a name="a6"></a><a class="code" href="classNRF24.html#a790d69e5cb1039fb2924f9405e30e250">setConfiguration</a>(NRF24_MASK_RX_DR | NRF24_MASK_TX_DS | NRF24_MASK_MAX_RT | NRF24_EN_CRC | NRF24_CRCO);</div>
    149. 

  149. <div class="line">  nrf24.<a name="a7"></a><a class="code" href="classNRF24.html#a81931bc1679b213b1cb1ae65b8357985">spiWriteRegister</a>(NRF24_REG_1D_FEATURE, NRF24_EN_DPL | NRF24_EN_ACK_PAY);   <span class="comment">// Dynamic size payload + ack</span></div>
    150. 

  150. <div class="line">  nrf24.<a class="code" href="classNRF24.html#a81931bc1679b213b1cb1ae65b8357985">spiWriteRegister</a>(NRF24_REG_1C_DYNPD, NRF24_DPL_P0);     <span class="comment">// Dynamic payload on pipe 0</span></div>
    151. 

  151. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a name="a8"></a><a class="code" href="classNRF24.html#a1ac9bfce3833725b8b66d9875a8bc00e">setRetry</a>(6, 3)) <span class="comment">// 1500us and 3 retries</span></div>
    152. 

  152. <div class="line">     Serial.println(<span class="stringliteral">&quot;setRetry failed&quot;</span>);  </div>
    153. 

  153. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a name="a9"></a><a class="code" href="classNRF24.html#a7b40c4c481bddf343acdac5179fddc75">setTransmitAddress</a>(address, <span class="keyword">sizeof</span>(address)))</div>
    154. 

  154. <div class="line">     Serial.println(<span class="stringliteral">&quot;setTransmitAddress failed&quot;</span>);  </div>
    155. 

  155. <div class="line"></div>
    156. 

  156. <div class="line">  Serial.println(<span class="stringliteral">&quot;initialised&quot;</span>);</div>
    157. 

  157. <div class="line">}</div>
    158. 

  158. <div class="line"></div>
    159. 

  159. <div class="line"><span class="comment">// Debugging data dumper</span></div>
    160. 

  160. <div class="line"><span class="keywordtype">void</span> dump(<span class="keywordtype">char</span>* prompt, uint8_t* data, uint8_t len)</div>
    161. 

  161. <div class="line">{</div>
    162. 

  162. <div class="line">  Serial.print(prompt);</div>
    163. 

  163. <div class="line">  Serial.print(<span class="stringliteral">&quot;: &quot;</span>);   </div>
    164. 

  164. <div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; len; i++)</div>
    165. 

  165. <div class="line">  {</div>
    166. 

  166. <div class="line">    Serial.print(data[i], HEX);</div>
    167. 

  167. <div class="line">    Serial.print(<span class="stringliteral">&quot; &quot;</span>);</div>
    168. 

  168. <div class="line">  }</div>
    169. 

  169. <div class="line">  Serial.println(<span class="stringliteral">&quot;&quot;</span>);</div>
    170. 

  170. <div class="line">}</div>
    171. 

  171. <div class="line"></div>
    172. 

  172. <div class="line"><span class="comment">// Scan for a Crazyflie server (ie a copter) that responds</span></div>
    173. 

  173. <div class="line"><span class="comment">// If one is found, set the channel and return true</span></div>
    174. 

  174. <div class="line"><span class="keywordtype">boolean</span> scan()</div>
    175. 

  175. <div class="line">{</div>
    176. 

  176. <div class="line">  <span class="comment">// Standard LINK echo message</span></div>
    177. 

  177. <div class="line">  <span class="comment">// If there is a Crazyflie present on a channel it will reply with an ACK and no payload</span></div>
    178. 

  178. <div class="line">  uint8_t msg[] = { CRTP_HEADER(CRTP_PORT_LINK, 3) };</div>
    179. 

  179. <div class="line">  <span class="keywordflow">for</span> (channel = 0; channel &lt; 125; channel++)</div>
    180. 

  180. <div class="line">  {</div>
    181. 

  181. <div class="line">    nrf24.<a class="code" href="classNRF24.html#a3fa90005f98eb2744a533899f9b7e023">setChannel</a>(channel);</div>
    182. 

  182. <div class="line">   <span class="keywordflow">if</span> (!nrf24.<a name="a10"></a><a class="code" href="classNRF24.html#aad280539b80b28e55ab3187714bc7f2f">send</a>(msg, <span class="keyword">sizeof</span>(msg)))</div>
    183. 

  183. <div class="line">      Serial.println(<span class="stringliteral">&quot;scan send failed&quot;</span>);</div>
    184. 

  184. <div class="line">    <span class="keywordflow">if</span> (nrf24.<a name="a11"></a><a class="code" href="classNRF24.html#a78a011cddedb14b8764ad5ea760c28ae">waitPacketSent</a>())</div>
    185. 

  185. <div class="line">      <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">// Got an ACK, expect no payload. This channel works, use it</span></div>
    186. 

  186. <div class="line">  }</div>
    187. 

  187. <div class="line">  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    188. 

  188. <div class="line">}</div>
    189. 

  189. <div class="line"></div>
    190. 

  190. <div class="line"><span class="comment">// Send a message to the copter and detect failures</span></div>
    191. 

  191. <div class="line"><span class="keywordtype">void</span> send(uint8_t* data, uint8_t len)</div>
    192. 

  192. <div class="line">{</div>
    193. 

  193. <div class="line">  <span class="keywordflow">if</span> (!nrf24.<a class="code" href="classNRF24.html#aad280539b80b28e55ab3187714bc7f2f">send</a>(data, len))</div>
    194. 

  194. <div class="line">    Serial.println(<span class="stringliteral">&quot;send failed&quot;</span>);</div>
    195. 

  195. <div class="line">    </div>
    196. 

  196. <div class="line">  <span class="keywordflow">if</span> (nrf24.<a class="code" href="classNRF24.html#a78a011cddedb14b8764ad5ea760c28ae">waitPacketSent</a>())</div>
    197. 

  197. <div class="line">  {</div>
    198. 

  198. <div class="line">    <span class="comment">// Analyze payload?</span></div>
    199. 

  199. <div class="line">  }</div>
    200. 

  200. <div class="line">  <span class="keywordflow">else</span></div>
    201. 

  201. <div class="line">  {</div>
    202. 

  202. <div class="line">    failed_packet_count++;</div>
    203. 

  203. <div class="line">  } </div>
    204. 

  204. <div class="line">}</div>
    205. 

  205. <div class="line"></div>
    206. 

  206. <div class="line"><span class="keywordtype">void</span> loop()</div>
    207. 

  207. <div class="line">{</div>
    208. 

  208. <div class="line">  <span class="comment">// Poll until we have a positive response from a Crazyflie</span></div>
    209. 

  209. <div class="line">  <span class="comment">// and then use its channel</span></div>
    210. 

  210. <div class="line">  <span class="keywordflow">while</span> (!scan())</div>
    211. 

  211. <div class="line">    ;</div>
    212. 

  212. <div class="line">    </div>
    213. 

  213. <div class="line">  <span class="comment">// Now run a session with the one we found...</span></div>
    214. 

  214. <div class="line">  failed_packet_count = 0;</div>
    215. 

  215. <div class="line">  Serial.print(<span class="stringliteral">&quot;found a crazyflie on channel: &quot;</span>);</div>
    216. 

  216. <div class="line">  Serial.println(channel);</div>
    217. 

  217. <div class="line">  </div>
    218. 

  218. <div class="line">  <span class="comment">// ...until we get too many comms failures</span></div>
    219. 

  219. <div class="line">  <span class="keywordflow">while</span> (failed_packet_count &lt; 50)</div>
    220. 

  220. <div class="line">  {</div>
    221. 

  221. <div class="line">      <span class="comment">// Send a commander message</span></div>
    222. 

  222. <div class="line">      uint8_t buf[32];</div>
    223. 

  223. <div class="line">      buf[0] = CRTP_HEADER(CRTP_PORT_COMMANDER, 0);</div>
    224. 

  224. <div class="line">      CommanderCrtpValues* msg = (CommanderCrtpValues*)(buf+1);</div>
    225. 

  225. <div class="line">      <span class="comment">// Mode 2 stick layout, map standard stick values to suitable Crazyflie commander ranges</span></div>
    226. 

  226. <div class="line">      msg-&gt;roll   = map(rc.getChannel(1), 0, 1023, 30.0, -30.0);</div>
    227. 

  227. <div class="line">      msg-&gt;pitch  = map(rc.getChannel(2), 0, 1023, 30.0, -30.0);</div>
    228. 

  228. <div class="line">      msg-&gt;yaw    = map(rc.getChannel(3), 0, 1023, 200.0, -200.0);</div>
    229. 

  229. <div class="line">      msg-&gt;thrust = map(rc.getChannel(0), 0, 1023, 0, 65000);</div>
    230. 

  230. <div class="line">      send(buf, <span class="keyword">sizeof</span>(CommanderCrtpValues) + 1);</div>
    231. 

  231. <div class="line">      delay(20); <span class="comment">// 50 per sec</span></div>
    232. 

  232. <div class="line">  } </div>
    233. 

  233. <div class="line">  Serial.println(<span class="stringliteral">&quot;connection failed&quot;</span>);</div>
    234. 

  234. <div class="line">  </div>
    235. 

  235. <div class="line">  <span class="comment">// Too many failed messages, fall out here and rescan for a new Crazyflie</span></div>
    236. 

  236. <div class="line">}</div>
    237. 

  237. <div class="line"></div>
    238. 

  238. <div class="line"></div>
    239. 

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    240. 

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