Drone.Adapters.Crazyflie.Platform (ex_drone v0.3.0)

Platform / link-control packets for protocol identity.

Connection sequence (documented CRTP connection procedure):

Probe link with a LINKCTRL source packet.
Request protocol version on PLATFORM channel 1.
Parse the reply and call check_compatibility/1.

Examples

probe = Drone.Adapters.Crazyflie.Platform.link_probe()
req = Drone.Adapters.Crazyflie.Platform.get_protocol_version()
{:ok, 8} = Drone.Adapters.Crazyflie.Platform.parse_protocol_version(<<0, 8>>)
:ok = Drone.Adapters.Crazyflie.Platform.check_compatibility(8)

Summary

Functions

check_compatibility(version)

Returns :ok when version is in the supported range.

get_protocol_version()

PLATFORM request for the CRTP protocol version.

link_probe()

LINKCTRL probe packet used during connection.

max_supported()

Maximum accepted CRTP protocol version for this adapter.

min_supported()

Minimum accepted CRTP protocol version for this adapter.

parse_protocol_version(arg1)

Parses a protocol-version response payload.

Functions

check_compatibility(version)

@spec check_compatibility(integer()) ::
  :ok | {:error, {:unsupported_protocol, integer()}}

Returns :ok when version is in the supported range.

Parameters

version (integer()) — protocol version from parse_protocol_version/1

Returns

:ok — version between min_supported/0 and max_supported/0 inclusive
{:error, {:unsupported_protocol, version}} — out of range or non-integer

Examples

:ok = Drone.Adapters.Crazyflie.Platform.check_compatibility(8)

{:error, {:unsupported_protocol, 99}} =
  Drone.Adapters.Crazyflie.Platform.check_compatibility(99)

get_protocol_version()

@spec get_protocol_version() :: Drone.Adapters.Crazyflie.CRTP.packet()

PLATFORM request for the CRTP protocol version.

Returns

Drone.Adapters.Crazyflie.CRTP.packet() on port :platform, channel 1, payload <<0>> (VERSION_GET_PROTOCOL).

Examples

%{port: 13, channel: 1, payload: <<0>>} =
  Drone.Adapters.Crazyflie.Platform.get_protocol_version()

link_probe()

@spec link_probe() :: Drone.Adapters.Crazyflie.CRTP.packet()

LINKCTRL probe packet used during connection.

Returns

Drone.Adapters.Crazyflie.CRTP.packet() on port :linkctrl, channel 1, payload <<0>>.

Examples

%{port: 15, channel: 1, payload: <<0>>} =
  Drone.Adapters.Crazyflie.Platform.link_probe()

max_supported()

@spec max_supported() :: pos_integer()

Maximum accepted CRTP protocol version for this adapter.

Returns

pos_integer() (currently 12).

Examples

12 = Drone.Adapters.Crazyflie.Platform.max_supported()

min_supported()

@spec min_supported() :: pos_integer()

Minimum accepted CRTP protocol version for this adapter.

Returns

pos_integer() (currently 4).

Examples

4 = Drone.Adapters.Crazyflie.Platform.min_supported()

parse_protocol_version(arg1)

@spec parse_protocol_version(binary()) ::
  {:ok, non_neg_integer()} | {:error, :invalid_version_response}

Parses a protocol-version response payload.

Expected shape: <<0, version>> where the first byte echoes VERSION_GET_PROTOCOL.

Parameters

payload (binary()) — ACK payload from the version request

Returns

{:ok, non_neg_integer()} — protocol version byte
{:error, :invalid_version_response} — unexpected shape

Examples

{:ok, 8} = Drone.Adapters.Crazyflie.Platform.parse_protocol_version(<<0, 8>>)
{:error, :invalid_version_response} =
  Drone.Adapters.Crazyflie.Platform.parse_protocol_version(<<1, 8>>)