Drone.Adapters.Crazyflie.Transport.Crazyradio (ex_drone v0.3.0)

Crazyradio PA / Crazyradio 2.0 transport.

Implements documented USB vendor setup and bulk EP1 send/ACK receive. Requires a usb_backend module implementing Drone.Adapters.Crazyflie.USB.

When the URI enables SafeLink (?safelink=1), open negotiates SafeLink and stamps alternating uplink/downlink bits on every CRTP frame.

After Session subscribes to CRTP logging, telemetry/1 reports cached battery percent and estimator readiness from log-data ACK payloads.

Examples

{:ok, state} =
  Drone.Adapters.Crazyflie.Transport.Crazyradio.open(
    uri: "radio://0/80/2M",
    usb_backend: MyApp.CrazyradioUSB
  )

{:ok, ack, state} =
  Drone.Adapters.Crazyflie.Transport.Crazyradio.send(
    state,
    Drone.Adapters.Crazyflie.CRTP.null_packet()
  )

:ok = Drone.Adapters.Crazyflie.Transport.Crazyradio.close(state)

Summary

Types

t()

Open Crazyradio transport state.

Functions

close(crazyradio)

Closes the USB device via the configured backend.

open(opts)

Opens a Crazyradio USB device, configures RF, and optionally enables SafeLink.

send(state, packet)

Encodes a CRTP packet, optionally SafeLink-stamps it, and exchanges an ACK.

telemetry(state)

Returns cached battery / estimator values from CRTP logging.

Types

t()

@type t() :: %Drone.Adapters.Crazyflie.Transport.Crazyradio{
  backend: module(),
  battery: 0..100 | nil,
  estimator_ready: boolean() | nil,
  log_block_id: byte() | nil,
  log_layout: [Drone.Adapters.Crazyflie.Logging.layout_entry()] | nil,
  safelink_down: 0 | 1,
  safelink_enabled: boolean(),
  safelink_up: 0 | 1,
  uri: Drone.Adapters.Crazyflie.LinkURI.t(),
  usb: term()
}

Open Crazyradio transport state.

Field	Type	Meaning
`:usb`	device handle	Opaque USB handle
`:backend`	`module()`	`Drone.Adapters.Crazyflie.USB` implementation
`:uri`	`LinkURI.t()`	Parsed radio URI
`:safelink_enabled`	`boolean()`	SafeLink negotiated successfully
`:safelink_up`	`0 \| 1`	Alternating uplink counter
`:safelink_down`	`0 \| 1`	Alternating downlink counter
`:log_layout`	layout \| `nil`	Active log-block decode layout
`:log_block_id`	`byte()` \| `nil`	Active log block id
`:battery`	`0..100` \| `nil`	Last logged battery percent
`:estimator_ready`	`boolean()` \| `nil`	Last logged `sys.canfly`

Functions

close(crazyradio)

Closes the USB device via the configured backend.

open(opts)

Opens a Crazyradio USB device, configures RF, and optionally enables SafeLink.

send(state, packet)

Encodes a CRTP packet, optionally SafeLink-stamps it, and exchanges an ACK.

On ACK, advances SafeLink counters and ingests logging data payloads into the transport telemetry cache.

telemetry(state)

Returns cached battery / estimator values from CRTP logging.

Fields stay nil until configure_logging/3 succeeds and at least one log-data packet has been received on an ACK.