Lighthouse deck

https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:lighthouse

we have 3 x https://www.bitcraze.io/products/lighthouse-positioning-deck/

UART

The deck has two UARTs connected too P1 and P3. Only use P1

Open

https://www.bitcraze.io/documentation/hardware/lighthouse_deck/lighthouse_deck-revd.pdf

Open

Protocol

Example code which has been modified from this repo:
lighthouse-fpga/tools/print_frame.py at V6 · bitcraze/lighthouse-fpga

Open

At power up the deck is in boot and communicates at 115200.

[ 0x00 , 0x00 ]: UART Break condition used to just sync the device

[ 0xBC , 0x02 ]: enabled UART a.k.a protocol_reset() and get bootloader version a.k.a get_version()

[ 0x00 ]: Boot a.k.a boot() a.k.a load application code

After the device is in application the communication changes to 230400... when the unit is in application the RED LED will turn OFF.

First the deck will send 12 x 0xFF which is used for sync and if a HTC transmitter is present it will start too send data:

The data is described here:

GitHub - bitcraze/lighthouse-fpga at V6

Configure a car with the lighthouse deck

We are using an adapter board between the lighthouse module and the RC car. The ribbon cable is simply connected to the cars flash socket.

Flashing the Lighthouse deck

More detailed instructions on sub-page: Crazyflie Deck Flashing