From d47c817e0d5f8ebd2dc22e86d77c7f3685ebb7f7 Mon Sep 17 00:00:00 2001 From: PgSocks Date: Thu, 22 Dec 2022 10:28:35 -0600 Subject: [PATCH] Initial Commit --- CMakeLists.txt | 30 +++++++++++ README.md | 122 +++++++++++++++++++++++++++++++++++++++++++++ src/crc.c | 104 ++++++++++++++++++++++++++++++++++++++ src/robomaster.c | 58 +++++++++++++++++++++ src/robomaster.h | 92 ++++++++++++++++++++++++++++++++++ src/robomastersh.c | 38 ++++++++++++++ 6 files changed, 444 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 README.md create mode 100644 src/crc.c create mode 100644 src/robomaster.c create mode 100644 src/robomaster.h create mode 100644 src/robomastersh.c diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..f5d2d4d --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.15) + +project ( + RoboMasterSDK + VERSION 1.0.0 + LANGUAGES C +) + +set_property(GLOBAL PROPERTY C_STANDARD 17) +set_property(GLOBAL PROPERTY CXX_STANDARD 17) + +add_compile_options(-Wall) + +add_library(robomaster + src/robomaster.c + src/crc.c +) + +target_include_directories(robomaster + PUBLIC + src +) + +add_executable(robomastersh + src/robomastersh.c +) + +target_link_libraries(robomastersh + robomaster +) diff --git a/README.md b/README.md new file mode 100644 index 0000000..e065835 --- /dev/null +++ b/README.md @@ -0,0 +1,122 @@ +# Ports + +* `ROBOT_SDK_PORT_MIN = 10100` +* `ROBOT_SDK_PORT_MAX = 10500` +* `ROBOT_DEVICE_PORT = 20020` +* `ROBOT_PROXY_PORT = 30030` +* `ROBOT_BROADCAST_PORT = 40927` +* `ROBOT_DEFAULT_WIFI_ADDR = 192.168.2.1` + +# Direct WIFI connection + +Send a `SetSdkConnection` message to `192.168.2.1:30030` containing local IP +address (`0.0.0.0` is fine) and a random port between `10100` and `10500`. The +Robomaster responds with a state, which should be 2, and the IP address +`192.168.2.24` that the client should use. The client will then send further +messages to `192.168.2.1:20020` via `192.168.2.24:`. + +# Commands + +* UTF-8 encoded +* command +* version +* quit + +[1]: https://github.com/dji-sdk/RoboMaster-SDK/blob/v0.1.2/sample_code/RoboMasterEP/connection/network/robot_connection.py +[2]: https://github.com/SMerrony/tello/blob/master/messages.go + +# Message Format + +All big-endian unless otherwise noted. + +## Header + +The preamble `0x55` indicates the start of every message and is part of the +message header along with the length and a checksum of the header. A header is +always 4 bytes long. + +| bytes | description | +|-------|-------------| +| 1 | `0x55` preamble | +| 2 | length of message | +| 1 | 8-bit CRC | + +The CRC is a checksum of the preamble and message length together. The length +in bytes is of the entire message including the header. + +## Body + +The data is always at least one byte. + +| bytes | description | +|-------|-------------| +| 1 | sender | +| 1 | receiver | +| 2 | seq ID | +| 1 | attri | +| 1 | cmdset | +| 1 | cmdid | +| >1 | data | +| 2 | 16-bit CRC | + +The last two bits of the attri byte starting from the LSB represent if the +message is an ack and if an ack is needed. The other bits in the byte are +unused. + +| bit | set | unset | +|-----|-------------|-------| +| 8 | is ack | enc | +| 7 | ack needed | no ack needed | + +### TODO + +* What is a seq ID? +* What is the format of sender and receiver? + * may not actually matter + * index always seems to be 0 + * `index * 32 + host` + * sender is `_client.hostbyte` +* What is the difference between cmdid and cmdset? + +# Messages + +| name | cmdset | cmdid | bytes | +|------|--------|--------|-------| +| led | `0x3f` | `0x33` | 15 | +| set sdk connection | `0x3f` | `0xd4` | 10 | + +## SetSdkConnection + +| bytes | description | +|-------|-------------| +| 1 | control | +| 1 | host | +| 1 | connection | +| 1 | protocol | +| 4 | IP address | + +Response message. + +| bytes | description | +|-------|-------------| +| 1 | Return code | +| 1 | state | +| 4 | IP address | + +What is `config_ip`? What is `state`? + +## LED + +| bytes | description | +|-------|-------------| +| 4 | comp mask | +| 2 | LED mask | +| 1 | ctrl & effect mode | +| 1 | red | +| 1 | green | +| 1 | blue | +| 1 | loop | +| 2 | t1 | +| 2 | t2 | + +Control and effect modes share one byte, in MSB and LSB respectively. diff --git a/src/crc.c b/src/crc.c new file mode 100644 index 0000000..ed17ed5 --- /dev/null +++ b/src/crc.c @@ -0,0 +1,104 @@ +#include +#include + +static const uint8_t CRC8_TABLE[] = +{ + 0 ,94 ,188,226,97 ,63 ,221,131,194,156,126,32 ,163,253,31 ,65 , + 157,195,33 ,127,252,162,64 ,30 ,95 ,1 ,227,189,62 ,96 ,130,220, + 35 ,125,159,193,66 ,28 ,254,160,225,191,93 ,3 ,128,222,60 ,98 , + 190,224,2 ,92 ,223,129,99 ,61 ,124,34 ,192,158,29 ,67 ,161,255, + 70 ,24 ,250,164,39 ,121,155,197,132,218,56 ,102,229,187,89 ,7 , + 219,133,103,57 ,186,228,6 ,88 ,25 ,71 ,165,251,120,38 ,196,154, + 101,59 ,217,135,4 ,90 ,184,230,167,249,27 ,69 ,198,152,122,36 , + 248,166,68 ,26 ,153,199,37 ,123,58 ,100,134,216,91 ,5 ,231,185, + 140,210,48 ,110,237,179,81 ,15 ,78 ,16 ,242,172,47 ,113,147,205, + 17 ,79 ,173,243,112,46 ,204,146,211,141,111,49 ,178,236,14 ,80 , + 175,241,19 ,77 ,206,144,114,44 ,109,51 ,209,143,12 ,82 ,176,238, + 50 ,108,142,208,83 ,13 ,239,177,240,174,76 ,18 ,145,207,45 ,115, + 202,148,118,40 ,171,245,23 ,73 ,8 ,86 ,180,234,105,55 ,213,139, + 87 ,9 ,235,181,54 ,104,138,212,149,203,41 ,119,244,170,72 ,22 , + 233,183,85 ,11 ,136,214,52 ,106,43 ,117,151,201,74 ,20 ,246,168, + 116,42 ,200,150,21 ,75 ,169,247,182,232,10 ,84 ,215,137,107,53 +}; + +static const uint8_t CRC16_HIGH_TABLE[] = +{ + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 +}; + +static const int8_t CRC16_LOW_TABLE[] = +{ + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, + 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, + 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, + 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, + 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, + 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, + 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, + 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, + 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, + 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, + 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, + 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, + 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, + 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, + 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, + 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, + 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, + 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, + 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, + 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, + 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, + 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 +}; + +uint8_t crc8(const void* block, size_t length) +{ + uint8_t crc = 0; + const uint8_t* bytes = (uint8_t*)block; + while(length--) crc = CRC8_TABLE[crc^*bytes++]; + return crc; +} + +uint16_t crc16(const void* block, size_t length) +{ + uint8_t crch = 0XFF, crcl = 0XFF; + const uint8_t* bytes = (uint8_t*)block; + size_t i; + while(length--) + { + i = crcl ^ *bytes++; + crcl = crch ^ CRC16_HIGH_TABLE[i]; + crch = CRC16_LOW_TABLE[i]; + } + return (((uint16_t)(crch<<8))|crcl); +} diff --git a/src/robomaster.c b/src/robomaster.c new file mode 100644 index 0000000..adfceb0 --- /dev/null +++ b/src/robomaster.c @@ -0,0 +1,58 @@ +#include +#include +#include + +#include "robomaster.h" + +struct Session* session_new(void* buffer, size_t size) { + struct Session* session = malloc(sizeof(struct Session*)); + if(!buffer) + session->buffer = malloc(sizeof(struct Header)); + else + session->buffer = buffer; + session->size = 0; + session->seq = RM_SDK_FIRST_SEQ_ID; + session->max_size = size; + return session; +} + +size_t session_size(Session session) { + return session->size; +} + +// private +struct Message* +message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body) { + + struct Message* message = session->buffer + session->size; + length += sizeof(struct Header) + sizeof(struct Footer); + session->size += length; + + message->header.preamble = 0x55; + message->header.length = htons(length & 0xff03 | 4); + message->header.crc = crc8(message, 3); + message->header.seq_id = htons(session->seq++); + message->header.ack_needed = true; + message->header.cmdset = cmdset; + message->header.cmdid = cmdid; + + memcpy((void*)message->body, body, length); + + struct Footer* footer = (void*)message + length - sizeof(struct Footer); + footer->crc = htons(crc16(message, length - 2)); + + return message; + +} + +// public +const Message +set_sdk_connection_req_new ( + Session session, + const struct SetSdkConnectionReq* msg ) { + + struct Message* message = message_new(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(struct SetSdkConnectionReq), msg); + struct SetSdkConnectionReq* body = (struct SetSdkConnectionReq*)message->body; + body->port = htons(body->port); + return message; +} diff --git a/src/robomaster.h b/src/robomaster.h new file mode 100644 index 0000000..b20ee87 --- /dev/null +++ b/src/robomaster.h @@ -0,0 +1,92 @@ +#pragma once + +#include +#include +#include +#include + +// Move to private header +uint8_t crc8(const void *block, size_t length); +uint8_t crc16(const void *block, size_t length); + +struct Header { + uint8_t preamble; + uint16_t length; + uint8_t crc; + uint8_t sender; + uint8_t receiver; + uint16_t seq_id; + union { + uint8_t attribute; + struct { + uint8_t reserved : 6; + bool ack_needed : 1; + bool is_ack : 1; + }; + }; + uint8_t cmdset; + uint8_t cmdid; +}; + +struct Message { + struct Header header; + uint8_t body[]; +}; + +struct Footer { + uint16_t crc; +}; + +struct Session { + void* buffer; + size_t max_size; + size_t size; + uint16_t seq; +}; + +struct Message* message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body); + +// Public stuff +typedef struct Session* Session; +typedef struct Message* Message; + +Session session_new(void* buffer, size_t size); + +size_t session_size(Session session); + +// SEQ ID will loop around +static const uint16_t RM_SDK_FIRST_SEQ_ID = 10000; +static const uint16_t RM_SDK_LAST_SEQ_ID = 20000; + +static const uint8_t CONNECTION_WIFI_AP = 0; +static const uint8_t CONNECTION_WIFI_STA = 1; +static const uint8_t CONNECTION_USB_RNDIS = 2; + +static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4; + +struct SetSdkConnectionReq { + uint8_t control; + uint8_t host; + uint8_t connection; + uint8_t protocol; + uint32_t ip_address; + uint16_t port; +}; + +struct SetSdkConnectionResp { + uint8_t retcode; + uint8_t state; + uint32_t config_ip; +}; + +const Message set_sdk_connection_req_new(Session session, const struct SetSdkConnectionReq* msg); + +static const uint8_t GET_VERSION_CMDID = 0x01; + +struct GetVersionResp { + uint8_t retcode; + uint8_t aa; + uint8_t bb; + uint8_t cc; + uint8_t dd; +}; diff --git a/src/robomastersh.c b/src/robomastersh.c new file mode 100644 index 0000000..9930d8a --- /dev/null +++ b/src/robomastersh.c @@ -0,0 +1,38 @@ +#include "robomaster.h" + +#include +#include + +uint8_t buffer[1024] = {0}; +uint8_t recvbuff[1024] = {0}; + +int main(int argc, char* argv[]) +{ + Session session = session_new(buffer, sizeof(buffer)); + struct SetSdkConnectionReq req = {0}; + req.control = 0; + req.host = 0; + req.connection = CONNECTION_WIFI_AP; + req.protocol = 0; + req.ip_address = 0; + req.port = 10010; + const Message msg = set_sdk_connection_req_new(session, &req); + + int sockfd = socket(AF_INET, SOCK_DGRAM, 0); + struct sockaddr_in dest_addr = {0}; + socklen_t addrlen = sizeof(dest_addr); + dest_addr.sin_family = AF_INET; + dest_addr.sin_port = htons(30030); + dest_addr.sin_addr.s_addr = inet_addr("192.168.2.1"); + sendto(sockfd, buffer, session_size(session), 0, (struct sockaddr*)&dest_addr, addrlen); + + addrlen = sizeof(dest_addr); + recvfrom(sockfd, &recvbuff, sizeof(struct Header), 0, (struct sockaddr*)&dest_addr, &addrlen); + struct Message* resp = (struct Message*)recvbuff; + addrlen = sizeof(dest_addr); + uint16_t resplen = (recvbuff[2] & 0x3) * 0xFF + recvbuff[1]; + recvfrom(sockfd, resp->body, resplen - sizeof(struct Header), 0, (struct sockaddr*)&dest_addr, &addrlen); + + return 0; +} +