Initial Commit
commit
d47c817e0d
@ -0,0 +1,30 @@
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cmake_minimum_required(VERSION 3.15)
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project (
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RoboMasterSDK
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VERSION 1.0.0
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LANGUAGES C
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)
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set_property(GLOBAL PROPERTY C_STANDARD 17)
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set_property(GLOBAL PROPERTY CXX_STANDARD 17)
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add_compile_options(-Wall)
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add_library(robomaster
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src/robomaster.c
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src/crc.c
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)
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target_include_directories(robomaster
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PUBLIC
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src
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)
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add_executable(robomastersh
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src/robomastersh.c
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)
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target_link_libraries(robomastersh
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robomaster
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)
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@ -0,0 +1,122 @@
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# Ports
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* `ROBOT_SDK_PORT_MIN = 10100`
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* `ROBOT_SDK_PORT_MAX = 10500`
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* `ROBOT_DEVICE_PORT = 20020`
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* `ROBOT_PROXY_PORT = 30030`
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* `ROBOT_BROADCAST_PORT = 40927`
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* `ROBOT_DEFAULT_WIFI_ADDR = 192.168.2.1`
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# Direct WIFI connection
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Send a `SetSdkConnection` message to `192.168.2.1:30030` containing local IP
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address (`0.0.0.0` is fine) and a random port between `10100` and `10500`. The
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Robomaster responds with a state, which should be 2, and the IP address
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`192.168.2.24` that the client should use. The client will then send further
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messages to `192.168.2.1:20020` via `192.168.2.24:<random port>`.
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# Commands
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* UTF-8 encoded
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* command
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* version
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* quit
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[1]: https://github.com/dji-sdk/RoboMaster-SDK/blob/v0.1.2/sample_code/RoboMasterEP/connection/network/robot_connection.py
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[2]: https://github.com/SMerrony/tello/blob/master/messages.go
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# Message Format
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All big-endian unless otherwise noted.
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## Header
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The preamble `0x55` indicates the start of every message and is part of the
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message header along with the length and a checksum of the header. A header is
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always 4 bytes long.
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| bytes | description |
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|-------|-------------|
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| 1 | `0x55` preamble |
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| 2 | length of message |
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| 1 | 8-bit CRC |
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The CRC is a checksum of the preamble and message length together. The length
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in bytes is of the entire message including the header.
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## Body
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The data is always at least one byte.
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| bytes | description |
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|-------|-------------|
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| 1 | sender |
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| 1 | receiver |
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| 2 | seq ID |
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| 1 | attri |
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| 1 | cmdset |
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| 1 | cmdid |
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| >1 | data |
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| 2 | 16-bit CRC |
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The last two bits of the attri byte starting from the LSB represent if the
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message is an ack and if an ack is needed. The other bits in the byte are
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unused.
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| bit | set | unset |
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|-----|-------------|-------|
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| 8 | is ack | enc |
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| 7 | ack needed | no ack needed |
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### TODO
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* What is a seq ID?
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* What is the format of sender and receiver?
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* may not actually matter
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* index always seems to be 0
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* `index * 32 + host`
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* sender is `_client.hostbyte`
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* What is the difference between cmdid and cmdset?
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# Messages
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| name | cmdset | cmdid | bytes |
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|------|--------|--------|-------|
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| led | `0x3f` | `0x33` | 15 |
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| set sdk connection | `0x3f` | `0xd4` | 10 |
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## SetSdkConnection
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| bytes | description |
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|-------|-------------|
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| 1 | control |
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| 1 | host |
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| 1 | connection |
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| 1 | protocol |
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| 4 | IP address |
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Response message.
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| bytes | description |
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|-------|-------------|
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| 1 | Return code |
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| 1 | state |
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| 4 | IP address |
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What is `config_ip`? What is `state`?
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## LED
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| bytes | description |
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|-------|-------------|
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| 4 | comp mask |
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| 2 | LED mask |
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| 1 | ctrl & effect mode |
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| 1 | red |
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| 1 | green |
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| 1 | blue |
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| 1 | loop |
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| 2 | t1 |
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| 2 | t2 |
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Control and effect modes share one byte, in MSB and LSB respectively.
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@ -0,0 +1,104 @@
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#include <inttypes.h>
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#include <stdlib.h>
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static const uint8_t CRC8_TABLE[] =
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{
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0 ,94 ,188,226,97 ,63 ,221,131,194,156,126,32 ,163,253,31 ,65 ,
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157,195,33 ,127,252,162,64 ,30 ,95 ,1 ,227,189,62 ,96 ,130,220,
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35 ,125,159,193,66 ,28 ,254,160,225,191,93 ,3 ,128,222,60 ,98 ,
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190,224,2 ,92 ,223,129,99 ,61 ,124,34 ,192,158,29 ,67 ,161,255,
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70 ,24 ,250,164,39 ,121,155,197,132,218,56 ,102,229,187,89 ,7 ,
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219,133,103,57 ,186,228,6 ,88 ,25 ,71 ,165,251,120,38 ,196,154,
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101,59 ,217,135,4 ,90 ,184,230,167,249,27 ,69 ,198,152,122,36 ,
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248,166,68 ,26 ,153,199,37 ,123,58 ,100,134,216,91 ,5 ,231,185,
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140,210,48 ,110,237,179,81 ,15 ,78 ,16 ,242,172,47 ,113,147,205,
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17 ,79 ,173,243,112,46 ,204,146,211,141,111,49 ,178,236,14 ,80 ,
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175,241,19 ,77 ,206,144,114,44 ,109,51 ,209,143,12 ,82 ,176,238,
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50 ,108,142,208,83 ,13 ,239,177,240,174,76 ,18 ,145,207,45 ,115,
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202,148,118,40 ,171,245,23 ,73 ,8 ,86 ,180,234,105,55 ,213,139,
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87 ,9 ,235,181,54 ,104,138,212,149,203,41 ,119,244,170,72 ,22 ,
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233,183,85 ,11 ,136,214,52 ,106,43 ,117,151,201,74 ,20 ,246,168,
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116,42 ,200,150,21 ,75 ,169,247,182,232,10 ,84 ,215,137,107,53
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};
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static const uint8_t CRC16_HIGH_TABLE[] =
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{
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
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0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
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0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
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0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
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0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
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};
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static const int8_t CRC16_LOW_TABLE[] =
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{
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
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0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
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0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
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0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
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0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
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0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
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0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
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0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
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0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
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0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
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0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
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0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
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0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
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0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
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0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
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0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
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0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
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0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
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0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
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0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
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0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
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0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
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0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
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0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
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0x43, 0x83, 0x41, 0x81, 0x80, 0x40
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|
};
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uint8_t crc8(const void* block, size_t length)
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|
{
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|
uint8_t crc = 0;
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|
const uint8_t* bytes = (uint8_t*)block;
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|
while(length--) crc = CRC8_TABLE[crc^*bytes++];
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|
return crc;
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|
}
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|
uint16_t crc16(const void* block, size_t length)
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|
{
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|
uint8_t crch = 0XFF, crcl = 0XFF;
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|
const uint8_t* bytes = (uint8_t*)block;
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|
size_t i;
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|
while(length--)
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|
{
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|
i = crcl ^ *bytes++;
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|
crcl = crch ^ CRC16_HIGH_TABLE[i];
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|
crch = CRC16_LOW_TABLE[i];
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|
}
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|
return (((uint16_t)(crch<<8))|crcl);
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|
}
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@ -0,0 +1,58 @@
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|
#include <stdlib.h>
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|
#include <string.h>
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#include <arpa/inet.h>
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|
|
||||||
|
#include "robomaster.h"
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|
|
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struct Session* session_new(void* buffer, size_t size) {
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struct Session* session = malloc(sizeof(struct Session*));
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|
if(!buffer)
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|
session->buffer = malloc(sizeof(struct Header));
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|
else
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|
session->buffer = buffer;
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|
session->size = 0;
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session->seq = RM_SDK_FIRST_SEQ_ID;
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session->max_size = size;
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|
return session;
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|
}
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|
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|
size_t session_size(Session session) {
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|
return session->size;
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|
}
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|
// private
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|
struct Message*
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message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body) {
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|
|
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|
struct Message* message = session->buffer + session->size;
|
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length += sizeof(struct Header) + sizeof(struct Footer);
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|
session->size += length;
|
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|
|
||||||
|
message->header.preamble = 0x55;
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message->header.length = htons(length & 0xff03 | 4);
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message->header.crc = crc8(message, 3);
|
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|
message->header.seq_id = htons(session->seq++);
|
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|
message->header.ack_needed = true;
|
||||||
|
message->header.cmdset = cmdset;
|
||||||
|
message->header.cmdid = cmdid;
|
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|
|
||||||
|
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;
|
||||||
|
}
|
||||||
@ -0,0 +1,92 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
};
|
||||||
@ -0,0 +1,38 @@
|
|||||||
|
#include "robomaster.h"
|
||||||
|
|
||||||
|
#include <arpa/inet.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
Loading…
Reference in New Issue