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robomaster-sdk
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Refactor for public API

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refactor
PgSocks 2 years ago
parent dab8e0029e
commit e60aa4c2e3
25 changed files with 607 additions and 535 deletions
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21
CMakeLists.txt
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@ -12,8 +12,13 @@ set_property(GLOBAL PROPERTY CXX_STANDARD 17)
add_compile_options(-Wall)
add_library(robomaster
src/message.c
src/messages/sdk_connection.c
src/messages/led.c
src/messages/sdk_mode.c
src/messages/set_wheel_speed.c
src/robomaster.c
src/crc.c
src/robomastersh.c
)
target_include_directories(robomaster
@ -23,10 +28,10 @@ target_include_directories(robomaster
include
)
#add_executable(robomastersh
# src/robomastersh.c
#)
#
#target_link_libraries(robomastersh
# robomaster
#)
add_executable(robomastersh
src/robomastersh.c
)
target_link_libraries(robomastersh
robomaster
)

39
include/led.h
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@ -0,0 +1,39 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
enum LEDCOMP {
LEDCOMP_BOTTOM_BACK = 0x1,
LEDCOMP_BOTTOM_FRONT = 0x2,
LEDCOMP_BOTTOM_LEFT = 0x4,
LEDCOMP_BOTTOM_RIGHT = 0x8,
LEDCOMP_BOTTOM_ALL = 0xf,
LEDCOMP_TOP_LEFT = 0x10,
LEDCOMP_TOP_RIGHT = 0x20,
LEDCOMP_TOP_ALL = 0x30,
LEDCOMP_ALL = 0x3f
};
enum LEDEFFECT {
LEDEFFECT_OFF = 0,
LEDEFFECT_ON = 1,
LEDEFFECT_BREATH = 2,
LEDEFFECT_FLASH = 3,
LEDEFFECT_SCROLLING = 4
};
void set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 );

167
include/message.h
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@ -0,0 +1,167 @@
#pragma once
#include <stdbool.h>
#include <stdint.h>
#define PACKED __attribute__((__packed__))
struct PACKED Header {
// The preamble marks the start of a message and is always 0x55
uint8_t preamble;
// The length of the message includes the preamble and CRC16 at the end
union {
uint16_t length;
struct {
uint8_t length_l;
uint8_t length_h;
};
};
// This is a CRC8 checksum for the preamble and length together
uint8_t crc;
// hostbyte of the message sender
uint8_t sender;
// hostbyte of the message receiver
uint8_t receiver;
// Each message has a sequence ID
// The Robomaster will respond with the same ID for each request
// The value of the sequence ID doesn't matter to the Robomaster
// Repeating sequence IDs are acceptable
int16_t seq_id;
// The message attribute flags designate if a response is needed or if the
// message is a response.
union {
uint8_t attribute;
struct {
uint8_t reserved : 6;
bool ack_needed : 1;
bool is_ack : 1;
};
};
// Each command has a cmdset and cmdid that together make a cmd key
uint8_t cmdset;
uint8_t cmdid;
};
struct PACKED Footer {
uint16_t crc;
};
struct PACKED SetSystemLedReq {
struct Header header;
// Which LEDs on which component to control
uint32_t comp_mask;
uint16_t led_mask;
struct {
// off, on, flashing, etc.
uint8_t effect_mode : 4;
// Always 7
uint8_t control_mode : 4;
};
// RGB values for the LED color
uint8_t red;
uint8_t green;
uint8_t blue;
// Always 0
uint8_t loop;
// These time intervals have different meaning depending on effect
uint16_t t1;
uint16_t t2;
struct Footer footer;
};
struct PACKED SetSystemLedResp {
struct Header header;
uint8_t retcode;
struct Footer footer;
};
struct PACKED SetWheelSpeedReq
{
struct Header header;
int16_t wheel_speed[4];
struct Footer footer;
};
struct PACKED SetWheelSpeedResp
{
struct Header header;
int8_t retcode;
struct Footer footer;
};
struct PACKED SetSdkModeReq {
struct Header header;
uint8_t enable;
struct Footer footer;
};
struct PACKED SetSdkModeResp {
struct Header header;
uint8_t retcode;
struct Footer footer;
};
struct PACKED SetSdkConnectionReq {
struct Header header;
uint8_t control;
uint8_t host;
uint8_t connection;
uint8_t protocol;
uint32_t ip_address;
uint16_t port;
struct Footer footer;
};
struct PACKED SetSdkConnectionResp {
struct Header header;
uint8_t retcode;
uint8_t state;
uint32_t config_ip;
struct Footer footer;
};
union Request {
struct Header header;
struct SetSdkConnectionReq sdkconn;
struct SetSdkModeReq sdkmode;
struct SetSystemLedReq led;
struct SetWheelSpeedReq wheel;
};
union Response {
struct Header header;
struct SetSdkConnectionResp sdkconn;
struct SetSdkModeReq sdkmode;
struct SetSystemLedResp led;
struct SetWheelSpeedResp wheel;
};
union Message {
struct Header header;
union Request req;
union Response resp;
};
enum MESSAGEERR {
MESSAGEERR_NONE,
MESSAGEERR_HEADERCRC,
MESSAGEERR_FOOTERCRC
};
enum MESSAGEERR
message_validate(const union Message* message);

23
include/robomaster.h
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@ -1,17 +1,22 @@
#pragma once
#include <stdlib.h>
#include <stddef.h>
#include <inttypes.h>
#include <stdbool.h>
// Public stuff
struct Message;
struct Client;
typedef struct Client* Client;
typedef struct Message* Message;
Client client_new(void* buffer, size_t size);
#include "message.h"
#include "led.h"
#include "sdk_connection.h"
#include "sdk_mode.h"
#include "wheel.h"
// SIMPLE
// Create a client
// Connect to a drone
// Send messages
// Poll for responses
Client client_new();
void client_connect(Client client);
Message poll_message(Client client);
void poll_message(Client client, union Message* message);

21
include/sdk_connection.h
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@ -0,0 +1,21 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
enum CONNECTION {
CONNECTION_WIFI_AP = 0,
CONNECTION_WIFI_STA = 1,
CONNECTION_USB_RNDIS = 2
};
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port );

11
include/sdk_mode.h
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@ -0,0 +1,11 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
void
set_sdk_mode(Client session, bool enable);

16
include/wheel.h
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@ -0,0 +1,16 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 );

16
src/client.c
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@ -1,16 +0,0 @@
#include "robomaster.h"
#include "client.h"
Client session_new(void* buffer, size_t size) {
struct Client* session = malloc(sizeof(struct Client));
if(!buffer)
session->buffer = malloc(sizeof(struct Header));
else
session->buffer = buffer;
session->size = 0;
session->seq = 0;
session->max_size = size;
// TODO: Make this configurable
session->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
return session;
}

16
src/client.h
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@ -1,13 +1,9 @@
#pragma once
#include "connection.h"
#include <stdint.h>
struct Client {
void* buffer;
size_t max_size;
size_t size;
uint8_t hostbyte;
int16_t seq;
@ -16,6 +12,11 @@ struct Client {
};
// Not sure what these are, but they are used for the hostbyte
static const uint8_t DEFAULT_CLIENT_HOST = 9;
static const uint8_t DEFAULT_CLIENT_INDEX = 6;
static const uint8_t DEFAULT_ROBOT_INDEX = 0;
static inline uint8_t host2byte(uint8_t host, uint8_t index) {
return index * 32 + host;
}
@ -25,8 +26,3 @@ static inline void byte2host(uint8_t b, uint8_t* host, uint8_t* index) {
*index = b >> 5;
}
// Not sure what these are for, but they are used for the hostbyte
static const uint8_t DEFAULT_CLIENT_HOST = 9;
static const uint8_t DEFAULT_CLIENT_INDEX = 6;
static const uint8_t DEFAULT_ROBOT_INDEX = 0;

78
src/connection.c
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@ -1,78 +0,0 @@
#include "robomaster.h"
#include "client.h"
#include "connection.h"
#include "message.h"
static struct Connection* connection_new()
{
struct Connection* conn = calloc(sizeof(struct Connection));
// Request a UDP socket
conn->sockfd = socket(AF_INET, SOCK_DGRAM, 0);
// Make the socket non-blocking
int flags = fcntl(conn->sockfd, F_GETFL);
fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
// Set the address of the drone
conn->addrlen = sizeof(conn->remote_addr);
conn->dest_addr.sin_family = AF_INET;
conn->dest_addr.sin_port = htons(30030);
conn->dest_addr.sin_addr.s_addr = inet_addr("192.168.2.1");
return conn;
}
void client_connect(Client client) {
client->connection = connection_new();
sendto(client->connection->sockfd, client->buffer, session_size(session), 0, (struct sockaddr*)&client->connection->dest_addr, client->connection->addrlen);
}
// TODO: Use union to make all messages same size
void send_message(Client client, Message message, int length) {
sendto(client->connection->sockfd, message, length, 0, (struct sockaddr*)&client->connection->dest_addr, client->connection->addrlen);
}
Message poll_message(Client client) {
// Poll for messages
static const struct timeval timeout = {-1, 0};
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(client->connection->sockfd, &read_fds);
int result = select(client->connection->sockfd + 1, &read_fds, NULL, NULL, &timeout);
// Check for socket polling errors
if(result < 0) {
perror("message polling failed");
exit(EXIT_FAILURE);
}
// Skip if nothing was received yet
// TODO: Make a static "empty" message or something
if (result == 0) {
return NULL;
}
// Read a message from the socket
// TODO: Use union to make all messages same size
// NOTE: This is never freed, so it's a memory leak
void* buffer = malloc(1024);
int recvb = recvfrom(client->connection->sockfd, buffer, sizeof(client->max_size), 0, (struct sockaddr*)&client->connection->dest_addr, &client->connection->addrlen);
// Check for socket read errors
if(recvb < 0) {
perror("reading socket failed");
exit(EXIT_FAILURE);
}
// Check for message errors
if(message_validate(buffer)) {
perror("invalid message");
exit(EXIT_FAILURE);
}
return (Message)buffer;
}

68
src/connection.h
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@ -1,8 +1,74 @@
#pragma once
#include "message.h"
#include "client.h"
#include "crc.h"
#include <stdlib.h>
#include <sys/socket.h>
#include <sys/select.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <string.h>
#include <fcntl.h>
struct Connection {
int sockfd;
socklen_t addrlen;
sockaddr_in remote_addr;
struct sockaddr_in remote_addr;
};
inline
static
struct Connection*
connection_new()
{
struct Connection* conn = malloc(sizeof(struct Connection));
memset(conn, 0, sizeof(struct Connection));
// Request a UDP socket
conn->sockfd = socket(AF_INET, SOCK_DGRAM, 0);
// Make the socket non-blocking
int flags = fcntl(conn->sockfd, F_GETFL);
fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
// Set the address of the drone
conn->addrlen = sizeof(conn->remote_addr);
conn->remote_addr.sin_family = AF_INET;
conn->remote_addr.sin_port = htons(30030);
conn->remote_addr.sin_addr.s_addr = inet_addr("192.168.2.1");
return conn;
}
static
inline
void
req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, size_t length, union Request* req) {
req->header.preamble = 0x55;
req->header.length_l = length & 0xFF;
req->header.length_h = (length >> 8) & 0x3 | 4;
req->header.crc = crc8(req, 3);
req->header.seq_id = client->seq++;
req->header.sender = client->hostbyte;
// TODO: Figure out what this is supposed to be
req->header.receiver = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX);
req->header.ack_needed = true;
req->header.cmdset = cmdset;
req->header.cmdid = cmdid;
struct Footer* footer = (void*)req + length - sizeof(struct Footer);
uint16_t crc = crc16(req, length - sizeof(struct Footer));
footer->crc = crc;
}
inline
static
void
req_send(struct Connection* conn, union Request* req, size_t length) {
sendto(conn->sockfd, req, length, 0, (struct sockaddr*)&conn->remote_addr, conn->addrlen);
}

78
src/crc.c
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@ -1,78 +0,0 @@
#include <inttypes.h>
#include <stdlib.h>
static const uint8_t CRC8_TABLE[] =
{
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1,
0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e,
0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39,
0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45,
0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e,
0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31,
0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0,
0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea,
0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b,
0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54,
0xd7, 0x89, 0x6b, 0x35
};
static const uint16_t CRC16_TABLE[] =
{
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb,
0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e,
0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e,
0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285,
0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44,
0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014,
0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3,
0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e,
0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1,
0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483,
0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50,
0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1,
0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72,
0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e,
0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf,
0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d,
0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};
uint8_t crc8(const void* block, size_t length)
{
uint8_t crc = 0x77;
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)
{
uint16_t crc = 0x3692;
const uint8_t* bytes = (uint8_t*)block;
while(length--)
crc = ((crc>>8)&0xFF)^CRC16_TABLE[((crc^*bytes++)&0xFF)];
return crc;
}

86
src/crc.h
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#pragma once
uint8_t crc8(const void *block, size_t length);
uint16_t crc16(const void *block, size_t length);
#include <inttypes.h>
#include <stdlib.h>
static const uint8_t CRC8_TABLE[] =
{
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1,
0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e,
0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39,
0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45,
0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e,
0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31,
0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0,
0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea,
0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b,
0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54,
0xd7, 0x89, 0x6b, 0x35
};
static const uint16_t CRC16_TABLE[] =
{
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb,
0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e,
0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e,
0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285,
0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44,
0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014,
0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3,
0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e,
0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1,
0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483,
0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50,
0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1,
0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72,
0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e,
0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf,
0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d,
0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};
static
inline
uint8_t
crc8(const void* block, size_t length)
{
uint8_t crc = 0x77;
const uint8_t* bytes = (uint8_t*)block;
while(length--) crc = CRC8_TABLE[crc^*bytes++];
return crc;
}
static
inline
uint16_t
crc16(const void* block, size_t length)
{
uint16_t crc = 0x3692;
const uint8_t* bytes = (uint8_t*)block;
while(length--)
crc = ((crc>>8)&0xFF)^CRC16_TABLE[((crc^*bytes++)&0xFF)];
return crc;
}

78
src/led.h
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#pragma once
#include "robomaster.h"
#include "message.h"
static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
enum LEDCOMP {
LEDCOMP_BOTTOM_BACK = 0x1,
LEDCOMP_BOTTOM_FRONT = 0x2,
LEDCOMP_BOTTOM_LEFT = 0x4,
LEDCOMP_BOTTOM_RIGHT = 0x8,
LEDCOMP_BOTTOM_ALL = 0xf,
LEDCOMP_TOP_LEFT = 0x10,
LEDCOMP_TOP_RIGHT = 0x20,
LEDCOMP_TOP_ALL = 0x30,
LEDCOMP_ALL = 0x3f
};
enum LEDEFFECT {
LEDEFFECT_OFF = 0,
LEDEFFECT_ON = 1,
LEDEFFECT_BREATH = 2,
LEDEFFECT_FLASH = 3,
LEDEFFECT_SCROLLING = 4
};
struct PACKED SetSystemLedReq {
// Which LEDs on which component to control
uint32_t comp_mask;
uint16_t led_mask;
struct {
// off, on, flashing, etc.
uint8_t effect_mode : 4;
// Always 7
uint8_t control_mode : 4;
};
// RGB values for the LED color
uint8_t red;
uint8_t green;
uint8_t blue;
// Always 0
uint8_t loop;
// These time intervals have different meaning depending on effect
uint16_t t1;
uint16_t t2;
};
struct PACKED SetSystemLedResp {
uint8_t retcode;
};
static
inline
const Message
set_system_led_new (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 ) {
const struct SetSystemLedReq msg = {
comp, led_mask,
{ effect, 7 },
red, green, blue,
0, t1, t2
};
return message_new(session, 0x3F, SET_SYSTEM_LED_CMDID, sizeof(msg), &msg);
}

16
src/message.c
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#include "message.h"
#include "crc.h"
enum MESSAGEERR
message_validate(const union Message* message) {
uint16_t length = (message->header.length_h & 0x3) * 0xFF + message->header.length_l;
if(message->header.crc != crc8(message, 3))
return MESSAGEERR_HEADERCRC;
if(message->header.crc != crc16(message, length - sizeof(struct Footer)))
return MESSAGEERR_FOOTERCRC;
}

117
src/message.h
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#pragma once
#include "client.h"
#define PACKED __attribute__((__packed__))
struct PACKED Header {
// The preamble marks the start of a message and is always 0x55
uint8_t preamble;
// The length of the message includes the preamble and CRC16 at the end
union {
uint16_t length;
struct {
uint8_t length_l;
uint8_t length_h;
};
};
// This is a CRC8 checksum for the preamble and length together
uint8_t crc;
// hostbyte of the message sender
uint8_t sender;
// hostbyte of the message receiver
uint8_t receiver;
// Each message has a sequence ID
// The Robomaster will respond with the same ID for each request
// The value of the sequence ID doesn't matter to the Robomaster
// Repeating sequence IDs are acceptable
union {
int16_t seq_id;
struct {
uint8_t seq_id_l;
uint8_t seq_id_h;
};
};
// The message attribute flags designate if a response is needed or if the
// message is a response.
union {
uint8_t attribute;
struct {
uint8_t reserved : 6;
bool ack_needed : 1;
bool is_ack : 1;
};
};
// Each command has a cmdset and cmdid that together make a cmd key
uint8_t cmdset;
uint8_t cmdid;
};
struct PACKED Message {
struct Header header;
uint8_t body[];
};
struct PACKED Footer {
uint16_t crc;
};
static
inline
struct Message*
message_new(struct Client* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body) {
struct Message* message = session->buffer + session->size;
memcpy((void*)message->body, body, length);
length += sizeof(struct Header) + sizeof(struct Footer);
session->size += length;
int16_t seq = session->seq++;
message->header.preamble = 0x55;
message->header.length_l = length & 0xFF;
message->header.length_h = (length >> 8) & 0x3 | 4;
message->header.crc = crc8(message, 3);
message->header.seq_id = seq;
message->header.sender = session->hostbyte;
message->header.receiver = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX);
message->header.ack_needed = true;
message->header.cmdset = cmdset;
message->header.cmdid = cmdid;
struct Footer* footer = (void*)message + length - sizeof(struct Footer);
uint16_t crc = crc16(message, length - sizeof(struct Footer));
footer->crc = crc;
return message;
}
enum MESSAGEERR {
MESSAGEERR_NONE,
MESSAGEERR_HEADERCRC,
MESSAGEERR_FOOTERCRC
}
static
inline
enum MESSAGEERR
message_validate(const struct Message* message) {
uint16_t length = (message->header->length_h[2] & 0x3) * 0xFF + message->header->length_l[1];
if(message->header.crc != crc8(message, 3))
return MESSAGEERR_HEADERCRC;
if(message->header.crc != crc16(message, length - sizeof(struct Footer)))
return MESSAGEERR_FOOTERCRC;
}

33
src/messages/led.c
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#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 ) {
union Request req = {0};
req.led.comp_mask = comp;
req.led.led_mask = led_mask;
req.led.effect_mode = effect;
req.led.control_mode = 7;
req.led.red = red;
req.led.green = green;
req.led.blue = blue;
req.led.loop = 0;
req.led.t1 = t1;
req.led.t2 = t2;
req_finalize(session, 0x3F, SET_SYSTEM_LED_CMDID, sizeof(struct SetSystemLedReq), &req);
req_send(session->connection, &req, sizeof(struct SetSystemLedReq));
}

21
src/messages/sdk_connection.c
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#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port ) {
union Request req = {0};
req.sdkconn.control = 0;
req.sdkconn.host = session->hostbyte;
req.sdkconn.connection = connection_type;
req.sdkconn.protocol = 0;
req.sdkconn.ip_address = ip_address;
req.sdkconn.port = port;
req_finalize(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(struct SetSdkConnectionReq), &req);
req_send(session->connection, &req, sizeof(struct SetSdkConnectionReq));
}

13
src/messages/sdk_mode.c
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#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_sdk_mode(
Client session,
bool enable ) {
union Request req = {0};
req.sdkmode.enable = enable;
req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, sizeof(struct SetSdkModeReq), &req);
req_send(session->connection, &req, sizeof(struct SetSdkModeReq));
}

19
src/messages/set_wheel_speed.c
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#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 ) {
union Request req = {0};
req.wheel.wheel_speed[0] = w1;
req.wheel.wheel_speed[1] = w2;
req.wheel.wheel_speed[2] = w3;
req.wheel.wheel_speed[3] = w4;
req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, sizeof(struct SetWheelSpeedReq), &req);
req_send(session->connection, &req, sizeof(struct SetWheelSpeedReq));
}

65
src/robomaster.c
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#include "robomaster.h"
#include "client.h"
#include "message.h"
#include "connection.h"
#include <stdlib.h>
#include <sys/socket.h>
#include <sys/select.h>
#include <netinet/in.h>
#include <string.h>
#include <stdio.h>
Client client_new() {
struct Client* client = malloc(sizeof(struct Client));
memset(client, 0, sizeof(struct Client));
// TODO: Make this configurable
client->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
return client;
}
void client_connect(Client client) {
client->connection = connection_new();
set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
}
void poll_message(Client client, union Message* resp) {
// Poll for messages
static struct timeval timeout = {-1, 0};
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(client->connection->sockfd, &read_fds);
int result = select(client->connection->sockfd + 1, &read_fds, NULL, NULL, &timeout);
// Check for socket polling errors
if(result < 0) {
perror("message polling failed");
exit(EXIT_FAILURE);
}
// Skip if nothing was received yet
// TODO: Make a static "empty" message or something
if (result == 0) {
return;
}
// Read a message from the socket
// TODO: Use union to make all messages same size
int recvb = recvfrom(client->connection->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->connection->remote_addr, &client->connection->addrlen);
// Check for socket read errors
if(recvb < 0) {
perror("reading socket failed");
exit(EXIT_FAILURE);
}
// Check for message errors
if(message_validate(resp)) {
perror("invalid message");
exit(EXIT_FAILURE);
}
}

45
src/robomastersh.c
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#include "robomaster.h"
#include <arpa/inet.h>
#include <stdio.h>
#include <assert.h>
uint8_t buffer[1024] = {0};
uint8_t recvbuff[1024] = {0};
int main(int argc, char* argv[])
{
Client 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);
int recvb = recvfrom(sockfd, &recvbuff, sizeof(recvbuff), 0, (struct sockaddr*)&dest_addr, &addrlen);
struct Message* resp = (struct Message*)recvbuff;
// check length
uint16_t resplen = (recvbuff[2] & 0x3) * 0xFF + recvbuff[1];
if(recvb != resplen)
fprintf(stderr, "expected length %d got %d", recvb, resplen);
// check header crc
uint8_t expected_crc8 = crc8(resp, 3);
if(resp->header.crc != expected_crc8)
fprintf(stderr, "expected crc8 %d got %d", resp->header.crc, expected_crc8);
// check footer crc
uint16_t expected_crc16 = crc16(recvbuff, recvb - 2);
uint16_t actual_crc16 = *(uint16_t*)(recvbuff + recvb - 2);
if(actual_crc16 != expected_crc16)
fprintf(stderr, "expected crc16 %d got %d", actual_crc16, expected_crc16);
Client client = client_new();
client_connect(client);
return 0;
}

47
src/sdk_connection.h
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#pragma once
#include "robomaster.h"
#include "message.h"
static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
enum CONNECTION {
CONNECTION_WIFI_AP = 0,
CONNECTION_WIFI_STA = 1,
CONNECTION_USB_RNDIS = 2
};
struct PACKED SetSdkConnectionReq {
uint8_t control;
uint8_t host;
uint8_t connection;
uint8_t protocol;
uint32_t ip_address;
uint16_t port;
};
struct PACKED SetSdkConnectionResp {
uint8_t retcode;
uint8_t state;
uint32_t config_ip;
};
static
inline
const Message
set_sdk_connection_new(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port ) {
const struct SetSdkConnectionReq msg = {
0,
session->hostbyte,
connection_type,
0,
ip_address,
port
};
return message_new(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(msg), &msg);
}

24
src/sdk_mode.h
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#pragma once
#include "robomaster.h"
#include "message.h"
static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
struct PACKED SetSdkModeReq {
uint8_t enable;
};
struct PACKED SetSdkModeResp {
uint8_t retcode;
};
static
inline
const Message
set_sdk_mode_new(
Client session,
bool enable ) {
const struct SetSdkModeReq msg = { enable };
return message_new(session, 0x3F, SET_SDK_MODE_CMDID, sizeof(msg), &msg);
}

24
src/set_wheel_speed.h
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#pragma once
#include "robomaster.h"
#include "message.h"
static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
struct PACKED SetWheelSpeedReq
{
int16_t wheel_speed[4];
};
static
inline
const Message
set_wheel_speed_new (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 ) {
const struct SetWheelSpeedReq msg = { {w1, w2, w3, w4} };
return message_new(session, 0x3F, SET_WHEEL_SPEED_CMDID, sizeof(msg), &msg);
}
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