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PgSocks 6b4c891b36 Make preamble a const The preamble is always 0x55. It should be a const in the header.		2 years ago
include	Make preamble a const	2 years ago
src	Remove high and low byte union for message length	2 years ago
CMakeLists.txt	Remove code for shell command utility	2 years ago
README.md	Make ack bit and receiver byte parameters	2 years ago

README.md

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:<random port>.

Commands

UTF-8 encoded
command
version
quit

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. Any request can specify if an ack is required, or not. If no ack is required, the drone will not send a response.

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.