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.