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Communication.md

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Communication

Timeout for each packet of 100ms. Reset with packet drop after timeout.

Packets

  • 0x55
  • Packet-ID (1B)
  • Type (1B)
  • Length (1B)
  • Payload (nB)
  • CRC-16 (2B)

Types

  • High-Bit 0: Command
  • High-Bit 1: Status

Commands

Zero is reset

Statuses

Zero is success, everything else is failure

Internal movement correction

  • Calibrate against accelerometer and compass
  • Use NFC to home

Movement format

  • Polar coordinates: absolute compass direction (16 bit unsigned full-scale) plus distance from home

Configuration messages

Ping message

  • Source of the ping
    • WIFI/Camera
    • Server
    • Controller
  • Value to return

Trigger message

There must be a way to trigger the scheduled DMD/Shield/Cannon/Motor updates quickly and on all robots at the same time

  • Delay in ms after which to trigger (can be zero)
  • Bitfield of what updates to perform after delay
    • Motor
    • DMD
    • Shield
    • Cannon

Request message

Requests the transmission of a message

  • What to request
    • System
    • Power
    • WiFi status
    • Sensors
    • Sound status

Reset message

Resets the scheduled data for the particular peripheral. Also treats transparency as black for the next respective update.

  • Bitfield of what to reset
    • Motor
    • DMD
    • Shield
    • Cannon

System message

  • Version info
  • Contents of the personality EEPROM

WiFi status message

  • Network name prefixed by string length (if already set)
  • RSSI (signal strength or zero if disconnected)

WiFi AP message

  • Connect/disconnect
  • Network name
  • Password

Write personality message

  • New contents of the personality EEPROM

Power message

  • Bitfield
    • State of the WiFi power failure flag
    • Whether USB is connected
    • Whether the battery is operational
  • Battery voltage
  • System voltage (5V)

Sensor message

  • Accelerometer data
  • Gyroscope data
  • Magnetometer data
  • Line sensor data

DMD message

  • Number of palette entries (usable entries start at one, zero is transparent)
    • Palette entries in RGB565
  • Frame duration in ms (negative = no loop, positive = loop)
  • Number of frames
    • Origin x of the area to update
    • Origin y of the area to update
    • Width of the area to update
    • Height of the area to update
    • Palettized frame data with one byte per pixel

Shield message

  • Number of palette entries (usable entries start at one, zero is transparent)
    • Palette entries
      • Hue
      • Saturation
  • Frame duration in ms
  • Number of frames
    • Start position of the first LED to update
    • Number of LEDs to update
    • Palettized frame data with two bytes per LED
      • Palette index
      • Brightness value

Cannon message

The same as the shield message.

Sound message

  • Message type (play effect/music, pause effect/music, stop effect/music, volume)
  • Background music number/volume

Sound status message

  • Status bitfield
    • Card and module ready
    • Currently playing
  • Currently playing background music (or none)
  • Currently playing sound effect (or none)
  • Volume

RFID message

  • Depending on RFID configuration returns a number of sectors starting at zero
  • Only cards with a SAK of 08 (MIFARE 1K) are supported