RoboRIO to Driver Station

UDP

Sent every 20ms in response to Driver Station packets, UDP port 1150

Field	Length	Type	Comment
Sequence Num	2	uint16
Comm Version	1	uint8	0x01 is currently the only observed value
Status	1	Status	Basically an echo if everything is operating properly
Trace	1	Trace
Battery	2	Battery
Request Date?	1	uint8	0x01 when first connecting, 0x00 otherwise
Tags	n	Tags

Status

Field	Mask	Comment
E-Stop	x.......
Brownout	...x....	0: Normal, 1: Voltage Brownout
Code Start	....x...	0: Running, 1: Initializing
Enabled	.....x..
Mode	......xx	0: Teleop, 1: Test, 2: Autonomous

Trace

Field	Mask	Comment
Robot Code	..x.....
Is RoboRIO	...x....
Test Mode	....x...
Autonomous Mode	.....x..
TeleOp Code	......x.
Disabled	.......x

Battery

Received as a uint16, XXYY. Voltage is calculated by:

XX + YY/256

Tags

Field	Length	Type	Comment
Size	1	uint8
ID	1	uint8	See table below
Data	n		Depends on tag type

ID	Tag
0x01	Joystick Output
0x04	Disk Info
0x05	CPU Info
0x06	RAM Info
0x08	PDP Log
0x09	Unknown
0x0e	CAN Metrics

Joystick Output 0x01

If multiple joysticks, the extended packets are concatenated together. If a joystick isn’t outputting anything, the size will be 1 (to include the packet type ID) and not contain any of the below. So if the 3rd joystick is outputting, it’ll output 01 01 01 01 09 01 <below structure>.

Field	Length	Type	Comment
Outputs	4	Output
Left Rumble	2	uint16
Right Rumble	2	uint16

Output

1 bit per output. Stored LSB 0.

Disk Info 0x04

Field	Length	Type	Comment
Free Space	4	uint32	Number of bytes available

CPU Info 0x05

Field	Length	Type	Comment
Num of CPUs	4	float	0x02 on the RoboRIO
CPUn Time Critical %	4	float
CPUn Above Normal %	4	float
CPUn Normal %	4	float
CPUn Low %	4	float

RAM Info 0x06

Field	Length	Type	Comment
Block	4	uint32
Free Space	4	uint32	Number of bytes available

PDP Log 0x08

Field	Length	Type	Comment
Unknown	1
PDP Stats	21
Unknown	3

The statistics for each PDP port is 10 bits, padding together for a total of 21 bytes.

struct PDP {
   uint16_t port_00 : 10; //
   uint16_t port_01 : 10; // 8 bytes, 40 bits
   uint16_t port_02 : 10; //
   uint16_t port_03 : 10; //
   uint16_t port_04 : 10; //
   uint16_t port_05 : 10; //
   uint16_t pad1    :  4; //

   uint16_t port_06 : 10; //
   uint16_t port_07 : 10; // 8 bytes, 40 bits
   uint16_t port_08 : 10; //
   uint16_t port_09 : 10; //
   uint16_t port_10 : 10; //
   uint16_t port_10 : 10; //
   uint16_t pad2    :  4; //

   uint16_t port_12 : 10; //
   uint16_t port_13 : 10; // 5 bytes, 40 bits
   uint16_t port_14 : 10; //
   uint16_t port_15 : 10; //
}

Unknown 0x09

Field	Length	Type	Comment
Unknown	9

CAN Metrics 0x0e

Field	Length	Type	Comment
Utilization %	4	float
Bus Off	4	uint32
TX Full	4	uint32
RX Errors	1	uint8
TX Errors	1	uint8

TCP

Sent over TCP port 1740. Strings are either prefixed with a length (specified) or implied.

Field	Length	Type	Comment
Size	2	uint16	Including ID
ID	1	uint8	See table below (only if Size > 0)
Tags	1		Depends on tag type

Tags

ID	Tag
0x00	Radio Events?
0x01	Usage Report
0x04	Disable Faults
0x05	Rail Faults
0x0a	Version Info
0x0b	Error Message
0x0c	Standard Output
0x0d	Unknown

Radio Events? 0x00

Might just be generic “Error Strings” or something.

Field	Length	Type	Comment
Message	n	string

Usage Report 0x01

Field	Length	Type	Comment
Team Num	2	string
Unknown	1	uint8
Entries	n	Entry Data

Disable Faults 0x04

Field	Length	Type	Comment
Comms	2	uint16
12V	2	uint16

Rail Faults 0x05

Field	Length	Type	Comment
6V	2	uint16
5V	2	uint16
3.3V	2	uint16

Version Info 0x0a

Field	Length	Type	Comment
Type	1	Device	See below
Unknown	2
ID	1	uint8	CAN ID?
Name	1 + n	string
Version	1 + n	string

Empty message (00 00 00 00 00 00) signifies end of list.

Device Type

Num	Type
0	Software (roboRIO image, FRC_Lib_Version)
2	CAN Talon
8	PDP
9	PCM

Error Message 0x0b

Shows up in main Driver Station log. Sequence Number increments along with Standard Output.

Field	Length	Type	Comment
Timestamp	4	float	Seconds since start of log
SeqNum	2	uint16
Unknown	2		Only seen as 01?
Error Code	4	int32
Flags	1	Flags
Details	2 + n	string
Location	2 + n	string
Call Stack	2 + n	string

Flags

Field	Mask	Comment
Error	.......x
isLVcode	......x.

Standard Output 0x0c

Sequence Number increments along with Error Message.

Field	Length	Type	Comment
Timestamp	4	float	Seconds since start of log
SeqNum	2	uint16
Message	n	string

Unknown 0x0d

00 00 04 04 04 04