CanandDevice

Message/wire format spec, version 2024-offseason.

The device spec for Redux products will not change in a backwards-incompatible fashion in-season, from the first official release for a given year until after the FIRST Championship.

Summary of the CAN address scheme and packet format

Redux CAN devices conform to the 29-bit FRC CAN message address scheme, with a very specific rearrangement of the API identifier/class field.

A full CAN arbitration id that actually gets put on the bus can be broken down into four components:

1. A 5 bit device type (devType) that is product specific (the Canandmag is 7 for “gear tooth sensor”)

2. an 8-bit manufacturer code unique to each vendor (the Redux code is 14 in decimal or 0xE)

3. 10 bits of API identifier

4. a 6-bit device number (devId) that is user-configurable so you can have multiple of a device on a bus – this is what the “CAN ID” in robot code and vendor tuners usually refer to.

The WPILib docs elaborates on this in a bit more detail. Of note is that it breaks down the 10-bit API identifier into a 6-bit API class and 4-bit API index.

Redux products break it down into a 2 bit API page (currently always 0) and an 8 bit API index (apiIndex).

The breakdown can be seen in the diagram provided below for a Party Mode packet sent to Canandmag device 4:

Based on diagram from: WPILib Docs

Summary of the settings scheme

Redux CAN device have a series of settings that are up to 6 bytes in length, that are managed using the set setting, setting command and report setting messages. Exact format and functionality of each setting field is generally device dependent.

Sending a set setting packet, will trigger a report setting message as a reply to confirm the transaction and success or failure. The setting command packet can be used to either report settings, reset to default settings, or perform other device-specific actions.

All value fields are default unsigned little-endian unless otherwise specified.

This document uses the following conventions for notating field types:

Type	Description
bool	Single-bit boolean
float:24	IEEE 754 single-precision float with the least significant 8 bits of mantissa stripped to fit in 3 bytes
float:32	IEEE 754 single-precision (32-bit) float
float:64	IEEE 754 double-precision (64-bit) float
uintN_t	Unsigned integer of bit width N
intN_t	Signed integer of bit width N
padN_t	N bits of padding bits that should be left zero.
uint8_t[N]	N bytes of a byte array

Additionally, when literals are specified for default values,

• true and false are defined as bit values 1 and 0 respectively

• for a byte array specified as {0x1, 0x2, 0x3, 0x4} the first (index zero) byte is 0x1 and the last is 0x4.

Messages

These are the definitions of messages sent over CAN, USB, or other encapsulation mechanisms.

Message summary:

API Index	Message	Description
0xb	ENUMERATE	Device enumerate response
0x7	PARTY_MODE	Party mode
0x6	STATUS	Status frame
0x5	CLEAR_STICKY_FAULTS	Clear device sticky faults
0x4	REPORT_SETTING	setting value report from device
0x3	SET_SETTING	update setting on device
0x2	SETTING_COMMAND	setting control command

ENUMERATE

Sent by the device upon an enumerate request, or every 100 milliseconds if the device is stuck in OTA bootloader.

The exact format of enumerate request may vary between communication mediums:

• for a CAN bus an enumerate request is a message with an extended (29-bit) arbitration ID of 0xE0000

Properties

Property	Value
API Index	0xb
Message length	8 bytes
Transmission direction	Device -> robot

Signals

Signal name	Signal type	Optional	Description
serial	uint8_t[6]	❌	Device-unique serial number
is_bootloader	bool	❌	Device is in bootloader.
reserved	pad15_t	❌	Reserved

PARTY_MODE

Configures party mode to the device.

Non-zero values will prompt the onboard RGB LED of the device to cycle various colors to help identify where it physically sits on a robot.

A zero value stops the cycling.

Properties

Property	Value
API Index	0x7
Minimum message length	1 bytes
Maximum message length	8 bytes
Transmission direction	Robot -> device

Signals

Signal name	Signal type	Optional	Description
party_level	uint8_t	❌	Party level. 0 disables the strobe, whereas each increased value up to 10 increases strobe period by 50 ms.

STATUS

Periodic frame containing status information about the device.

Typically this contains active and sticky faults as well as environmental information such as device temperature. The actual composition of this message will vary from device to device, but it is guarenteed to be 8 bytes long. Consult individual device documentation pages for more information.

This frame cannot be disabled.

The period at which this message is broadcasted at is controlled by the STATUS_FRAME_PERIOD setting.

Properties

Property	Value
API Index	0x6
Message length	8 bytes
Transmission direction	Device -> robot
Frame period setting	STATUS_FRAME_PERIOD
Default frame period	1000 milliseconds

Signals

Signal name	Signal type	Optional	Description
dev_specific	uint8_t[8]	❌	Device-specific status data. See device pages for more information.

CLEAR_STICKY_FAULTS

Sent to device to clear all sticky faults (sets the sticky faults to 0 until faults become active again)

Properties

Property	Value
API Index	0x5
Minimum message length	0 bytes
Maximum message length	8 bytes
Transmission direction	Robot -> device

Signals

Signal name	Signal type	Optional	Description

REPORT_SETTING

Sent to report a setting value from the device.

These messages can be triggered by:

• a setting change via the set setting message

• the fetch setting value setting command

• a reset to factory default setting command

• other device-specific mechanisms including device-specific setting commands

The setting flags include information on whether or not the setting set was successful as well as the setting data that was sent.

Sent after a setting change via or on the fetch settings and factory reset Setting changes (as of v2024) will always include the “settings flag” field.

Properties

Property	Value
API Index	0x4
Message length	8 bytes
Transmission direction	Device -> robot

Signals

Signal name	Signal type	Optional	Description
address	Setting index	❌	Setting index to write to
value	setting_data	❌	6-byte setting value
flags	setting_report_flags	❌	Setting receive status

SET_SETTING

Sent to device to change a setting by address.

If the setting exists, a report setting packet will be sent in reply, with the data of the setting echoed back and information on whether or not the setting set succeeded.

Properties

Property	Value
API Index	0x3
Message length	8 bytes
Transmission direction	Robot -> device

Signals

Signal name	Signal type	Optional	Description
address	Setting index	❌	Setting index to write to
value	setting_data	❌	6-byte setting value
flags	setting_flags	❌	Setting flags

SETTING_COMMAND

Sent to the device to operate on the settings subsystem.

Devices may add their own setting commands but they will typically at least have:

• fetch all settings (id 0x0)

• reset all applicable settings to factory default (id 0x1)

• fetch setting value (id 0x2)

Most setting commands (e.g. reset to factory default and get all settings) are allowed to have a data length code of 1, however, the fetch setting value command requires a data length of at least 2 bytes to also specify the setting index to fetch.

The most typical use case is likely to fetch a specific setting value; to fetch firmware version for example one might send this packet with the payload {0x2, 0x6} and wait for a report setting to report the setting.

Properties

Property	Value
API Index	0x2
Minimum message length	1 bytes
Maximum message length	8 bytes
Transmission direction	Robot -> device

Signals

Signal name	Signal type	Optional	Description
control_flag	SETTING_COMMAND	❌	Setting command index
setting_index	Setting index	✅	setting index to fetch

Settings

Settings hold and manipulate the configuration of the device.

Most settings are saved to non-volatile flash, are saved on device reboot, are considered both readable and writable, and will be reset to a default value when a reset to factory default setting command is issued.

Some settings are read-only as they contain device or firmare specific infomation such as serial number or firmware version.

Other settings may be write-only as they command the device to do something specific; e.g. update an offset. In practice, settings get used whenever an infrequent (non-periodic) call-response architecture makes sense spec-wise.

Each setting is associated with an 8-bit unsigned setting index byte. Setting data is encoded as 48-bit (6 byte) fields. Both setting index and encoded setting data are sent in set setting and report_setting messages, whereas the fetch setting value setting command only requires an index.

If a type associated with a setting is less than 48 bits wide (e.g. a float32), the rest of the data field during encode/decode can be assumed to be padding and left as zero.

Setting summary:

Setting index	Name	Type	Default value	Readable	Writable	Resets to factory default	Description
0x8	DEVICE_TYPE	uint16_t	n/a	✅	❌	❌	Device-specific type identifier
0x6	FIRMWARE_VERSION	firmware_version	n/a	✅	❌	❌	Firmware version
0x5	SERIAL_NUMBER	uint8_t[6]	n/a	✅	❌	❌	Serial number
0x4	STATUS_FRAME_PERIOD	status_frame_period	1000	✅	✅	✅	Status frame period (ms)
0x3	NAME_2	uint8_t[6]	[0x0, 0x0, 0x0, 0x0, 0x0, 0x0]	✅	✅	✅	device_name[12:17]
0x2	NAME_1	uint8_t[6]	[0x44, 0x65, 0x76, 0x69, 0x63, 0x65]	✅	✅	✅	device_name[6:11]
0x1	NAME_0	uint8_t[6]	[0x43, 0x61, 0x6e, 0x61, 0x6e, 0x64]	✅	✅	✅	device_name[0:5]
0x0	CAN_ID	can_device_id	0	✅	✅	❌	CAN Device ID

DEVICE_TYPE

Read-only device type identifier.

If multiple types of device share the same FRC-CAN device class, e.g. two device variants that do similar things but may or may not have the same message API, this setting can be used to disambiguate between them.

Property	Value
Setting index	0x8
Type	uint16_t
Default value	n/a
Readable	✅
Writable	❌
Resets on factory default	❌

FIRMWARE_VERSION

Read-only setting value of the device’s firmware version.

Property	Value
Setting index	0x6
Type	firmware_version
Default value	n/a
Readable	✅
Writable	❌
Resets on factory default	❌

SERIAL_NUMBER

Read-only setting of the device’s serial number.

Property	Value
Setting index	0x5
Type	uint8_t[6]
Default value	n/a
Readable	✅
Writable	❌
Resets on factory default	❌

STATUS_FRAME_PERIOD

Period between the transmission of status frame messages in milliseconds. This frame cannot be disabled (as Alchemist uses it to detect devices).

Property	Value
Setting index	0x4
Type	status_frame_period
Default value	1000
Readable	✅
Writable	✅
Resets on factory default	✅

NAME_2

Last 6 bytes of the name field.

Having a null byte will terminate the name field at that byte.

All 6 bytes can be non-null and the name will be 18 characters long.

Property	Value
Setting index	0x3
Type	uint8_t[6]
Default value	[0x0, 0x0, 0x0, 0x0, 0x0, 0x0]
Readable	✅
Writable	✅
Resets on factory default	✅

NAME_1

Middle 6 bytes of the device name.

Having a null byte will terminate the name field at that byte.

Property	Value
Setting index	0x2
Type	uint8_t[6]
Default value	[0x44, 0x65, 0x76, 0x69, 0x63, 0x65]
Readable	✅
Writable	✅
Resets on factory default	✅

NAME_0

First 6 bytes of the device name.

Having a null byte will terminate the name field at that byte.

Property	Value
Setting index	0x1
Type	uint8_t[6]
Default value	[0x43, 0x61, 0x6e, 0x61, 0x6e, 0x64]
Readable	✅
Writable	✅
Resets on factory default	✅

CAN_ID

Sets the 6-bit device id, ranging from 0 to 63. This allows multiple of a device to share a bus.

Defaults to 0 but does not reset on factory resets.

Property	Value
Setting index	0x0
Type	can_device_id
Default value	0
Readable	✅
Writable	✅
Resets on factory default	❌

Types

Data types associated with messages and/or settings.

frame_period

Frame period associated with some periodic data or status frame. 1 LSB equals 1 ms of period, and setting the period to 0 will disable the corresponding frame.

Property	Value
Base type	uint
Bit width	16
Minimum value	0
Maximum value	65535
Default value	0
Conversion factor	1 LSB = \(\frac{1}{1000}\) seconds

status_frame_period

Frame period specific to the status frame, as status frames cannot be set to 0 and disabled.

Property	Value
Base type	uint
Bit width	16
Minimum value	1
Maximum value	16383
Default value	1000
Conversion factor	1 LSB = \(\frac{1}{1000}\) seconds

can_device_id

The CAN device id used by the device. As specified by the FRC-CAN spec, this comprises the least significant 6 bits of the CAN id.

Property	Value
Base type	uint
Bit width	8
Minimum value	0
Maximum value	63
Default value	0

setting_flags

Information set on the set settings message.

Setting the ephemeral bit makes the setting not save to non-volatile memory and not persist on reboot, if applicable.

Sending multiple messages with the synch hold message will queue them for application on device until a message with the bit unset and the number of messages expected to be in the queue (in synch_msg_count) is set.

If the number of settings in the queue equals the number of settings in synch_message_count, all settings are applied and a report settings message with the commit_success bit is set. Otherwise, none of them are applied and the commit success bit is unset.

Original Canandmags do not support the synch hold mechanism.

Property	Value
Base type	struct
Bit width	8

Signals:

Name	Type	Default value	Description
ephemeral	bool	false	Whether the setting should be set ephemeral
synch_hold	bool	false	Whether the setting should be held until the next synch barrier
reserved_0	pad2_t	0	Reserved
synch_msg_count	uint4_t	0	Synch message count

setting_report_flags

Bits set by the report setting message to indicate success or failure

Property	Value
Base type	bitset
Bit width	8

Flags:

Flag index	Flag name	Default value	Description
0	set_success	0	Whether the setting set/fetch was successful
1	commit_success	0	Whether the setting synch commit was successful

firmware_version

Firmware version reported by the device.

Property	Value
Base type	struct
Bit width	32

Signals:

Name	Type	Default value	Description
firmware_patch	uint8_t	0	Firmware version patch number
firmware_minor	uint8_t	0	Firmware version minor number
firmware_year	uint16_t	0	Firmware version year

rfloat32

An IEEE single-precision float32 that cannot be NaN or infinite.

Property	Value
Base type	float
Bit width	32
Minimum value	n/a
Maximum value	n/a
Default value	0

pfloat32

An IEEE single-precision float32 that must be non-negative but may be NaN or infinite.

Property	Value
Base type	float
Bit width	32
Minimum value	0.0
Maximum value	n/a
Default value	0

prfloat32

An IEEE single-precision float32 that must be non-negative AND cannot be NaN or infinite.

Property	Value
Base type	float
Bit width	32
Minimum value	0.0
Maximum value	n/a
Default value	0

lfloat32

An IEEE single-precision float32 constrained between 0 and 1 inclusive.

Property	Value
Base type	float
Bit width	32
Minimum value	0.0
Maximum value	1.0
Default value	0

Enums

Enums associated with messages and/or settings. The backing type is always an unsigned int of some specified width.

SETTING_COMMAND

These are setting commands issued via the setting command message.

The fetch setting command and reset factory settings command are common to all Redux devices.

Property	Value
Bit width	8
Default enum

Enum variants:

Enum index	Variant name	Description
0x0	FETCH_SETTINGS	Fetch all settings from device via a series of report setting messages of all indexes
0x1	RESET_FACTORY_DEFAULT	Reset all resettanble settings to factory default, and broadcast all setting values via report setting messages.
0x2	FETCH_SETTING_VALUE	Requests to fetch a single setting from device, with its value reported via the report setting message. This requires the use of the second byte to specify the setting index to fetch.