Dajiang RoboMaster Joystick Integration

djjoystick.py

import serial
from struct import pack
from crccheck.crc import Crc8, Crc16
from time import sleep

CRC8_TAB = [        0x00,0x5e,0xbc,0xe2,0x61,0x3f,0xdd,0x83,0xc2,0x9c,0x7e,0x20,0xa3,0xfd,0x1f,0x41,
        0x9d,0xc3,0x21,0x7f,0xfc,0xa2,0x40,0x1e,0x5f,0x01,0xe3,0xbd,0x3e,0x60,0x82,0xdc,
        0x23,0x7d,0x9f,0xc1,0x42,0x1c,0xfe,0xa0,0xe1,0xbf,0x5d,0x03,0x80,0xde,0x3c,0x62,
        0xbe,0xe0,0x02,0x5c,0xdf,0x81,0x63,0x3d,0x7c,0x22,0xc0,0x9e,0x1d,0x43,0xa1,0xff,
        0x46,0x18,0xfa,0xa4,0x27,0x79,0x9b,0xc5,0x84,0xda,0x38,0x66,0xe5,0xbb,0x59,0x07,
        0xdb,0x85,0x67,0x39,0xba,0xe4,0x06,0x58,0x19,0x47,0xa5,0xfb,0x78,0x26,0xc4,0x9a,
        0x65,0x3b,0xd9,0x87,0x04,0x5a,0xb8,0xe6,0xa7,0xf9,0x1b,0x45,0xc6,0x98,0x7a,0x24,
        0xf8,0xa6,0x44,0x1a,0x99,0xc7,0x25,0x7b,0x3a,0x64,0x86,0xd8,0x5b,0x05,0xe7,0xb9,
        0x8c,0xd2,0x30,0x6e,0xed,0xb3,0x51,0x0f,0x4e,0x10,0xf2,0xac,0x2f,0x71,0x93,0xcd,
        0x11,0x4f,0xad,0xf3,0x70,0x2e,0xcc,0x92,0xd3,0x8d,0x6f,0x31,0xb2,0xec,0x0e,0x50,
        0xaf,0xf1,0x13,0x4d,0xce,0x90,0x72,0x2c,0x6d,0x33,0xd1,0x8f,0x0c,0x52,0xb0,0xee,
        0x32,0x6c,0x8e,0xd0,0x53,0x0d,0xef,0xb1,0xf0,0xae,0x4c,0x12,0x91,0xcf,0x2d,0x73,
        0xca,0x94,0x76,0x28,0xab,0xf5,0x17,0x49,0x08,0x56,0xb4,0xea,0x69,0x37,0xd5,0x8b,
        0x57,0x09,0xeb,0xb5,0x36,0x68,0x8a,0xd4,0x95,0xcb,0x29,0x77,0xf4,0xaa,0x48,0x16,
        0xe9,0xb7,0x55,0x0b,0x88,0xd6,0x34,0x6a,0x2b,0x75,0x97,0xc9,0x4a,0x14,0xf6,0xa8,
        0x74,0x2a,0xc8,0x96,0x15,0x4b,0xa9,0xf7,0xb6,0xe8,0x0a,0x54,0xd7,0x89,0x6b,0x35]
CRC8_INIT = 0x77
CRC16_INIT = 0x1862
CRC16_TAB = [        0x0000,0x1189,0x2312,0x329B,0x4624,0x57AD,0x6536,0x74BF,
        0x8C48,0x9DC1,0xAF5A,0xBED3,0xCA6C,0xDBE5,0xE97E,0xF8F7,
        0x1081,0x0108,0x3393,0x221A,0x56A5,0x472C,0x75B7,0x643E,
        0x9CC9,0x8D40,0xBFDB,0xAE52,0xDAED,0xCB64,0xF9FF,0xE876,
        0x2102,0x308B,0x0210,0x1399,0x6726,0x76AF,0x4434,0x55BD,
        0xAD4A,0xBCC3,0x8E58,0x9FD1,0xEB6E,0xFAE7,0xC87C,0xD9F5,
        0x3183,0x200A,0x1291,0x0318,0x77A7,0x662E,0x54B5,0x453C,
        0xBDCB,0xAC42,0x9ED9,0x8F50,0xFBEF,0xEA66,0xD8FD,0xC974,
        0x4204,0x538D,0x6116,0x709F,0x0420,0x15A9,0x2732,0x36BB,
        0xCE4C,0xDFC5,0xED5E,0xFCD7,0x8868,0x99E1,0xAB7A,0xBAF3,
        0x5285,0x430C,0x7197,0x601E,0x14A1,0x0528,0x37B3,0x263A,
        0xDECD,0xCF44,0xFDDF,0xEC56,0x98E9,0x8960,0xBBFB,0xAA72,
        0x6306,0x728F,0x4014,0x519D,0x2522,0x34AB,0x0630,0x17B9,
        0xEF4E,0xFEC7,0xCC5C,0xDDD5,0xA96A,0xB8E3,0x8A78,0x9BF1,
        0x7387,0x620E,0x5095,0x411C,0x35A3,0x242A,0x16B1,0x0738,
        0xFFCF,0xEE46,0xDCDD,0xCD54,0xB9EB,0xA862,0x9AF9,0x8B70,
        0x8408,0x9581,0xA71A,0xB693,0xC22C,0xD3A5,0xE13E,0xF0B7,
        0x0840,0x19C9,0x2B52,0x3ADB,0x4E64,0x5FED,0x6D76,0x7CFF,
        0x9489,0x8500,0xB79B,0xA612,0xD2AD,0xC324,0xF1BF,0xE036,
        0x18C1,0x0948,0x3BD3,0x2A5A,0x5EE5,0x4F6C,0x7DF7,0x6C7E,
        0xA50A,0xB483,0x8618,0x9791,0xE32E,0xF2A7,0xC03C,0xD1B5,
        0x2942,0x38CB,0x0A50,0x1BD9,0x6F66,0x7EEF,0x4C74,0x5DFD,
        0xB58B,0xA402,0x9699,0x8710,0xF3AF,0xE226,0xD0BD,0xC134,
        0x39C3,0x284A,0x1AD1,0x0B58,0x7FE7,0x6E6E,0x5CF5,0x4D7C,
        0xC60C,0xD785,0xE51E,0xF497,0x8028,0x91A1,0xA33A,0xB2B3,
        0x4A44,0x5BCD,0x6956,0x78DF,0x0C60,0x1DE9,0x2F72,0x3EFB,
        0xD68D,0xC704,0xF59F,0xE416,0x90A9,0x8120,0xB3BB,0xA232,
        0x5AC5,0x4B4C,0x79D7,0x685E,0x1CE1,0x0D68,0x3FF3,0x2E7A,
        0xE70E,0xF687,0xC41C,0xD595,0xA12A,0xB0A3,0x8238,0x93B1,
        0x6B46,0x7ACF,0x4854,0x59DD,0x2D62,0x3CEB,0x0E70,0x1FF9,
        0xF78F,0xE606,0xD49D,0xC514,0xB1AB,0xA022,0x92B9,0x8330,
        0x7BC7,0x6A4E,0x58D5,0x495C,0x3DE3,0x2C6A,0x1EF1,0x0F78]
def crc8(data):
    b = 0
    b2 = CRC8_INIT
    for i in data:
        b = b2 ^ i
        b2 = CRC8_TAB[b]
    return b2

def crc16(data):
    num = CRC16_INIT
    num2 = 0
    for i in data:
        num = (num >> 8) ^ CRC16_TAB[(num ^ i) & 0xFF]
    return num

ser = serial.Serial('/dev/cu.usbmodem0001A0000000', 921600)
k = 0
while True:
    header = pack("BBB", 0x5A, 16, 0x01)
    content = pack("<HHBBBBBBBBBBBB", 0x0000, 0x2000, 1*k,1*k,1*k,1*k,1*k,1*k,1*k,1*k,1*k,1*k,1*k,1*k)
    send_data = header + pack("B", crc8(header)) + content 
    send_data = send_data + pack("<H", crc16(send_data))
    print(''.join('{:02x}'.format(x) for x in send_data))
    ser.write(send_data)
    sleep(0.1)
    k = 1 - k