Paper: RoboRIO CAN Stream and CCSDS Telemetry

This is the first of a series of papers regarding how to improve telemetry, logging, and visualization in the FRC ecosystem. This paper specifically discusses how to use the RoboRIO as a CAN bus monitor, as well as how to encapsulate the CAN frames in the CCSDS Space Packet Protocol and send them back to a PC. (Props to @Michael_Hill for giving me the idea to use CCSDS for robot telemetry.)

Part I.pdf (152.1 KB)


An example of the resultant incoming packets:

Very awesome. As you mentioned in the paper regarding the secondary header, I also think it would be beneficial to include a timestamp.