AgileX robotics (Dongguan) Co., Ltd.
20
/
27
*
@return
the checksum result
*/
static
uint8
Agilex_CANMsgChecksum
(
uint16
id
,
uint8
*
data
,
uint8
len
)
{
uint8
checksum
=
0x00
;
checksum
=
(
uint8
)(
id
&
0x00ff
)
+
(
uint8
)(
id
>>
8
)
+
len
;
for
(
uint8
i
=
0
;
i
<
(
len
-
1
);
i
++)
{
checksum
+=
data
[
i
];
}
return
checksum
;
}
Figure 3.1 CAN Message Check Algorithm
3.3.2 CAN cable connection
Two aviation male plugs are supplied along with SCOUT MINI as shown in Figure 3.2. Users need
to lead wires out by welding on their own. For wire definitions, please refer to Table 2.2.
Figure 3.2 Schematic Diagram of Aviation Male Plug
Note: In the current SCOUT MINI version, only the top interface is open to external
extension. The maximum current that can be provided in this version is 5A.
3.3.3 Implementation of CAN command control
Correctly start the chassis of SCOUT MINI mobile robot, and turn on DJI RC transmitter. Then,
switch to the command control mode, i.e. toggling S1 mode of DJI RC transmitter to the top. At this
point, SCOUT MINI chassis will accept the command from CAN interface, and the host can also
parse the current state of the chassis with the real-time data fed back from CAN bus. For the
detailed content of protocol, please refer to CAN communication protocol.
3.4 Firmware upgrade
To facilitate the customer's upgrading of the firmware version used by SCOUT MINI and bring the
customer a better experience, SCOUT MINI provides a hardware interface for the firmware
upgrading, and the corresponding client software as well. A screenshot of this application is shown
