tony607 / cybergear Goto Github PK
View Code? Open in Web Editor NEW小米微电机Cybergear上手开发
小米微电机Cybergear上手开发
你好 Tony607~
可以分享一下这个固件是从哪里获取的吗,想去看看它的 CAN 原始实现
send_command('41 54 90 07 eb fc 08 05 70 00 00 07 01 95 54 0d 0a')
按照小米提供的文档,
41 54
是USB CAN模块的帧头 0d 0a
是USB CAN模块的帧尾
90 07 eb fc
前4字节组成 CAN_ID ,这里是写入单个参数
08
推测是USB CAN模块,用于区分 CAN_ID 和 CAN_DATA 的分隔符
05 70 00 00 07 01 95 54
后8字节作为数据字节, 其中
05 70
是 参数 index ,对应电机运行模式,
07 01 95 54
是具体的参数,但是根据文档,电机运行模式的参数值只有 0 1 2 3 这几个选项,不太明白这里为什么设置的是这个值
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