Zviri mukati hide
1 Robot XF(A5) V2.0.5 GCU Private Protocol
2 Mirayiridzo Yekushandiswa Kwechigadzirwa
3 Port Configuration
4 Dataframe
5 Raira & Mhinduro
6 CRC Basa
7 FAQ
8 Zvinyorwa / Zvishandiso
8.1 References

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Robot XF(A5) V2.0.5 GCU Private Protocol

Robot XF(A5) V2.0.5 GCU-Private-Protocol-chigadzirwa

Zvinotsanangurwa

  • Gwaro Version: V2.0.5
  • Protocol Shanduro: V0.1

Product Information
Iyo GCU (Generic Control Unit) inoshanda pane yakavanzika protocol uye inopa akasiyana siyana maficha uye kuvandudzwa sekuenderana nenhoroondo yekudzokorora:

Features:

  • UART baudrate inoshanduka kuita yekuzvigadzirisa
  • Wedzera TCP Server modhi muNetiweki kutaurirana
  • Wedzera protocol vhezheni mune data package
  • Kuwedzeredzwa mumafuremu edata kune ese ari maviri komputa uye GCU
  • Raira & Feedback kunatsiridza
  • Example data package kuvandudzwa

Mirayiridzo Yekushandiswa Kwechigadzirwa

Main Data Frame kubva kuHost Computer

  • Wedzera inodiwa Euler angle uye yaunoda imwe hama angle mu roll/pitch/yaw control value (byte 5~10)
  • Wedzera kudzora huwandu hunobudirira (bit B2) mumufananidzo (byte 11)

Main Data Frame kubva kuGCU

  • Wedzera FPV modhi uye Euler angle yekudzora modhi mune pod chifananidzo (byte 5)
  • Delete exposure mode (bit B11) kubva kamera chifananidzo (byte 6~7)

Sub Data Frame kubva kuHost Computer

  • Bvisa chinhambwe kubva Kumba (byte 57~60)
  • Wedzera hurefu hunoenderana (byte 57~60)

Revision History

Date Document Version Protocol Shanduro
2023.06.19 V2.0 -
Date Document Version Protocol Shanduro
2023.08.09

1. UART baudrate cha

 V2.0.1

nes into self-adaptive. Ad

 V0.0

d TCP Server mode mukati
  1. UART baudrate inoshanduka kuita yekuzvigadzirisa. Wedzera TCP Server modhi muNetiweki kutaurirana. [P1]
  2. Wedzera protocol vhezheni mune data package. Gadzirisa kukanganisa kwemusoro mupakeji kubva kuGCU. [P2]
  3. Main data frame kubva kune host komputa:
    1. Wedzera inodiwa Euler angle uye yaunoda imwe hama angle mu roll/pitch/yaw control value (byte 5~10); [P3]
    2. Wedzera kudzora huwandu hunobudirira (bit B2) mumufananidzo (byte 11). [P3]
    3. Sub data frame kubva komputa inotambira:
    4. Bvisa chinhambwe kubva Kumba (byte 57 ~ 60); [P4]
    5. Wedzera hurefu hunoenderana (byte 57~60) . [P4]
  4. Main data frame kubva kuGCU:
    1. Wedzera FPV modhi uye Euler angle yekudzora modhi mune pod chifananidzo (byte 5); [P5]
    2. Delete exposure mode (bit B11) kubva kamera chifananidzo (byte 6~7). [P5]
  5. Sub data frame kubva kuGCU:
    1. Bvisa zviri mukati byte 59 ~ 61; [P6]
    2. Wedzera ikozvino zoom rate yekamera 1 (byte 59~60) uye kamera 2 (byte 61~62). [P6]
  6. Raira & Mhinduro:
    1. Wedzera tsanangudzo ye null command; [P7]
    2. Wedzera murairo weFPV mode, Euler angle control mode, kunze kwekutevera maitiro uye OSD; [P7~P9]
    3. Tsanangudzo yekutarisa maitiro; [P8]
    4. Shandura ma paramita evhavha, rekodhi, kutarisa, palette uye Night chiratidzo chekuraira. [P8~P9]
  7. Vandudza example data package. [P11~P16]
Date Document Version Protocol Shanduro
2023.10.12 V2.0.2 V0.1
  1. Wedzera tsananguro pane byte kurongeka kweiyo protocol. [P2]
  2. Main data frame kubva kune host komputa:
    1. Wedzera coordination system tsananguro mukutsanangurwa kweabsolute roll, pitch uye yaw angle yemutakuri (byte 12 ~ 17). [P3]
  3. Main data frame kubva kuGCU:
    1. Wedzera chifananidzo chemwenje (bit B10) mumufananidzo wekamera (bit B10). [P5]
    2. Gadzirisa chikanganiso chekubatanidza axis kutungamira ("kumusoro seyakanaka"→"kudzika seyakanaka") yeyakamira yakananga-isipo (byte 10~11). [P5]
    3. Wedzera kukosha kwakasiyana-siyana mutsananguro yeX-wadhi/Y-wadhi chinangwa-chisipo (byte 8~11). [P5]
    4. Wedzera coordination system tsananguro uye tenderera kurongeka mune tsananguro yeX-axis/ Y-axis/ Z-axis absolute angular velocity yekamera (byte 24~29). [P5]
  4. Raira & Mhinduro:
    1. Shandura tsananguro pamusoro pehutsika hwekutonga mune tsananguro yeFPV modhi, musoro wekuvhara maitiro uye musoro wekutevera maitiro. [P7]
    2. Ronga chikanganiso chemhinduro dzenhema ("0x015 0x01″→"0x15 0x01") yekutarisa maitiro (geo-coordinates gwara). [P8]
    3. Wedzera macoordinates epakona yekumusoro-kuruboshwe yefuremu uye nechepasi-kurudyi mutsananguro yetrack mode. [P8]
    4. Wedzera zvinorongeka zvekona yekumusoro-kuruboshwe yekona uye yepasi-kurudyi kona mukutsanangura kudzvanya kuti unange kuraira. [P8]
    5. Wedzera chinangwa-chisipo chepakati chescreen, kona yepamusoro-kuruboshwe uye kona yepasi-kurudyi mukutsanangura kwekunze track mode. [P9]
  5. Wedzera appendikisi 1: semuenzanisoample yeshanduko ye data data kubva kune host komputa. [P12]
  6. Wedzera appendix 2: tsananguro yemutakuri wekubatanidza system. [P13]
  7. Wedzera appendix 3: tsananguro yekamera yekubatanidza system uye kutenderera kurongeka. [P14]
  8. Wedzera appendix5: GPS nguva & UTC kushandura basa.[P21]
Date Document Version Protocol Shanduro
2024.06.20 V2.0.5 V0.1
  1. Main Data Frame kubva kuHost Computer:
    1. Wedzera tsananguro pamusoro pekutonga kukosha kushanda (bit B2) mukutsanangurwa kwechifananidzo (byte 11). [P3]
  2. Main Data Frame kubva kuGCU:
    1. Remekedzazve FPV kukona kutonga 1 uye wedzera kona yekudzora 2 mune pod inoshanda modhi (byte 5). [P5]
    2. Rename kamera chifananidzo (byte 6 ~ 7) kune pod chifananidzo. [P5]
  3. Sub Data Frame kubva kuGCU:
    1. Wedzera kukanganisa kodhi (byte 41~42). [P6]
    2. Wedzera thermal kamera chifananidzo (byte 63). [P6]
    3. Wedzera chifananidzo chekamera (byte 64~65). [P7]
    4. Wedzera nguva yenguva (byte 66). [P7]
  4. Raira & Mhinduro:
    1. Wedzera mirairo yeOSD kurongeka, mufananidzo auto reverse uye nguva yekumisikidza. [P8]
    2. Shandura tsananguro dzekona yekudzora 1 (yekutanga FPV), yekutevera musoro uye Euler angle control. [P8]
    3. Wedzera murairo wekona kutonga 2. [P10]
    4. Shandura chiyero cheparamita ([0,100]-> [0,10]). [P11]
    5. Wedzera mirairo yenzvimbo yekuyera tembiricha, yambiro yetembiricha, isotherm uye kuyerwa kwekushisa kwenzvimbo. [P11~P12]
    6. Wedzera basa rekuchinja kune yakatarwa modhi mupic-in-pic. [P12]
    7. Wedzera mirairo yekuonekwa kwechinangwa uye zoom kamera digital zoom. [P13]
  5. Wedzera Appendikisi 2: Eksampye Shanduko yeData Frame kubva kuGCU. [P16~P18]
  6. Patsva Appendikisi 5: Eksampuye Data Package. [P20~P28]
  7. Wedzera Appendikisi 7: Pod Code. [P30]

Port Configuration

UART Configuration

  • UART nhanho: TTL
  • Nhamba dze data: 8
  • Stop bits: 1
  • Parity: Hapana
  • Kukurukurirana maitiro: Yakazara duplex
  • Baudrate: 115200, 250000, 500000 uye 1000000.
  • Kukurukurirana frequency: Iyo yakakurudzirwa kutaurirana frequency renji ndeye 30 ~ 50Hz. Iyo yakakwirira iyo frequency iri, zviri nani mhedzisiro yekudzora iri. Hapafanirwe kuve yakaderera frequency kana data kumira. Hapafanirwe kunge paine BUS isina basa mune imwe data package.

Network Configuration

  • UDP modhi: Iyo sosi chiteshi ndeye 2337 uye iyo yakasarudzika yekuenda ndiyo kero yeLAN kutepfenyura. Chiteshi chinonangwa ndeye 2338.
  • TCP Server mode: Mhedziso yakatarisana inofanira kuiswa kuTCP Clint mode.

Iyo iri kure IP kero inofanirwa kufanana neGCU, uye chiteshi chiri kure chinofanira kunge chiri 2332.

Summary

  • Kukurukurirana kunoshandisa Q&A modhi. Iyo komputa inotakura inotumira data package kutanga. Mushure mekugamuchira pasuru chaiyo, iyo GCU inodzosera pasuru yayo. Iyo yakazara data pasuru inogadzirwa neprotocol musoro, kureba kwepasuru, huru data furemu, sub data furemu, kuraira / mhinduro uye CRC data.
  • Hurefu hwepakeji iS bytes. Hurefu hwemurairo / mhinduro chikamu chinosiyana.
  • Iyo yekuraira / mhinduro chikamu inosanganisira kurongeka uye parameter. Mamepu eodha akasiyana akasiyana parameter. Details as per chapter Data Frame mugwaro iri.
  • Iyo GCU ichaita kamwe chete ichiramba ichigamuchira mirairo ine kurongeka kwakafanana (kunyangwe kana ma paramita akasiyana). Kuti utange basa rimwe chete, mapeji edatha anofanirwa kuparadzaniswa nepakeji ine null command (Kunze kweKunze track command).

Mamiriro epasuru yedata anoratidzwa sepazasi.

Chikamu Byte Tsanangudzo Data Type Details
Kubva Host Computer
Header 0 Main Data U16
1 Sub Data U8
Hurefu uye Shanduro 2–3 Length & Version Info
Frame Data 4 Frame
Frame Data 5–36 Main Data 32 bytes
Frame Data 37–68 Sub Data 32 bytes
Kubva kuGCU
Header 0 0x8A
1 0x5E
Hurefu uye Shanduro 2–3 Length & Version Info
Frame Data 4 Frame
Frame Data 5–36 Main Data 32 bytes
Frame Data 37–68 Sub Data 32 bytes
Command Data 69–S-3 Command (Variable Length)
Feedback Data 69–S-3 Mhinduro (Variable Length)
CRC High Byte S-2 CRC High Byte U16
CRC Low Byte S-1 CRC Low Byte U16
  • Iyo data yakatariswa neCRC ndeye Byte 0~S-3.
  • Iyi protocol inoshandisa diki-endian byte kurongeka (kunze kweCRC).

Dataframe

Main Data Frame kubva kuHost Computer

Byte Content Tsanangudzo Data Type Details
5–6 Mamwe modhi, Zoom rate (deg/s) Kana kukosha kwekutonga kuchidiwa Euler angle. Chisarudzo: 0.01 deg; Range: 8000 kusvika 18000
7–8 Pitch control value Kana iyo yekudzora kukosha ichidiwa hama angle pakati pepodhi nemutakuri. S16 Chisarudzo: 0.01 deg; Range: [-18000, 18000]
9–10 Yaw control value Kudzora kukosha kweyaw angle. S16 Chisarudzo: 0.01 deg; Range: [-18000, 18000]
B7–B3 Reserved Reserved bits. Aya mabheti ari 0
B2 Kudzora kukosha kwechokwadi 0 - Kudzora kukosha hakuna kunaka; 1 - Kudzora kukosha kwakakodzera. U8
B1 Reserved Ichi chikamu ndi0
B0 Mutakuri's INS kushanda 0 - Mutakuri's INS haina basa; 1 - Mutakuri's INS inoshanda. U8
11 Status Inoratidza kana kukosha kwekutonga kuri kushanda. U8 0 – Haikodzeri, 1 – Inoshanda
12–13 Absolute roll angle yemutakuri Absolute roll angle yemutakuri muEuler angle. S16 Chisarudzo: 0.01 deg; Range: [-9000, 9000]
14–15 Absolute pitch angle yemutakuri Absolute pitch angle yemutakuri muEuler angle. S16 Chisarudzo: 0.01 deg; Range: [-9000, 9000]
16–17 Absolute yaw angle yemutakuri Absolute yaw angle yemutakuri muEuler angle. U16 Chisarudzo: 0.01 deg; Range: [0, 36000]
18–19 Kumaodzanyemba kukurumidza kwemutakuri Kumaodzanyemba kukurumidza kwemutakuri. S16 Kugadziriswa: 0.01 m/s²; Maodzanyemba ari positive
20–21 Kumabvazuva kukurumidza kwemutakuri Kumabvazuva kukurumidza kwemutakuri. S16 Kugadziriswa: 0.01 m/s²; Mabvazuva ari positive
22–23 Kuwedzera kukurumidza kwemutakuri Kukwira kumusoro kwemutakuri. S16 Kugadziriswa: 0.01 m/s²; Kumusoro kuri positive
24–25 Kumaodzanyemba velocity yemutakuri Kumaodzanyemba velocity yemutakuri. S16 Chisarudzo: 0.1 m / s; Maodzanyemba ari positive
26–27 Kumabvazuva velocity yemutakuri Kumabvazuva kumhanya kwemutakuri. S16 Chisarudzo: 0.1 m / s; Mabvazuva ari positive
28–29 Kukwidza velocity yemutakuri Kukwidza velocity yemutakuri. S16 Chisarudzo: 0.1 m / s; Kumusoro kuri positive
30 Kumbira kodhi ye sub-frame Kodhi yeakakumbirwa sub-frame kubva kuGCU. U8
31–36 Reserved Reserved bytes.
37 Musoro weakakumbirwa sub-data furemu kubva kuGCU GCU sub-frame yekukumbira musoro (Ox00). U8

Byte 12 ~ 29 yakakosha. Data isiriyo inokonzeresa chikanganiso chepod altitude kuverenga

Sub Data Frame kubva kuHost Computer

Byte Content Tsanangudzo Data Type Resolution
37 0x01 Header U8
38–41 Longitude yemutakuri Longitude yemutakuri S32 Kugadziriswa: 1e-7 deg
42–45 Latitude yemutakuri Latitude yemutakuri S32 Kugadziriswa: 1e-7 deg
46–49 Altitude yemutakuri Altitude yemutakuri S32 Kugadziriswa: 1 mm
50 Satellite aripo Nhamba yemasatelliti aripo U8
51–54 GNSS microsecond GNSS microsecond U32
55–56 GNSS vhiki GNSS vhiki S16
57–60 Hurefu hwehukama Hurefu hwehukama S32 Kugadziriswa: 1 mm
61–68 Reserved Reserved bytes Ox00

Byte 37~68 ese ari 0x00 kana pasina sub frame data.

Main Data Frame kubva kuGCU

Byte Content Tsanangudzo Data Type Resolution
5 Pod inoshanda mode Nzira yekushanda kwepodhi U8 Zvinogoneka kukosha: 0x10 kusvika 0x1C (yakanyorwa pazasi)
6–7 Pod chifananidzo Chimiro chepodhi U16 B15–B13: Zvakachengetwa. B12: Simba-pachimiro. B10: Kuvheneka. B9: Chiratidzo cheusiku. B8: Kutenderera. B7: Kurongeka kwechokwadi. B0: Mamiriro ekutsvaga.
8–9 Yakachinjika chinangwa-chisina Horizontal target position inoenderana nepakati pescreen S16 Range: [-1000, 1000]; Rightward positive
10–11 Yakatwasuka tarisiro-isipo Yakamira yakatarisa nzvimbo inoenderana nepakati pechidzitiro S16 Range: [-1000, 1000]; Kudzika zvakanaka
12–13 X-axis hama angle yekamera Relative X-axis angle yekamera S16 Range: [-18000, 18000]; Kugadzirisa: 0.01 deg
14–15 Y-axis hama angle yekamera Relative Y-axis angle yekamera S16 Range: [-9000, 9000]; Kugadzirisa: 0.01 deg
16–17 Z-axis hama angle yekamera Relative Z-axis angle yekamera S16 Range: [-18000, 18000]; Kugadzirisa: 0.01 deg
18–19 Absolute roll angle yekamera Absolute roll angle yekamera (Euler angle) S16 Range: [-9000, 9000]; Kugadzirisa: 0.01 deg
20–21 Absolute pitch angle yekamera Absolute pitch angle yekamera (Euler angle) S16 Range: [-18000, 18000]; Kugadzirisa: 0.01 deg
22–23 Absolute yaw angle yekamera Absolute yaw angle yekamera (Euler angle) U16 Range: [0, 36000]; Kugadzirisa: 0.01 deg
24–25 X-axis absolute angular velocity yekamera X-axis angular velocity yekamera S16 Kugadzirisa: 0.01 deg / s
26–27 Y-axis absolute angular velocity yekamera Y-axis angular velocity yekamera S16 Kugadzirisa: 0.01 deg / s
28–29 Z-axis absolute angular velocity yekamera Z-axis angular velocity yekamera S16 Kugadzirisa: 0.01 deg / s
30–36 Reserved Reserved bytes

Pod Operating Mode Zvinogoneka Kukosha:

  • 0x10 - Angle control 1
  • 0x11 - Musoro wekuvhara
  • 0x12 - Musoro tevera
  • 0x13 - Orthoview
  • 0x14 - Euler angle control mode
  • 0x16 - Kutarisa
  • 0x17 - Track
  • 0x1C - Kudzora kwekona 2

Sub Data Frame kubva kuGCU

Byte Content Tsanangudzo Data Type Resolution
37 0x01 Header U8
38 Hardware version Shanduro ye Hardware U8
39 Firmware vhezheni Shanduro ye firmware U8
40 Pod code Code for the pod U8 Details sezvinoenderana neAppendix 7
41–42 Kodhi yezvikanganiso zvinonetsa Makodhi ezvikanganiso kune chero anomalies S32
43–46 Distance kubva pachinangwa Kuyerwa kwechinhambwe kubva pane chinangwa S32 Resolution: 0.1 m (Haisiyo kana -1m kana 0m)
47–50 Longitude yechinangwa Longitude yechinangwa S32 Kugadziriswa: 1e-7 deg
51–54 Latitude yechinangwa Latitude yechinangwa S32 Kugadziriswa: 1e-7 deg
55–58 Altitude yechinangwa Altitude yechinangwa S32 Kugadziriswa: 1 mm
59–60 Ikozvino zoom rate yekamera Ikozvino zoom rate yekamera (inooneka-mwenje kamera) U16 Kugadzirisa: 0.1x
61–62 Ikozvino zoom rate yekamera Ikozvino zoom rate yekamera (inopisa kamera) U16 Kugadzirisa: 0.1x
63 Thermal kamera chifananidzo Chimiro chekamera inopisa U8 B7: Kuyera kuyera, B6: Tembiricha yenzvimbo, nezvimwe.

Thermal Camera Status (Byte 63)

  • B7: 0 - Tembiricha kuyerwa hakusi kuwanikwa; 1 - Tembiricha kuyerwa kunowanikwa
  • B6: 0 - Kuyera tembiricha yenzvimbo kure; 1 - Kuyera kwekushisa kwenzvimbo
  • B5: 0 - Yambiro yekushisa yadzimwa; 1 – Chenjedzo yekushisa iripo
  • B4: 0 - Isotherm yadzimwa; 1 - Isotherm iripo
  • B3: 0 - Spot tembiricha kuyerwa kure; 1 - Spot tembiricha kuyerwa pa
  • B2: Reserved
  • B1: Yambiro yekushisa kwepamusoro
  • B0: Yambiro yekudzikira
Byte Content Tsanangudzo Data Type Resolution
64–65 Kamera chifananidzo Chimiro chekamera U16 B15: Chinangwa chekutsvaga pa / kureba; B14: Digital zoom on/off, nezvimwewo.
66 Nguva yenguva Time zone setting U8
67–68 Reserved Yakachengeterwa kushandiswa mune ramangwana -

Chifananidzo cheKamera (Byte 64-65)

  • B15: 0 - Kuonekwa kwechinangwa kure; 1 - Kuonekwa kwechinangwa
  • B14: 0 - Digital zoom kure; 1 - Digital zoom on
  • B13: 0 - OSD (On-Screen Display) kure; 1 - OSD iripo
  • B12: 0 - OSD inoratidza kurongeka kwemutakuri; 1 - OSD inoratidza kurongeka kwechinangwa
  • B11: 0 - Mufananidzo auto reverse on; 1 - Mufananidzo otomatiki wadzimwa
  • B10–B5: Reserved
  • B4: 0 - Kwete kurekodha; 1 – Kurekodha
  • B3: Reserved
  • B2–B0: uint_t - Pic-in-pic mode

Byte 37~68 ese ari 0x00 ukuwo sub frame header isiri pamutemo ichikumbirwa.

Raira & Mhinduro

Function Code Tsanangudzo Success Fail
Null 0x00 Inopatsanura mirairo nehurongwa hwakafanana 0x01 0x00 0x01 0x01
Calibration 0x01 Pod inofanirwa kuramba yakatsiga paunenge uchigadzirisa, inogara masekondi mashoma. 0x01 0x00 0x01 0x01
Order Parm 0x00
Feedback 0x03 Mhinduro panguva yekushanda 0x03 0x00 0x03 0x01
OSD 0x06 OSD inoratidza coordination system: 0x00 yeCarrier's, 0x01 yeTarget's 0x06 0x00 0x06 0x01
Coordinate 0x07 0x07 0x00 0x07 0x01
Image auto reverse 0x08 Inodzora mufananidzo auto reverse. 0x00 yekubatidza, 0x01 yekubvisa 0x08 0x00 0x08 0x01
Nguva yenguva 0x10 Inodzora marongero enguva 0x10 0x00 0x10 0x01
Angle control 1 0x10 Inodzora kona yepodhi (chaiyo kudzora kukosha kunodiwa). 0x10 0x00 0x10 0x01
Musoro wekuvhara 0x11 Inodzosa pod kune kwaakarerekera pasina kushandura maitiro ekushanda (lock mode). 0x11 0x00 0x11 0x01
Musoro tevera 0x12 Inodzosa podhi kune kwayakarerekera yaw chinzvimbo ichitevera chinangwa kana musoro. 0x12 0x00 0x12 0x01
Orthoview mode 0x13 Inodzosa neutral yaw chinzvimbo pasina kuchinja maitiro ekushanda. N/A N/A
Track maitiro 0x14 Pod inodzosa nzvimbo isina kwayakarerekera uye inobuda yekutevera ichiteedzera chinangwa. N/A N/A
FPV Maitiro 0x15 Hapana mhinduro kubva kune pod muFPV mode. N/A N/A
Euler angle control 0x16 Pod inokiya Euler angles uye haipindure kutonga. N/A N/A
Gaze Mode 0x17 Pod haipindure kutonga muGaze mode. N/A N/A

Tsanangudzo dzeChaiyo Modes:

  • Musoro Kukiya & Musoro Tevera Modhi: Iyo pod inochengetedza nzvimbo yayo isina kwayakarerekera (yaw kana pitch) pasina kuchinja maitiro.
  • Orthoview Mode: Yaw angle chete inodzoswa, uye pod haichinji modes.
  • Track Mode: Nzvimbo dzakarerekera kune ese ari maviri pitch uye yaw anodzoserwa uchibuda yekutevera maitiro.
  • FPV Mode, Euler Angle Control, uye Gaze Mode: Iyo pod haipindure mune idzi modes, sezvakatsanangurwa.
Function Code Tsanangudzo Success Fail
Orthoview 0x13 Inodiwa Euler angles inopihwa, uye iyo pod inokiya yayo yazvino Euler angles kana iyo control value isingaite. 0x13 0x00 0x13 0x01
Euler Angle Control 0x14 Inodiwa Euler angles yekudzora pitch uye yaw. 0x14 0x00 0x14 0x01
Gaze (Geo-coordinates Guide) 0x15 Iyo podhi inonangidzirwa kune imwe nzvimbo yekufarira ichishandisa yayo geographical coordinates (longitude, latitude, altitude) yakapihwa muhunhu hwekutonga. 0x15 0x00 0x15 0x01
Gaze (Geo-coordinates Lock) 0x16 Iyo podhi inovhara nzvimbo yayo zvichienderana nenzvimbo dzenzvimbo (longitude, latitude, altitude) uye inochengetedza yakatariswa. Inoda data remutakuri weINS. 0x16 0x00 0x16 0x01
Track 0x17 Track modhi inobatiswa nekupa kurongeka kwekutevera uye kuseta hunhu hwekudzora hwekutevera chinangwa. 0x17 0x00 0x17 NN

Tsanangudzo dzeMashandiro Akanyanya:

  1. Orthoview: Inokiya euler angles yepod iripo kana kudzora ukoshi kusiri kushanda.
  2. Euler Angle Control: Dzora iyo pod's Euler angles (pitch, yaw) kune zvinzvimbo zvaunoda.
  3. Gaze (Geo-coordinates Guide): Nangisa podhi yakananga kune yakatarwa nzvimbo uchishandisa marongero ayo (longitude, latitude, altitude). Kudzora maitiro (PP, QQ, RR) anopihwa kuti agone kumira.
  4. Gaze (Geo-coordinates Lock): Inokiya kutarisa kwepodhi panzvimbo yenzvimbo uye inoteedzera nzvimbo yayo iripo. Inoda inoshanda INS (Inertial Navigation System) data kubva kumutakuri.
  5. Track: Inotanga kana kubuda yekutevera chinangwa nekutsanangura marongero (XO, YO, X1, Y1). Macoordinates anotsanangura nzvimbo dzakachinjika uye dzakati sandara mufuremu yakanangwa, nekona yekumusoro-kuruboshwe sekwakabva.

Notes:

  • For Track, “OX” uye “YO” makonari anomiririra kumusoro-kuruboshwe nepasi-kurudyi makona efuremu yechinangwa pascreen. Izvi zvinotsanangurwa muU16 hunhu, uko 0 ndiko kwakabva, uye zvakanaka zvinofamba zvichienda kurudyi (X-axis) zvichidzika (Y-axis).
  • Kutarisa (Geo-coordinates): Iyo pod inoda inoshanda inotakura INS data kuti ishande nemazvo mumamodhi aya.

Iyo KK/NN(U8) ndeye ordinal yekushanda yakakonzerwa/yakakundikana makamera. B7~BO inoenderana nekamera 8~1. Imwe diki kuve 1 inoreva kuti inoenderana kamera yayo tagged. For example, 0x03 (00000011) zvinoreva kamera 1 uye kamera 2. Kamera 1 inooneka-chiedza chekusimudza kamera nekukasira uye kamera 2 ndiyo kamera inopisa nekukasira.

Function Code Tsanangudzo Success Fail
Dzvanya kuChinangwa 0x1A Iyo podhi inonangana pachinangwa chakavakirwa pane yakapihwa yakachinjika (XO) uye yakatwasuka (YO) makongisheni. Coordinates ari muU16, uko (0,0) iri kumusoro-kuruboshwe kwechidzitiro uye (10000,10000) iri pazasi-kurudyi. 0x1A 0x00 0x1A NN
External Track 0x1B Iyo pod inoteedzera tarisiro zvichibva pane yakachinjika uye yakatwasuka missdistance kukosha (PP, WW). Aya ma values ​​anoratidza nzvimbo yechinangwa inoenderana nechepakati pescreen. 0x1B 0x00 0x1B NN
Angle Control 2 0x1C Iyo podhi inogadzirisa makona ayo ehukama kune mutakuri, ichitevera mutakuri nepo maitiro ekutonga asina kunaka. 0x1C 0x00 0x1C 0x01
Shutter (Rekodhi Kutanga) 0x20 Inotanga kurekodha. 0x20 0x00 0x20 0x01
Shutter (Misa kurekodha) 0x21 Inomira kurekodha. 0x21 0x00 0x21 0x01
Zoom In Zvichienderera 0x22 Ramba uchiswedera pedyo. 0x22 0x00 0x22 NN
Zoom Out Zvichienderera mberi 0x23 Ramba uchiisa kure. 0x23 0x00 0x23 NN
Zoom Stop 0x24 Inomisa basa re zoom. 0x24 0x00 0x24 NN

Tsanangudzo dzeMashandiro Akanyanya:

  1. Dzvanya kune Chinangwa (0x1A): Iyo pod inonangana pane yakatarwa yakavakirwa pamakongisheni. Aya makongiresi anopihwa seU16 kukosha, uko (0,0) iri pamusoro-kuruboshwe uye (10000,10000) iri pazasi-kurudyi kona yechidzitiro.
  2. Track Yekunze (0x1B): Iyo pod inoteedzera tarisiro zvichibva pamissdistance values ​​(PP neWW), izvo zvinoratidza kuti chinangwa chiri kure sei kubva pakati pechidzitiro. Iyo yekutevera modhi inotanga nekuraira "Tanga kuteedzera" (0x02) uye inogona kubuda ne "Buda tracking" (0x00).
  3. Ngoro Kudzora 2 (0x1C): Iyo pod inogadzirisa makona ayo akaenzana kune mutakuri, ichibvumira kuti itevere kufamba kwemutakuri apo maitiro ekutonga asina kukodzera.
  4. Shutter (Rekodhi Kutanga - 0x20): Inotanga kurekodha vhidhiyo feed.
  5. Shutter (Misa kurekodha - 0x21): Inomira kurekodha feed yevhidhiyo.
  6. Zoom In Zvichienderera (0x22): Iyo pod inoswededza mukati isingaperi.
  7. Zoom Out Zvichienderera (0x23): Iyo podhi inosimudza nguva dzose.
  8. Zoom Stop (0x24): Inomisa iyo zoom basa, kumisa chero zoom mukati kana kunze mashandiro.

Notes:

  • Track Yekunze (0x1B): Huwandu hwePP neWW hunomiririra kureba kwakachinjika uye kwakatwasuka kwechinangwa. Mabviro ari pakati pechidzitiro, uye kukosha kwacho kunoratidza hukama.
  • Zoom Mabasa (0x22, 0x23, 0x24): Izvi zvinobvumira kuenderera mberi nekupinda mukati kana kunze uye kumisa kushanda kwe zoom.

Iyo KK/NN(U8) ndeye ordinal yekushanda yakakonzerwa/yakakundikana makamera. B7~B0 inoenderana nekamera 8~1. Imwe diki kuve 1 inoreva kuti inoenderana kamera yayo tagged. For example, 0x03 (00000011) zvinoreva kamera 1 uye kamera 2 inoonekwa-yakajeka zoom kamera nekukasira uye kamera 2 ndeye kamera inopisa nekusarudzika.

Function Order Parm Tsanangudzo Success Fail
Zoom to Specified Rate 0x25 Zoom nemwero wakatarwa, uine ma values ​​kubva -32768 (maximum zoom) kusvika pa10000 (minimum zoom). Negative values ​​inomiririra mazoom rates (eg, -10 ye1x, -150 ye15x, -300 ye30x). 0x25 0x00 0x25 NN
Focus 0x26 Focus control functionality. 0x26 0x00 0x26 0x01
Palette Mode 0x2A Gadzirisa iyo yaunoda palette modhi, uko 0x00 inoenderana neinotevera palette sarudzo, 0x01 yeimwe modhi, nezvimwe. 0x2A 0x00 0x2A 0x02
Night Vision 0x2B Dzora maitiro ekuona husiku. 0x00 yekubvisa, 0x01 ye on, uye 0x02 ye auto. 0x2B 0x00 0x2B 0x01
Area Temperature Measurement 0x30 Kudzora nzvimbo yekushisa kuyerwa. 0x00 yekubvisa, 0x01 yekubatidza. 0x30 0x00 0x30 NN
Tembiricha Alert 0x31 Seta zvikumbaridzo zvekuzivisa tembiricha. Inosanganisira yakakwirira (HH) uye yakaderera (LL) yambiro tembiricha ine resolution ye0.1°C. 0x31 0x00 0x31 NN
Isotherm 0x32 Gonesa kana kudzima isotherm mode. 0x00 yekubvisa, 0x01 yekunze-ye-interval, uye 0x02 yeinterval mode. High/low tembiricha zvikumbaridzo (HH, LL) zvinoiswa nekugadziriswa kwe0.1°C. 0x32 0x00 0x32 NN
Spot Temperature Measurement 0x33 Kudzora kuyera kwekushisa kwenzvimbo. 0x00 yekubvisa, 0x01 yekubatidza. Coordinates (XO, YO) inotsanangura nzvimbo yekuyera. 0x33 0x00 0x33 NN
OSD (On-Screen Ratidza) 0x73 Dzora kuratidzwa kwepa-screen. 0x00 kuratidza, 0x01 kuvanza. 0x73 0x00 0x73 0x01
Pic-in-Pic 0x74 Dzora mufananidzo-mu-pikicha (PIP) maitiro. Huwandu huri pakati pe0x00 ne0x04 hunoenderana neiyo inowanikwa PIP modes. 0x74 0x00 0x74 0x01

Tsanangudzo dzeMashandiro Akanyanya:

  1. Zoom kusvika kuChiyero Chakatsanangurwa (0x25): Inodzora mwero we zoom, nechiyero chakapihwa mune chaiyo fomati apo maitiro asina kunaka anomiririra mazoom rates (eg, -10 ye 1x zoom, -150 ye 15x zoom, zvichingodaro), uye zvakanaka zvinotsanangura mwero we zoom.
  2. Kutarisa (0x26): Inogadzirisa kutarisa kwehurongwa.
  3. Palette Modhi (0x2A): Inoshandura palette mode inoshandiswa nehurongwa. Iyo modhi inosarudzwa nenhamba sarudzo senge 0x00 yeinotevera palette sarudzo uye 0x01 yezvino modhi.
  4. Chiratidzo chehusiku (0x2B): Inodzora chiratidzo chehusiku, ichichigonesa mune dzakasiyana modhi (kudzima, kubatidza, kana otomatiki).
  5. Chiyero cheTembiricha yenzvimbo (0x30): Inobvumira kuyerwa kwekushisa munzvimbo yakatsanangurwa, inodzorwa nemakodha (XO, YO, nezvimwewo).
  6. Yambiro yeTembiricha (0x31): Inoisa yakakwirira uye yakaderera tembiricha zvikumbaridzo zvekuzivisa.
  7. Isotherm (0x32): Inogonesa isotherm modhi, iyo inotarisisa nzvimbo mukati meyakatemwa tembiricha renji, ine interval modes uye zvikumbaridzo.
  8. Spot Temperature Measurement (0x33): Inogonesa kuyerwa kwekushisa kwenzvimbo pane imwe nzvimbo pachiratidziri.
  9. OSD (0x73): Inodzora iyo pa-screen kuratidza kuoneka (ratidza / kuviga).
  10. Pic-in-Pic (0x74): Inodzora mufananidzo-mu-pikicha mashandiro, ichipa akasiyana modes ekuratidzira.

Iyo KK/NN(U8) ndeye ordinal yekushanda yakakonzerwa/yakakundikana makamera. B7 ~ B0 Kamera 1 inooneka-yakajeka zoom kamera nekukasira uye kamera 2 ndeye thermal kamera nekukasira.

Heino tafura inopfupikisa mabasa matsva uye ruzivo rwawo:

Function Order Parm Tsanangudzo Success Fail
Target Detection 0x75 Gonesa kana kudzima kutariswa kwechinangwa. 0x00 yekubvisa, 0x01 yekubatidza. 0x75 0x00 0x75 0x01
Zoom Kamera 0x76 Dzora digital zoom. 0x00 yekubvisa, 0x01 yekubatidza. 0x76 0x00 0x76 0x01
Lighting Intensity 0x80 Rongedza kusimba kwemwenje. Hwaro kubva pa0 kusvika pa255, iine 0 isina mwenje uye 255 ichive yakanyanya kusimba. 0x80 0x00 0x80 0x01
Ranging 0x81 Gonesa kana kudzima kureba. 0x00 yekubvisa, 0x02 yekubatidza. 0x81 0x00 0x81 0x01

Tsanangudzo dzeMashandiro Akanyanya:

  • Kuonekwa kwechinangwa (0x75): Inodzora kuti kuona chinangwa chiri kushanda kana kusashanda. Ichi chinoshandiswa kuona zvinhu kana nzvimbo, zvichienderana nekugona kwesystem.
    • 0x00 -Kuonekwa kwechinangwa kwakadzimwa.
    • 0x01 -Kuonekwa kwechinangwa kwakabatidzwa.
  • Zoom Kamera (0x76): Inomisikidza kana kudzima dhijitari zoom yekushanda kwekamera.
    • 0x00 - Digital zoom yadzimwa.
    • 0x01 - Digital zoom iripo.
  • Kusimba kwemwenje (0x80): Inogadzirisa kusimba kwemwenje. Kusimba kwakaiswa ne 8-bit kukosha, kubva 0 (hapana chiedza) ku 255 (maximum intensity).
    • Tsika 0 - Hapana mwenje; 255 – Maximum chiedza.
  • Range (0x81): Inomisikidza kana kudzima mashandiro akasiyana. Kutara kunogona kushandiswa kuyera nhambwe kana nzvimbo dzemepu.
    • 0x00 - Kutamba kwakadzimwa.
    • 0x02 -Kutanga kuripo.

Kubatidza chiedza kuchabatidza chiono chehusiku panguva imwe chete. Kudzima mwenje hakuzodzima chiono chehusiku.

CRC Basa

uint16_t CalculateCrc16(uint8_t *ptr,uint8_t len) { uint16_t crc; uint8_t da; uint16_t crc_ta[16]={ 0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7, 0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef, }; crc=0; while(len–!=0)
{da=crc>>12; crc <<=4; crc^=crc_ta[da^(*ptr>>4)]; da=crc >>12; crc <<=4; crc^=crc_ta[da^(*ptr&0x0F)]; ptr++; } return(crc);

Appendikisi 1 Eksample ye Shanduko yeData Frame kubva kuHost Computer

Byte 0 1 2-3 4 5-6 7-8 9-10 11 12-13 14-15 16-17 18-19 20-21 22-23 24-25 26-27 28-29 30 31-36 37 38-41 42-45 46-49 Content
Yekutanga Data OXA8 Header 0xE5 Package Length 72 Protocol Shanduro 0x01 Roll Kudzora Kukosha 100 Pitch Control Value -100 Yaw Kudzora Kukosha 0x05 Kudzora Kukosha Kunoshanda Statue Mutakuri's INS Inoshanda Absolute Roll Angle -11.3213° Absolute Pitch Angle 1.01° Absolute Yaw Angle 240° Kuwedzera kweCarrier 1.123m/s²
Byte Content Yekutanga Data Kunyatsoita kana Binary Shanduko (Little-endian) Hexadecimal (Little-endian) Hexadecimal (Big-endian)
50 Available Satellites 19 19 13 19
51-54 GNSS Microsecond 352718000 352718000 00 06 15 B0 00 06 15 B0
55-56 Vhiki yeGNSS 2278 2278 E6 08 E6 08
57-60 Relative Height 12.12m 12120 58 2F 00 00 58 2F 00 00
61-68 Reserved 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
69 Null Command 0x00 00 00 00
70-71 CRC N/A N/A E9 D4 E9 D4

Iyo yakazara data package kubva pakombuta inotambira: A8 E5 48 00 01 00 00 64 00 9C FF 05 94 FB 65 00 C0 5D 70 00 90 FF 70 00 40 80 C0 F7 40 80 01 00 00 00 00 00 00 01 EE AA 24 A2 A65 16 16 3 B0 00C 00 13 E0 0 06 15F 6 08 58 2 00 00 00 00 00 00 00 E00 D00

Appendikisi 2 Eksampye Shanduko yeData Frame kubva kuGCU
Iyo yakazara data package kubva kuGCU: 8A 5E 49 00 02 12 01 80 0C FE F4 01 DD FC 20 00 4A 18 FF FF A5 03 47 18 FF FF 01 00 FE F 00 00 00 00 00 00 00 01 1 32 29 00 F00 DF 06 17 EE AA 00 A00 A24 2 65 16B 16 3 0 00 00 2 01 14 00 00 00 EC 00

Byte Content Yekutanga Data (Hexadecimal) Parsed Data
1 Header A8 A8
2~3 Package Length 5E49 73
4 Protocol Shanduro 00 0.2
5 Pod Operation mode 02 Musoro tevera
6~7 Pod Statue 01 80 0000 0001 1000 0000
8-9 Yakachinjika chinangwa-chisina OC FE Kuenderera mberi.
10~11 Yakatwasuka tarisiro-isipo F4 01 Range uye chinangwa kurongeka kwakakodzera
12~13 X-axis hama angle yekamera DD FC -500
14~15 Y-axis hama angle yekamera 20 00 500
16~17 Z-axis hama angle yekamera 4A 18 -8.03°
18~19 Absolute roll angle yekamera FF FF 0.32°
20~21 Absolute pitch angle yekamera A5 03 62.18°
22~23 Absolute yaw angle yekamera 47 18 -0.01°
24~25 X-axis absolute angular velocity yekamera FF FF 19.33°
26~27 Y-axis absolute angular velocity yekamera 01 00 62.15°
28~29 Z-axis absolute angular velocity yekamera FE FF -0.1 deg/s
30~36 Reserved 00 00 00 00 00 00 0.1 deg / s
37 Sub header 00 -0.2 deg/s
38 Hardware version 00 5.0
39 Firmware vhezheni 00 D-90AI
40 Pod code 00 589.4m
41~42 Kodhi yezvikanganiso 00 00 170.917533212
43~46 Distance kubva pachinangwa 01 2B 01 38.030082231
47~50 Longitude yechinangwa 00 00 00 00 41.1231m
51~55 Latitude yechinangwa 00 00 00 00 29.9x
55~58 Altitude yechinangwa 06 17 00 00
59~60 Ikozvino zoom rate yekamera 24 F2 DF 65
61~62 Reserved 16 EE AA 16
Byte Content Yekutanga Data (Hexadecimal) Parsed Data
61~62 Ikozvino zoom mwero wekamera 2 14 00 2x
63 Thermal kamera chifananidzo 00 UTC+8
64~65 Kamera chifananidzo 00 00 Shutter kubudirira
66 Nguva yenguva 08
67~68 Reserved 00 00
69~70 Feedback 20 00
71~72 CRC EC 85

Appendix 3 Tsanangudzo yeCarrier's Coordinate System

Robot XF(A5) V2.0.5 GCU-Private-Protocol-fig- (1)

Appendix 4 Tsanangudzo yeKamera's Coordinate System uye Rotate Order

  1. Coordinate system tsanangudzoRobot XF(A5) V2.0.5 GCU-Private-Protocol-fig- (2)Iyo yekudzora chiteshi chepodhi inofanirwa kunongedza kune yakaipa X-wadhi yemutakuri. The damping papuratifomu inofanirwa kuenderana neXOY ndege yemutakuri. Iyo pod inofanira kunge yakakwidzwa padyo sezvinobvira kune CG yemutakuri.
  2. Tenderedza kurongeka: Z → Y → X.
  3. Angles shanduko:
    • Tsanangura:
      • CamPhi: Mhedziso roll angle yekamera (Main data frame kubva kuGCU, byte 18 ~ 19)
      • CamThe: Absolute pitch angle yekamera (Main data frame kubva kuGCU, byte 20 ~ 21)
      • CamPsi: Absolute yaw angle yekamera (Main data frame kubva kuGCU, byte 22 ~ 23)
      • AngleX: X-axis absolute angle yekamera
      • AngleY: Y-axis absolute angle yekamera
      • AngleZ: Z-axis absolute angle yekamera
    • Iyo parameter iri pamusoro inoshandurwa senge pazasi
      • angleZ += 90;
      • WARP (AngleZ , 360);
      • CamPhi = +AngleY;
      • CamThe = -AngleX;
      • CamPsi = +AngleZ;

Appendikisi 5 Eksampuye Data Package

  • Null command
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FD
  • Pitch control (chengetedza ikozvino kudzora maitiro, kudzora kukosha 100)
    A8 E5 48 00 02 00 00 64 00 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E00F
  • Pitch control (chengeta ikozvino kutonga maitiro, kudzora kukosha -100)
    A8 E5 48 00 02 00 00 9C FF 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00E
  • Yaw control (chengeta ikozvino kutonga modhi, kutonga kukosha 1000)
    A8 E5 48 00 02 00 00 00 00 E8 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DC 00
  • Kwaakarerekera
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CD 00
  • OSD inoratidza kurongeka kwemutakuri
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E.
  • OSD inoratidza kurongeka kwechinangwa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F.
  • Image auto reverse on
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 D
  • Image auto reverse yadzimwa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C.
  • Nguva yenzvimbo (UTC-2)
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FE CA D
  • Kudzora kwekona 1 (kudzora kukosha hakuna kunaka)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  • Angle control 1 (Euler angle: roll 0°, pitch 45°, yaw 60°)
    A8 E5 48 00 02 00 00 94 11 70 17 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00A 00A
  • Angle control 1 (Euler angle: roll 20°, pitch 0°, yaw 0°)
    A8 E5 48 00 02 D0 07 00 00 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F00
  • Musoro wekuvhara (kutonga ukoshi hakusiko)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00
  • Musoro wekiyi (inoenderana angular velocity +10° /s)
    A8 E5 48 00 02 00 00 00 00 E8 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DE 00
  • Musoro wekutevera (kudzora kukosha hakusiko)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CF00
  • Orthoview (kudzora ukoshi hakusiko)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 13 DF 41
  • Euler angle control (control values ​​invalid)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  • Euler angle control (Euler angle: roll 0°, pitch -45°, yaw 0°)
    A8 E5 48 00 02 00 00 6C EE 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 A00 00A
  • Tanga kuronda (X0=100, Y0=100, X1=105, Y1=105)
    A8 E5 52 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 17 01 01 64 00 64
  • Buda pakuronda
    A8 E5 52 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 17 01 00 64 CB 00
  • Dzvanya kuti utarise (X=100, Y=100)
    A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Kusvirwa
  • Dzvanya kuti utarise (X=5000, Y=5000)
    A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1 01 88 13 88A 13 9 XNUMXEE C
  • Dzvanya kuti utarise (X=10000, Y=10000)
    A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Kusvirwa
  • Dzvanya kuti utarise (X=10000, Y=5000)
    A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 BSN
  • Nzira yekunze (X=100, Y=20)
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 .
  • Kudzora kwekona 2 (kudzora kukosha hakuna kunaka)
    A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00C 00E AE
  • Shutter
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00C
  • Tanga/mira kurekodha
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00D
  • Kamera 1 inoramba ichikwevera mukati
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00E
  • Kamera 1 inoramba ichirebedza kunze
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00E00F
  • Kamera 1 inomira kuswedera
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 24 A01
  • Kamera 1 inosimudza kusvika kune yakatarwa chiyero (5000, inoenderana nehafu yehuwandu hwehuwandu)
    A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00C
  • Makamera ese anokwevera kune yakatarwa chiyero (1.0x)
    A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 25 FF6 F6
  • Makamera ese anokwevera kune yakatarwa chiyero (5.5x)
    A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 25 9 FF C3A
  • Kamera 1 inosimudza kusvika kuchiyero chakatarwa (60.3x)
    A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 25 01 D DC
  • Focus
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CA
  • Inotevera palette sarudzo
    A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E2
  • Palette mode 3
    A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2 02 03A 85 XNUMX BB
  • Chiratidzo chehusiku chiripo
    A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2 01B 01 A9 A
  • Kuona kwehusiku kure
    A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2 01B 00 9
  • Kuyera tembiricha yenzvimbo pa (X0=4000, Y0=4000, X1=6000, Y1=6000)
    A8 E5 52 00 02 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 Kusvirwa BE 00D
  • Tembiricha yenzvimbo yadzimwa
    A8 E5 52 00 02 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 02 00 00 00 00
  • Yekuzivisa tembiricha pa (yepamusoro tembiricha yekuchenjerera 30.2 ° C, tembiricha yakaderera 20.0° C)
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 .
  • Tembiricha yadzimwa
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C.
  • Isotherm on (interval mode, 15.0° C~25.2° C)
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 32 02 01 00 FA
  • Isotherm off
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 32 02 00 00 96 AB
  • Kuyera tembiricha yenzvimbo pa (X=4000, Y=5000)
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 A00
  • Spot tembiricha kuyerwa kure
    A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  • OSD yakavhurwa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B.
  • OSD yabviswa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 73 A
  • Inotevera pic-in-pic sarudzo
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 74 00
  • Pic-in-pic mode 3
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B.
  • Kuonekwa kwechinangwa kwakabatidzwa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 A
  • Kuonekwa kwechinangwa kwabviswa
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 BA
  • Zoom kamera digital zoom on
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 76 01 75 FF
  • Zoom kamera digital zoom kure
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  • 00 EF 54
  • Kuvhenekera (255)
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 80 48 FF 3 FF XNUMX FF
  • Kudzima
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 80 00
  • Kuenderera mberi
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 81 02
  • Kuenderera mberi
    A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 81 00

Appendix 6 GPS nguva & UTC shanduko basa (pasina kusvetuka kwechipiri kugadzirisa)
static const uint16_t gpst0[] = {1980, 1, 6, 0, 0, 0}; uint64_t epoch2time(const uint16_t *ep) {const uint16_t _day[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; uint64_t masekondi = 0; uint16_t mazuva, gore = ep[0], mon = ep[1], zuva = ep[2]; kana (gore < 1970 || 2099 < year || mon < 1 || 12 < mon) return seconds; /* gore rekusvetuka kana gore%4==0 muna 1901-2099 */ mazuva=(gore-1970)*365+(gore-1969)/4+_zuva[mon-1]+zuva-2+(gore%4 ==0 && mon>=3?1:0); masekondi = pasi(ep[5]); seconds = (uint64_t)mazuva * 86400 + ep[3] * 3600 + ep[4] * 60 + masekondi; return seconds; } uint64_t gpst2time(int16_t vhiki, uint32_t sec){uint64_t t = epoch2time(gpst0); kana (sec < -1E9 || 1E9 < sec) sec = 0.0; t += 86400 * 7 * vhiki + sec; return t; } uint8_t time2gps(uint64_t nguva, int16_t *vhiki, uint32_t *msec){uint64_t t = epoch2time(gpst0); t = nguva - t; * vhiki = t / 604800; // 604800=7*86400 * msec = (t% 604800) * 1000; return 1; }

Appendix 7 Pod Code

Code Model
0 Z-6A
2 Z-6C
3 M-2400G2
21 Z-8TA
22 Z-8TB
24 Z-8RA
25 Z-8RB
26 Z-8RC
27 Z-8LA
30 Z-9A
31 Z-9B
40 D-80AI
41 D-90AI
44 D-80Pro
45 D-90Pro
49 Z-1PRO
50 Z-1MINI
51 Z-2PRO
52 Z-2MINI
53 D-125AI
54 D-150AI
55 D-90DE
56 D-115AI

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

FAQ

Q: Chii chinangwa cheiyo yakavanzika protocol inoshandiswa neGCU?
A: Iyo yakavanzika protocol inochengetedza kutaurirana kwakachengeteka uye kwakanaka pakati peGCU nemidziyo yakabatana.

Mubvunzo: Ndingavandudza sei protocol vhezheni yeGCU?
A: Kuti ugadzirise iyo protocol vhezheni, tarisa kune chigadzirwa bhuku kune yakatarwa mirairo inopihwa nemugadziri.

Zvinyorwa / Zvishandiso

Robot XF(A5) V2.0.5 GCU Private Protocol [pdf] Bhuku reMushandisi
XF A5 V2.0.5, XF A5 V2.0.1, XF A5 V2.0.2, XF A5 V2.0.5 GCU Private Protocol, XF A5 V2.0.5, GCU Private Protocol, Private Protocol, Protocol

References

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