"Hello CyberGear"

Hardware required

• Xiaomi CyberGear Motor.
• CANable-MKS USB to CAN adapter. Adapter is also available from AliExpress.
• 24V Power Supply.
• Amass XT30(2+2)-F cable. Cable with female connector is available from AliExpress

Electrical connections

• Power supply: BAT+ / GND
• MKS Canable: CAN_L / CAN_H ("G" on MKS Canable can be left unconnected)

Protocol

CAN

The CyberGear CAN protocol is described in the translated manual.

SLCAN

Testing via a PC/MAC etc can be done via this gocg utility and a Serial Line CAN <-> CAN transciever like CANable-MKS

The frame format is :

byte	description	example
1	Frame type identifier	't' : Standard (11-bit) CAN frame.
		'T' : 'T': Extended (29-bit) CAN frame (use 'T' for talking to the CyberGear)
		'r' : Standard CAN remote frame.
		'R' : Extended CAN remote frame.
2-17	CAN id (00000000-1FFFFFFF)	8 bytes ascii encoded. example: 0xFF will be transmitted as "FF"
18	DLC (Data length)	Number of "dd" pairs must match the data length
[19-2*DLC]	Data	Payload

Please refer to the translated manual for a description of CANid/ frame header and data encoding.

Before sending CyberGear specific frames, the following SLCAN commands have to be sent:

1. S8<CR> - Set CAN bitrate to 1MBit
2. O<CR> - Open the CAN channel in normal mode (send and receive)

Before closing the session, it might be a good idea to send

1. C - Close the CAN channel

Go

Currently implemented commands

command	arguments	example	description
open	<serialport>	open COM15	Opens the serial port for reading and writing.
close		close	Closes the currently open serial port.
enable	<motor id>	enable 7F	Enable a motor (7F is the default cybergear id).
disable	<motor id>	disable 7F	Disables / stops the motor.
speed	<motor id> <speed>	speed 7F 2.2	Sets motor speed (rad/s). Valid speed settings are in the range [-30, 30]

Examples

1. Open serial port, enable motor with CAN id 0x7F (default) and setting the speed to 10 .

> open COM15
> enable 7F
> set_speed 7F 10

2. Stop motor and close serial port.

> disable 7F
> close

Work in progress:

• Parse motor status response frames (current speed, position, torque etc)
• set current / position mode
• set current / speed limit
• set position
• change CAN id

Python

(Python example is courtesy of Hans Elias at HH)

• pip install python-can (use socketcan or slcan interface).

Useful stuff

• cangaroo open source can bus analyzer with support for transmit/receive of standard and FD frames and DBC decoding of incoming frames.
• canable Getting started with MKS Canable.

Protocol implementations

• M5 Stack (C++)
• CyberGearKit (Swift)