Data Sheet

4/27/2018 OpenCR1.0
http://emanual.robotis.com/docs/en/parts/controller/opencr10/ 4/50
If the board is powered on or reset, if the SW2 button is pressed, it waits for commands from
the PC in the boot loader state. If the SW2 button is not pressed, jump to the firmware if the
firmware exists in the firmware area of the flash memory and execute it.
4. 3. Communication Protocol
4. 3. 1. MavLink
The communication protocol for downloading firmware from the boot loader uses MavLink.
MavLink was created for communication in UAV, see the link below for details.
As a feature, when the command name and parameters are generated as an xml file, the
communication code for each command is automatically generated by the code such as
java / c / python. It creates a function that performs CRC checking or data parsing for
communication automatically, so if you define only necessary commands as xml file, you can
generate the source automatically.
It is also easy to port because it generates in various languages.
http://qgroundcontrol.org/mavlink/start
4. 3. 2. Composition of Commands
The final defined xml file is added to github.
<?xml version="1.0"?>
<mavlink>
<!--<include>common.xml</include>-->
<!-- NOTE: If the included file already contains a version tag, remove the version tag
<!--<version>3</version>-->
<enums>
</enums>
<messages>
<message id="150" name="ACK">
<description></description>
<field type="uint8_t" name="msg_id"></field>
<field type="uint16_t" name="err_code"></field>
<field type="uint8_t" name="length"></field>
<field type="uint8_t[16]" name="data"></field>
</message>
</messages>
... omit ...
</mavlink>
https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_bootloader/common/msg/xml/ope
OpenCR1.0
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