BUNKER MINI is shipped with the vehicle and provides a male aviation plug as shown in Figure 3.1. The definition of the wires is yellow as CANH, blue as CANL, red as power positive, and black as negative.
<aside> 💡 In the current BUNKER MINI version, only the tail interface is open to external expansion interfaces. The power supply in this version can provide a maximum current of 10A.
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Figure 3.1 Schematic diagram of aviation plug
BUNKER MINI products provide a CAN interface for user development, through which users can command and control the car body. The CAN communication standard in BUNKER MINI products adopts the CAN2.0B standard, the communication baud rate is 500K, and the message format adopts MOTOROLA format. The moving linear speed and rotation angular speed of the chassis can be controlled through the external CAN bus interface; BUNKER MINI will feedback the current motion status information and the status information of the BUNKER MINI chassis in real time. The protocol includes system status feedback frames, motion control feedback frames, and control frames. The protocol content is as follows:
The system status feedback command includes current car body status feedback, control mode status feedback, battery voltage feedback and fault feedback. The protocol content is shown in Table 3.1:
Table 3.1 BUNKER MINI 2.0 Chassis State Feedback Frame
Table 3.2 Explanation table of fault information
The motion control feedback frame command includes the feedback of current vehicle body’s motion linear velocity and motion angular velocity. The specific content of the protocol is shown in Table 3.3.
Table 3.3 Motion Control Feedback Frame