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  • Extended-CAN-frame-structure.png

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1		-LSS-PRO uses the extended CAN frame format to send and receive LSS command information.
2		-
3		-Since LSS commands are character data (1 character 1 byte), they cannot be directly assigned to the CAN Data field (8 bytes). Therefore, it converts the LSS command and assigns the conversion information to the **Identifier **and **Data field** of the extended CAN frame format.
4		-
5		-**Extended CAN frame format (29-bit CAN ID)**
6		-
7		-Extended CAN 2.0 B has 29-bit identifier which means that there are 2^29 = 536,870,912 unique CAN-IDs. With a longer 29-bit identifier field, Extended CAN frames support a significantly larger address space. accommodating up to or over 500 million unique message identifiers.
8		-
9		-Example: 10101010111000111010101011101 (binary 29 bits) i.e., 0x155C755D (hex).
10	10
11	11
12		-__CAN communication rate is set at 500kbps.__
13		-
14		-Assign LSS command information to the field in green in this image~:
15		-
16		-[[image:Extended-CAN-frame-structure.png]]
17		-
18		-
19		-|(% colspan="2" rowspan="1" style="text-align:center" %)**Data format on USB-Serial**|(% rowspan="16" style="text-align:center" %) |(% colspan="3" rowspan="1" style="text-align:center" %)**Data format on CAN-Bus**
20		-|(% colspan="2" rowspan="1" style="width:150px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
21		-|(% style="background-color:yellow; width:150px" %)Header|(% style="background-color:yellow" %)# or *|(% style="background-color:yellow" %)ID[19]|(% style="background-color:yellow" %)Request/Response (0:Request 1:Response)|(% style="background-color:yellow" %)# = 0, * = 1
22		-|(% colspan="2" rowspan="3" %) |ID[18]|Presence of command parameters|Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
23		-|ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
24		-|ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
	3	+|(% colspan="2" rowspan="1" %)Data format on USB-Serial|(% colspan="3" rowspan="1" %)Data format on CAN-Bus
	4	+|(% style="width:150px" %)Header|(% style="width:300px" %)# or *|(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
	5	+| | |ID[19]|Request/Response (0:Request 1:Response)|# = 0, * = 1
	6	+| | |ID[18]|Presence of command parameters|Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
	7	+| | |ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
	8	+| | |ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
25	25	(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
26		-|(% style="background-color:#22e817" %)ServoID|(% style="background-color:#22e817" %)Servo ID|(% style="background-color:#22e817" %)ID[15-8]|(% style="background-color:#22e817" %)Source ID|(% style="background-color:#22e817" %)
27		-|(% colspan="2" rowspan="1" %) |ID[7-0]|Destination ID|
28		-|(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
	10	+|ServoID|Servo ID|ID[15-8]|Source ID|
	11	+| | |ID[7-0]|Destination ID|
	12	+|Command|Action Command (ex. RESET, D, etc..)
29	29	Query Command (ex. QID, QD, etc...)
30		-Configuration Command (ex. CID, etc...)|(% style="background-color:orange" %)DATA0|(% style="background-color:orange" %)Command ID|(% style="background-color:orange" %)See Command ID List.
31		-|(% style="background-color:#8ff7ed" %)Value|(% style="background-color:#8ff7ed" %)Command Value|(% style="background-color:#8ff7ed" %)DATA1|(% style="background-color:#8ff7ed" %)Command parameter0|(% style="background-color:#8ff7ed" %)
32		-|(% colspan="2" rowspan="3" %) |(% style="background-color:#8ff7ed" %)DATA2|(% style="background-color:#8ff7ed" %)Command parameter1|(% style="background-color:#8ff7ed" %)
33		-|(% style="background-color:#8ff7ed" %)DATA3|(% style="background-color:#8ff7ed" %)Command parameter2|(% style="background-color:#8ff7ed" %)
34		-|(% style="background-color:#8ff7ed" %)DATA4|(% style="background-color:#8ff7ed" %)Command parameter3|(% style="background-color:#8ff7ed" %)
35		-|(% style="background-color:#e817e1" %)Modifier|(% style="background-color:#e817e1" %)Modifier Command (ex. SD, T, etc...)|(% style="background-color:#e817e1" %)DATA5|(% style="background-color:#e817e1" %)Sub-command ID|(% style="background-color:#e817e1" %)See Command ID List.
36		-|(% style="background-color:#7878fa" %)Modifier Value|(% style="background-color:#7878fa" %)Modifier Command Value|(% style="background-color:#7878fa" %)DATA6|(% style="background-color:#7878fa" %)Sub-command parameter0|(% style="background-color:#7878fa" %)
37		-|(% colspan="2" rowspan="1" %) |(% style="background-color:#7878fa" %)DATA7|(% style="background-color:#7878fa" %)Sub-command parameter1|(% style="background-color:#7878fa" %)
	14	+Configuration Command (ex. CID, etc...)|DATA0|Command ID|See Command ID List.
	15	+|Value|Command Value|DATA1|Command parameter0|
	16	+| | |DATA2|Command parameter1|
	17	+| | |DATA3|Command parameter2|
	18	+| | |DATA4|Command parameter3|
	19	+|Modifier|Modifier Command (ex. SD, T, etc...)|DATA5|Sub-command ID|See Command ID List.
	20	+|Modifier Value|Modifier Command Value|DATA6|Sub-command parameter0|
	21	+| | |DATA7|Sub-command parameter1|
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Extended-CAN-frame-structure.png

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