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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).
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3		-|(% colspan="2" rowspan="1" %)Data format on USB-Serial|(% colspan="3" rowspan="1" %)Data format on CAN-Bus
4		-|(% style="background-color:yellow; width:150px" %)Header|(% style="background-color:yellow; width:300px" %)# or *|(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
5		-| | |(% style="background-color:yellow" %)ID[19]|(% style="background-color:yellow" %)Request/Response (0:Request 1:Response)|(% style="background-color:yellow" %)# = 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.
	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" %) |(% style="background-color:#dbd3ba" %)ID[18]|(% style="background-color:#dbd3ba" %)Presence of command parameters|(% style="background-color:#dbd3ba" %)Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
	23	+|(% style="background-color:#bdac7b" %)ID[17]|(% style="background-color:#bdac7b" %)Presence of sub-command id|(% style="background-color:#bdac7b" %)Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
	24	+|(% style="background-color:#bcd6f5" %)ID[16]|(% style="background-color:#bcd6f5" %)Presence of sub-command parameter|(% style="background-color:#bcd6f5" %)Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
9	9	(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
10		-|(% style="background-color:green" %)ServoID|(% style="background-color:green" %)Servo ID|ID[15-8]|Source ID|
11		-| | |ID[7-0]|Destination ID|
12		-|Command|Action Command (ex. RESET, D, etc..)
	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" %) |(% style="background-color:#22e817" %)ID[7-0]|(% style="background-color:#22e817" %)Destination ID|(% style="background-color:#22e817" %)
	28	+|(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
13	13	Query Command (ex. QID, QD, etc...)
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|
	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" %)
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Extended-CAN-frame-structure.png

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