Changes for page LSS-PRO CAN Bus

Last modified by Eric Nantel on 2025/03/24 07:17
From version < 5.1 >
edited by Eric Nantel
on 2024/11/25 14:24
To version < 16.1
edited by Eric Nantel
on 2025/03/24 07:17
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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
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="6" style="text-align:center" %)[[attach:LSS-P CAN Bus - Command ID List.xlsx]]
20 +|(% 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**
4 4  |(% colspan="2" rowspan="1" style="width:150px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
5 5  |(% 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
6 -|(% 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.
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.
23 +|(% 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.
24 +|(% 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.
25 +|(% 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 10  |(% 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" %)
11 -|(% colspan="2" rowspan="1" %) |ID[7-0]|Destination ID|
28 +|(% colspan="2" rowspan="1" %) |(% style="background-color:#22e817" %)ID[7-0]|(% style="background-color:#22e817" %)Destination ID|(% style="background-color:#22e817" %)
12 12  |(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
13 13  Query Command (ex. QID, QD, etc...)
14 14  Configuration Command (ex. CID, etc...)|(% style="background-color:orange" %)DATA0|(% style="background-color:orange" %)Command ID|(% style="background-color:orange" %)See Command ID List.
15 -|(% style="background-color:#17e5e8" %)Value|(% style="background-color:#17e5e8" %)Command Value|(% style="background-color:#17e5e8" %)DATA1|(% style="background-color:#17e5e8" %)Command parameter0|(% style="background-color:#17e5e8" %)
16 -|(% colspan="2" rowspan="3" %) |(% style="background-color:#17e5e8" %)DATA2|(% style="background-color:#17e5e8" %)Command parameter1|(% style="background-color:#17e5e8" %)
17 -|(% style="background-color:#17e5e8" %)DATA3|(% style="background-color:#17e5e8" %)Command parameter2|(% style="background-color:#17e5e8" %)
18 -|(% style="background-color:#17e5e8" %)DATA4|(% style="background-color:#17e5e8" %)Command parameter3|(% style="background-color:#17e5e8" %)
32 +|(% 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" %)
33 +|(% colspan="2" rowspan="3" %) |(% style="background-color:#8ff7ed" %)DATA2|(% style="background-color:#8ff7ed" %)Command parameter1|(% style="background-color:#8ff7ed" %)
34 +|(% style="background-color:#8ff7ed" %)DATA3|(% style="background-color:#8ff7ed" %)Command parameter2|(% style="background-color:#8ff7ed" %)
35 +|(% style="background-color:#8ff7ed" %)DATA4|(% style="background-color:#8ff7ed" %)Command parameter3|(% style="background-color:#8ff7ed" %)
19 19  |(% 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.
20 -|(% style="background-color:#3b3bff" %)Modifier Value|(% style="background-color:#3b3bff" %)Modifier Command Value|(% style="background-color:#3b3bff" %)DATA6|(% style="background-color:#3b3bff" %)Sub-command parameter0|(% style="background-color:#3b3bff" %)
21 -|(% colspan="2" rowspan="1" %) |(% style="background-color:#3b3bff" %)DATA7|(% style="background-color:#3b3bff" %)Sub-command parameter1|(% style="background-color:#3b3bff" %)
37 +|(% 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" %)
38 +|(% 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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LSS-P CAN Bus - Command ID List.xlsx
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