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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).
1	1
2	2
	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	+
3	3	|(% 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.
	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	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|
	27	+|(% 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.

Extended-CAN-frame-structure.png

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	1	+xwiki:XWiki.ENantel

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