Summary

• Page properties (1 modified, 0 added, 0 removed)
• Attachments (0 modified, 0 added, 1 removed)
  • Extended-CAN-frame-structure.png

Details

Page properties

Content

...	...	@@ -1,38 +1,0 @@
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		-
11		-
12		-Assign LSS command information to the field in green in this image~:
13		-
14		-[[image:Extended-CAN-frame-structure.png]]
15		-
16		-
17		-
18		-|(% 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**
19		-|(% colspan="2" rowspan="1" style="width:150px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
20		-|(% 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
21		-|(% 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.
22		-|ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
23		-|ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
24		-(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
25		-|(% 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" %)
26		-|(% colspan="2" rowspan="1" %) |ID[7-0]|Destination ID|
27		-|(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
28		-Query Command (ex. QID, QD, etc...)
29		-Configuration Command (ex. CID, etc...)|(% style="background-color:orange" %)DATA0|(% style="background-color:orange" %)Command ID|(% style="background-color:orange" %)See Command ID List.
30		-|(% 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" %)
31		-|(% colspan="2" rowspan="3" %) |(% style="background-color:#8ff7ed" %)DATA2|(% style="background-color:#8ff7ed" %)Command parameter1|(% style="background-color:#8ff7ed" %)
32		-|(% style="background-color:#8ff7ed" %)DATA3|(% style="background-color:#8ff7ed" %)Command parameter2|(% style="background-color:#8ff7ed" %)
33		-|(% style="background-color:#8ff7ed" %)DATA4|(% style="background-color:#8ff7ed" %)Command parameter3|(% style="background-color:#8ff7ed" %)
34		-|(% 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.
35		-|(% 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" %)
36		-|(% colspan="2" rowspan="1" %) |(% style="background-color:#7878fa" %)DATA7|(% style="background-color:#7878fa" %)Sub-command parameter1|(% style="background-color:#7878fa" %)
37		-
38		-

Extended-CAN-frame-structure.png

Author

...	...	@@ -1,1 +1,0 @@
1		-xwiki:XWiki.ENantel

Size

...	...	@@ -1,1 +1,0 @@
1		-36.4 KB

Content