Wiki source code of LSS-PRO CAN Bus
Version 3.2 by Eric Nantel on 2024/11/25 14:16
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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. |
| 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..) |
| 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| |
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