Wiki source code of LSS-PRO CAN Bus
Version 4.1 by Eric Nantel on 2024/11/25 14:23
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3.1 | 3 | |(% colspan="2" rowspan="1" %)Data format on USB-Serial|(% colspan="3" rowspan="1" %)Data format on CAN-Bus |
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4.1 | 4 | |(% style="width:150px" %) |(% style="width:300px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved| |
| 5 | |(% style="background-color:yellow" %)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 | ||
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2.1 | 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.) | ||
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4.1 | 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" %) |
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2.1 | 11 | | | |ID[7-0]|Destination ID| |
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4.1 | 12 | |(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..) |
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2.1 | 13 | Query Command (ex. QID, QD, etc...) |
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4.1 | 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 | | | |(% 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" %) | ||
| 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 | | | |(% style="background-color:#3b3bff" %)DATA7|(% style="background-color:#3b3bff" %)Sub-command parameter1|(% style="background-color:#3b3bff" %) | ||
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