CanServo/Protocol/LongMessage

Long Message

• This content refers to the message format of UAVCAN.
  • Thanks to UAVCAN

• Note:
  • CRC16 : byte order : low byte first, little endian

• Reference:
  • Code/CRC16

CAN 2.0

• Packaging the message to be sent.
  • If the message to be sent is 8 bytes or more, CRC16 is added.

• Multi Packet's Data Format
  • < Data : max 7 byte, cut from packed Message >, <Check Byte>
  • Check Byte
    • bit 7 = 1, if first packet
    • bit 6 = 1, if last packet
    • bit 5 = Toggle, first packet = 1, toggle bit on each packet
    • bit 4:0 = Seq, 0 ~ 31, inc 1 on each message

• Messages less than 8 bytes long are transmitted as one packet.

FD-CAN

• Under construction !