Difference between revisions of "CanServo/Protocol/V1.1"

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== Under construction ==
== CAN Protocol Ver 1.1 ==
== CAN Protocol Ver 1.1 ==


* This protocol needs FW Ver 1.12+
* This protocol needs FW Ver 1.12+
* Through this message, you can control the servo based on the UID of the servo.
* Even if the ID1 and ID2 of the servo are 0, the register value of the servo can be changed.


* CAN ID
* CAN ID
Line 14: Line 9:
* Message : Servo -> Host
* Message : Servo -> Host
** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
** 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.


* Message: Host -> Servo
* Message: Host -> Servo
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** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
** UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.
* This message is delivered using the MultiPacket method below.


== MultiPacket for Long Message ==
== MultiPacket for Long Message ==


* Since this message is over 8 bytes in length, it is divided into multiple packets and delivered.
[[CanServo/Protocol/MultiPacketsforLongMessage]]
** Since the maximum data length of a CAN 2.0 packet is 8 bytes, 7 bytes are cut from the entire message, and information such as order is delivered as the last byte.
** To verify Message delivery error, a 2-byte value calculated by CRC16 is added, and 7 bytes are cut and sent.
 
* Multi Packet's Data Format
** < Data : max 7 byte, cut from 'Message + CRC16' >, <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
 
* Note:
** ID2, CRC16 : byte order : low byte first, little endian
 
* Reference:
** [[Code/CRC16]]

Revision as of 01:57, 26 July 2024

CAN Protocol Ver 1.1

  • This protocol needs FW Ver 1.12+
  • CAN ID
    • 0x7FF : Servo -> Host
    • 0x7FE : Host -> Servo
  • Message : Servo -> Host
    • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
    • 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.
  • Message: Host -> Servo
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
    • UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.
  • This message is delivered using the MultiPacket method below.

MultiPacket for Long Message

CanServo/Protocol/MultiPacketsforLongMessage

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