Difference between revisions of "CanServo/Protocol/LongMessage"
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| Line 12: | Line 12: | ||
=== CAN 2.0 === | === CAN 2.0 === | ||
* | * 보낼 메시지를 포장합니다. | ||
** 보낼 데이터가 | ** 보낼 데이터가 8바이트이상이면 CRC16을 붙입니다. | ||
* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte. | * Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte. | ||
* Multi Packet's Data Format | * Multi Packet's Data Format | ||
** < Data : max 7 byte, cut from | ** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ||
** Check Byte | ** Check Byte | ||
*** bit 7 = 1, if first packet | *** bit 7 = 1, if first packet | ||
Revision as of 01:08, 25 November 2024
Long Message
- This content refers to the message format of UAVCAN.
- Thanks to UAVCAN
- Note:
- ID2, CRC16 : byte order : low byte first, little endian
- Reference:
CAN 2.0
- 보낼 메시지를 포장합니다.
- 보낼 데이터가 8바이트이상이면 CRC16을 붙입니다.
- Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.
- 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
FD-CAN
- Under construction !