Difference between revisions of "CanServo/Protocol/LongMessage"

Latest revision as of 02:34, 21 January 2025

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

@@ Line 5: / Line 5: @@
 * Note:
-** ID2, CRC16 : byte order : low byte first, little endian
+** CRC16 : byte order : low byte first, little endian
 * Reference:
@@ Line 12: / Line 12: @@
 === CAN 2.0 ===
-* The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
+* Packaging the message to be sent.
-* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.
+** If the message to be sent is 8 bytes or more, CRC16 is added.
-* Multi Packet's Data Format
+* Packet's Data Format
-** < Data : max 7 byte, cut from 'Message + CRC16' >, <Check Byte>
+** < Data : max 7 byte, cut from packed Message >, <Check Byte>
 ** Check Byte
-*** bit 7 = 1, if first packet
+*** bit 7 = first packet
-*** bit 6 = 1, if last packet
+*** bit 6 = 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 ===
+* Messages less than 8 bytes long are transmitted as one packet.
+* CRC starting value is 0xFFFF (-1)
+=== CAN-FD ===
 * Under construction !
+* CAN-FD data 는 64바이트까지 확장됩니다.
+** 0~8, 12, 16, 20, 24, 32, 48, 64
+* 중간의 애매한 길이인 경우에는 어떻게 처리하는가?