Difference between revisions of "CanServo/Protocol/LongMessage"
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** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ||
** Check Byte | ** Check Byte | ||
*** bit 7 = | *** bit 7 = first packet | ||
*** bit 6 = | *** bit 6 = last packet | ||
*** bit 5 = Toggle, first packet = 1, toggle bit on each packet | *** bit 5 = Toggle, first packet = 1, toggle bit on each packet | ||
*** bit 4:0 = Seq, 0 ~ 31, inc 1 on each message | *** bit 4:0 = Seq, 0 ~ 31, inc 1 on each message | ||
| Line 25: | Line 25: | ||
* Messages less than 8 bytes long are transmitted as one packet. | * Messages less than 8 bytes long are transmitted as one packet. | ||
=== FD | * CRC starting value is 0xFFFF (-1) | ||
=== CAN-FD === | |||
* Under construction ! | * Under construction ! | ||
* CAN-FD data 는 64바이트까지 확장됩니다. | |||
** 0~8, 12, 16, 20, 24, 32, 48, 64 | |||
* 중간의 애매한 길이인 경우에는 어떻게 처리하는가? | |||
Latest revision as of 02:34, 21 January 2025
Long Message
- This content refers to the message format of UAVCAN.
- Thanks to UAVCAN
- Note:
- CRC16 : byte order : low byte first, little endian
- Reference:
CAN 2.0
- Packaging the message to be sent.
- If the message to be sent is 8 bytes or more, CRC16 is added.
- Packet's Data Format
- < Data : max 7 byte, cut from packed Message >, <Check Byte>
- Check Byte
- bit 7 = first 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
- 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?