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+
* The purpose of this message is to set the servo's ID based on the servo's UID.


* CAN ID
* CAN ID
** 0x7FF : Servo -> Host
** 0x7FF : Servo -> Host
** 0x7FE : Host -> Servo
** 0x7FE : Host -> Servo
=== UID ===


* 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>
** This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.


* Message: Host -> Servo
* Message: Host -> Servo
Line 18: Line 17:
** 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>
** The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.


* This message is delivered using the MultiPacket method below.
* This message is delivered using the MultiPacket method below.


== CAN Protocol Ver 1.2 ==
=== Write/Read Register's bits by ID or UID ===


* Message: Host -> Servo
* Message: Host -> Servo
** ZUW1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte>
** ZGUu - Get UID
** ZUW2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte>
*** ID2 (4), ID1 (1)
** ZUX1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte>
** ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
** ZUX2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte>
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZUR1, <UID : 16 byte>, <ADDR : 2 byte>
** ZGUU - Get Register by UID
** ZUR2, <UID : 16 byte>, <ADDR1 : 2 byte>, <ADDR2 : 2 byte>
*** UID (16), ADDR (1), bit 0.5, bits (0.5)
 
** ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
* Message : Servo -> Host
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZUV1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte>
** ZGID - Get Register by ID
** ZUV2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte>
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
 
* Mesasge: Servo -> Host
== MultiPacket for Long Message ==
** ZRUU - return register by UID
 
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
* The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
** ZRID - return register by ID
* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
 
* 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:
=== File Access ===
** ID2, CRC16 : byte order : low byte first, little endian
* ZGFL
* ZSDF
* ZFWU


* Reference:
=== Message ===
** [[Code/CRC16]]


== FD-CAN ==
* ZMSG


* FD-CAN allows up to 64 bytes to be transmitted, so up to 63 bytes can be extracted at a time.
== Long Message ==


* This approach has not yet been implemented.
[[CanServo/Protocol/LongMessage]]

Latest revision as of 06:30, 2 April 2025

CAN Protocol Ver 1.1

  • This protocol needs FW Ver 1.12+
  • CAN ID
    • 0x7FF : Servo -> Host
    • 0x7FE : Host -> Servo

UID

  • Message : Servo -> Host
    • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
    • This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
  • 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>
    • The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
  • This message is delivered using the MultiPacket method below.

Write/Read Register's bits by ID or UID

  • Message: Host -> Servo
    • ZGUu - Get UID
      • ID2 (4), ID1 (1)
    • ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
      • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZGUU - Get Register by UID
      • UID (16), ADDR (1), bit 0.5, bits (0.5)
    • ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZGID - Get Register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
  • Mesasge: Servo -> Host
    • ZRUU - return register by UID
      • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZRID - return register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)

File Access

  • ZGFL
  • ZSDF
  • ZFWU

Message

  • ZMSG

Long Message

CanServo/Protocol/LongMessage

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