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
** 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
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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>
** 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


* Since this message is over 8 bytes in length, it is divided into multiple packets and delivered.
=== Message ===
** Since the maximum data length of a CAN 2.0 packet is 8 bytes, 7 bytes are cut from the entire message and sent, 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 Format
* ZMSG
** < 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:
== Long Message ==
** ID2, CRC16 : low byte first, little endian


* Reference:
[[CanServo/Protocol/LongMessage]]
** [[Code/CRC16]]

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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