Difference between revisions of "CanServo/Protocol/V1.1"

From HITEC_HELP
Jump to navigation Jump to search
 
(29 intermediate revisions by the same user not shown)
Line 1: Line 1:
== 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
Line 19: 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.


== MultiPacket for Long Message ==
=== Write/Read Register's bits by ID or UID ===
 
* Message: Host -> Servo
** ZGUu - Get UID
*** ID2 (4), ID1 (1)
** ZSuu - Set Register by UID
*** 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)
** ZXuu - Set/Get Register by UID
** ZSid - Set Register by ID
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZXid - Set/Get Register by UID
** 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


* Since this message is over 8 bytes in length, it is divided into multiple packets and delivered.
=== History ===
** Since the maximum data length of a CAN 2.0 packet is 8 bytes, 7 bytes are cut from the entire message, and information such as order is delivered as the last byte.
==== 2025_06_19 ====
** To verify Message delivery error, a 2-byte value calculated by CRC16 is added, and 7 bytes are cut and sent.


* Multi Packet's Data Format
* Replace message by bug in ZRUU, ZRID
** < Data : max 7 byte, cut from 'Message + CRC16' >, <Check Byte>
** ZSUU -> ZSuu
** Check Byte
** ZXUU -> ZXuu
*** bit 7 = 1, if first packet
** ZGUU -> ZGuu
*** bit 6 = 1, if last packet
** ZRUU -> ZRuu
*** bit 5 = Toggle, first packet = 1, toggle bit on each packet
** ZSID -> ZSid
*** bit 4:0 = Seq, 0 ~ 31, inc 1 on each message
** ZXID -> ZXid
** ZGID -> ZGid
** ZRID -> ZRid


* Note:
== Long Message ==
** ID2, CRC16 : byte order : low byte first, little endian


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

Latest revision as of 00:16, 20 June 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 - Set Register by UID
      • 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)
    • ZXuu - Set/Get Register by UID
    • ZSid - Set Register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZXid - Set/Get Register by UID
    • 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

History

2025_06_19

  • Replace message by bug in ZRUU, ZRID
    • ZSUU -> ZSuu
    • ZXUU -> ZXuu
    • ZGUU -> ZGuu
    • ZRUU -> ZRuu
    • ZSID -> ZSid
    • ZXID -> ZXid
    • ZGID -> ZGid
    • ZRID -> ZRid

Long Message

CanServo/Protocol/LongMessage

Retrieved from "http://support.hitecrcd.net:7700/index.php?title=CanServo/Protocol/V1.1&oldid=1468"