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>
** 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.


* 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>
** UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.


* 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 >
** ZIDS - Set IDs by UID
** ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
*** UID (16), ID2 (4), ID1 (1), MODE (1)
** ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZGUu - Get UID
** ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
*** ID2 (4), ID1 (1)
** ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
** ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
** ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
 
** ZGUU - Get Register by UID
* Message : Servo -> Host
*** UID (16), ADDR (1), bit 0.5, bits (0.5)
** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
** 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), Value (2)
** ZGID - Get Register by ID
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
* Mesasge: Servo -> Host
** ZUID - broadcast UID
*** UID (16), ID2 (4), ID1 (1), MODE (1)
** 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)


== MultiPacket for Long Message ==
=== File Access ===
* ZGFL
* ZSDF
* ZFWU


* The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
=== Message ===
* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.


* Multi Packet's Data 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:
== MultiPacket for Long Message ==
** ID2, CRC16 : byte order : low byte first, little endian
 
* Reference:
** [[Code/CRC16]]
 
== FD-CAN ==
 
* FD-CAN allows up to 64 bytes to be transmitted, so up to 63 bytes can be extracted at a time.


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

Latest revision as of 02:02, 22 November 2024

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>
    • 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.
  • 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>
    • UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.
  • This message is delivered using the MultiPacket method below.

Write/Read Register's bits by ID or UID

  • Message: Host -> Servo
    • ZIDS - Set IDs by UID
      • UID (16), ID2 (4), ID1 (1), MODE (1)
    • 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
    • ZUID - broadcast UID
      • UID (16), ID2 (4), ID1 (1), MODE (1)
    • 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

MultiPacket for Long Message

CanServo/Protocol/MultiPacketsforLongMessage

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