Difference between revisions of "CanServo/Protocol/LongMessage"
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== Long Message == | == Long Message == | ||
* This content refers to the message format of UAVCAN. | |||
** Thanks to UAVCAN | |||
* Note: | * Note: | ||
** | ** CRC16 : byte order : low byte first, little endian | ||
* Reference: | * Reference: | ||
| Line 9: | Line 12: | ||
=== CAN 2.0 === | === CAN 2.0 === | ||
* | * Packaging the message to be sent. | ||
* | ** If the message to be sent is 8 bytes or more, CRC16 is added. | ||
* Multi Packet's Data Format | * Multi Packet's Data Format | ||
** < Data : max 7 byte, cut from | ** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ||
** Check Byte | ** Check Byte | ||
*** bit 7 = 1, if first packet | *** bit 7 = 1, if first packet | ||
| Line 19: | Line 22: | ||
*** 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 | ||
* Messages less than 8 bytes long are transmitted as one packet. | |||
=== FD-CAN === | === FD-CAN === | ||
* Under construction ! | * Under construction ! | ||
Latest revision as of 02:12, 25 November 2024
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.
- Multi Packet's Data Format
- < Data : max 7 byte, cut from packed Message >, <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
- Messages less than 8 bytes long are transmitted as one packet.
FD-CAN
- Under construction !