Difference between revisions of "CanServo/Protocol/0"
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Tag: Manual revert |
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== History == | == History == | ||
=== 2025_06_19 === | |||
* | * (6) Return message has bug | ||
** V1. | ** (4) Replace message keyword | ||
*** ZRUU: ZSUU, ZXUU, ZGUU -> ZRuu, ZSuu, ZXuu, ZGuu | |||
*** ZRID: ZSID, ZXID, ZGID -> ZRid, ZSid, ZXid, ZGid | |||
*** ZUV1: ZUW1, ZUX1, ZUR1 -> ZUv1, ZUw1, ZUx1, ZUr1 | |||
*** ZUV2: ZUW2, ZUX2, ZUR2 -> ZUv2, ZUw2, ZUx2, ZUr2 | |||
*** 과거 FW가 반응하지 않도록 메시지 키워드를 모두 변경합니다. | |||
*** [[CanServo/Protocol/V1.1#2025_06_19]] | |||
*** [[CanServo/Protocol/V1.3#2025_06_19]] | |||
** (2) No replace: | |||
*** ZMSG -> 전송 코드 수정으로 해결 | |||
*** ZGFL -> 조심해서 사용 | |||
* 2025_02 | === 2025_03 === | ||
* V1.6 추가 | |||
=== 2025_02 === | |||
** CAN-FD 추가 | ** CAN-FD 추가 | ||
** Short Mesasge 추가 | ** Short Mesasge 추가 | ||
| Line 140: | Line 142: | ||
** ID2+X 추가 | ** ID2+X 추가 | ||
=== 2024_11 === | |||
** R1CAN 추가 | ** R1CAN 추가 | ||
Latest revision as of 04:49, 25 June 2025
Protocol Sections
- SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
- Write/Read 1 or 2 register
- 금지 키워드
- ZRU1, ZRU2
- CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZG??, ZR??, ZS??, ZX??, FILE(ZGFL, ZSDF, ZFWU), ZMSG
- Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
- Write/Read register's bits by ID or UID
- FILE Access
- Message: ZMSG
- CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, o/O, y/Y
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- address = max 1024 range (0~1023)
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- CanServo/Protocol/V1.3 - V1.3 - ZU??(Except ZUID), K
- Write/Read 1 or 2 register via UID
- Broadcast UID
- UID search
- CanServo/Protocol/V1.4 - V1.4 - sync
- CanServo/Protocol/V1.5 - V1.5 - ZKW?, ZKR?, ZKX?, ZKV?
- Write/Read N register(s)
- CanServo/Protocol/V1.6 - V1.6 - Zc??, Zr??
- Custom CAN / CAN-FD
Message Types
- Tail Byte 유무에 따라 Short/Long Message로 나눕니다.
- CanServo/Protocol/ShortMessage - Tail Byte = No - Single Packet Only
- CanServo/Protocol/LongMessage - Tail Byte = Yes - Single/Multi Packet
- 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.
| CAN ID | Short Message | Long Message |
|---|---|---|
| Host -> Servo | 0(Broadcast) or ID2 | 0x7FE, ID2+4 |
| Servo -> Host | ID2 or ID2+1 | 0x7FF, ID2+5 |
- NOTE: ID2 must aligned by 8.
Section / platform
| Section | Short | Long | ST | AT | G491 | RR |
|---|---|---|---|---|---|---|
| 1.0 | Yes | No | Yes | Yes | Yes | Yes |
| 1.1 | - | Yes | Yes | Yes | ||
| 1.2 | Yes | No | Yes | |||
| 1.3 | - | Yes | 2.3(3) | Yes | ||
| 1.4 | Yes | Yes | 2.3(3) | Yes | ||
| 1.5 | - | Yes | ||||
| ID2+4/5 |
- DATE: 2024_11_25, G491 R1CAN
History
2025_06_19
- (6) Return message has bug
- (4) Replace message keyword
- ZRUU: ZSUU, ZXUU, ZGUU -> ZRuu, ZSuu, ZXuu, ZGuu
- ZRID: ZSID, ZXID, ZGID -> ZRid, ZSid, ZXid, ZGid
- ZUV1: ZUW1, ZUX1, ZUR1 -> ZUv1, ZUw1, ZUx1, ZUr1
- ZUV2: ZUW2, ZUX2, ZUR2 -> ZUv2, ZUw2, ZUx2, ZUr2
- 과거 FW가 반응하지 않도록 메시지 키워드를 모두 변경합니다.
- CanServo/Protocol/V1.1#2025_06_19
- CanServo/Protocol/V1.3#2025_06_19
- (2) No replace:
- ZMSG -> 전송 코드 수정으로 해결
- ZGFL -> 조심해서 사용
- (4) Replace message keyword
2025_03
- V1.6 추가
2025_02
- CAN-FD 추가
- Short Mesasge 추가
- V1.5 추가
- ID2+X 추가
2024_11
- R1CAN 추가