Difference between revisions of "CanServo/Protocol/LongMessage"
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* The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent. | * The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent. | ||
** 보낼 데이터가 8바이트이상인 경우에만 CRC16을 붙인다. 7바이트 이하인 경우에는 CRC없이 1개 packet으로 전송합니다. | |||
* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte. | * Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte. | ||
Revision as of 01:07, 25 November 2024
Long Message
- This content refers to the message format of UAVCAN.
- Thanks to UAVCAN
- Note:
- ID2, CRC16 : byte order : low byte first, little endian
- Reference:
CAN 2.0
- The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
- 보낼 데이터가 8바이트이상인 경우에만 CRC16을 붙인다. 7바이트 이하인 경우에는 CRC없이 1개 packet으로 전송합니다.
- Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.
- Multi Packet's Data Format
- < 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
FD-CAN
- Under construction !