Difference between revisions of "CanServo/Protocol/LongMessage"
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== Long Message == | == Long Message == | ||
* 각 패킷마다 Tail | * 각 패킷마다 Tail Byte가 있어서, 여러 패킷으로도 보낼수 있는 방식입니다. | ||
* This content refers to the message format of UAVCAN. | * This content refers to the message format of UAVCAN. | ||
Revision as of 05:02, 20 February 2025
Long Message
- 각 패킷마다 Tail Byte가 있어서, 여러 패킷으로도 보낼수 있는 방식입니다.
- 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.
- Packet's Data Format
- < Data : max 7 byte, cut from packed Message >, <Check Byte>
- Check Byte
- bit 7 = first packet
- bit 6 = 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.
- CRC starting value is 0xFFFF (-1)
CAN-FD
- CAN-FD data 는 64바이트까지 확장됩니다.
- 0~8, 12, 16, 20, 24, 32, 48, 64
CAN ID
- CAN ID = 0x7FE = Host -> Servo
- CAN ID = 0x7FF = Servo -> Host
- CAN ID = Servo ID2 + 1 = CAN-FD 되면서 추가