Difference between revisions of "CanServo/Protocol/V1.1"
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* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZUW1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte> | ** ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > | ||
** ZUW2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte> | ** ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte > | ||
** ZUX1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte> | ** ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > | ||
** ZUX2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte> | ** ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte > | ||
** ZUR1, <UID : 16 byte>, <ADDR : 2 byte> | ** ZUR1, < UID : 16 byte >, < ADDR : 2 byte > | ||
** ZUR2, <UID : 16 byte>, <ADDR1 : 2 byte>, <ADDR2 : 2 byte> | ** ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte > | ||
* Message : Servo -> Host | * Message : Servo -> Host | ||
** ZUV1, <UID : 16 byte>, <ADDR : 2 byte>, <DATA : 2 byte> | ** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > | ||
** ZUV2, <UID : 16 byte>, <ADDR1 : 2 byte>, <DATA1 : 2 byte>, <ADDR2 : 2 byte>, <DATA2 : 2 byte> | ** ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte > | ||
== MultiPacket for Long Message == | == MultiPacket for Long Message == | ||
Revision as of 05:33, 27 June 2024
Under construction
CAN Protocol Ver 1.1
- 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
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
- Message : Servo -> Host
- ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- 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>
- This message is delivered using the MultiPacket method below.
CAN Protocol Ver 1.2
- Message: Host -> Servo
- ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
- ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
- Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
MultiPacket for Long Message
- The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
- 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
- Note:
- ID2, CRC16 : byte order : low byte first, little endian
- Reference:
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.