CanServo/Protocol/LongMessage

Long Message

• This content refers to the message format of UAVCAN.

• Note:
  • ID2, CRC16 : byte order : low byte first, little endian

• Reference:
  • Code/CRC16

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.
• 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 !