Differences

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--- can_communication_with_controllers [2019/02/13 10:12] – [SDO CAN frame structure] adrien
+++ can_communication_with_controllers [2019/02/15 14:35] (current) – [SDO CAN frame structure] llibert
@@ Line 24: / Line 24: @@
 ===== SDO CAN frame structure =====
-An SDO can frame is structured this way:
+An SDO can frame is structured as follow:
 ^ Can id  ^  Command byte ^  OD Idx  ^  OD subidx  ^  data  ^
@@ Line 34: / Line 34: @@
 > RX-id = 580
-Note: RX/TX from host point of view. On board the the convention is opposite.
+Note: RX/TX from host point of view. On board the convention is opposite.
-The command byte is either 0x23 for 32bits writing request, 0x2f for 8bits writing request or 0x40 for reading request (always 32bits).
+The command byte is either 0x23 for 32bits writing request, 0x2f for 8bits writing request or 0x40 for reading request (always 32bits response).
-One can test the connection with a linux based host using can-utils tools with cansend and candump.
+One can test the connection with a linux host using can-utils tools with cansend and candump commands.
-> **ex.** A request to enter a QuimDC in operational mode. (32bits write request) (Node-id = 3)
+**ex.** A request to enter a QuimDC in operational mode. (32bits write request) (Node-id = 7)
->
-> ^ Can id  ^  Command byte ^  OD idx  ^  OD subidx  ^  data  ^^^^
+^ Can id  ^  Command byte ^  OD idx  ^  OD subidx  ^  data  ^^^^
-> |  603  |  23  |  3333  |  00  |  01  |  00  |  00  |  00  |
+|  607  |  23  |  3333  |  00  |  01  |  00  |  00  |  00  |
->
-> <code>
+<code>
-cansend 603#23.3333.00.01.00.00.00
+cansend 607#23.3333.00.01.00.00.00
 </code>
 ====== QuimDC OD ======