Differences

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--- can_communication_with_controllers [2019/02/13 08:54] – [CAN frame structure] llibert
+++ can_communication_with_controllers [2019/02/13 10:16] – [SDO CAN frame structure] adrien
@@ 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  ^
 |  16 bits  |  8 bits  |  16 bits  |  8 bits  |  32 bits  |
-e.g. A request to enter a QuimDC with node-id 3 in operational mode. (Write request) (can id = 600 + Node-id)
-^ Can id  ^  Command byte ^  OD idx  ^  OD subidx  ^  data  ^^^^
+The can id is composed of the RX/TX identifier and the board identifier. (can id = RX/TX-id + Node-id)
-|  603  |  23  |  3333  |  00  |  01  |  00  |  00  |  00  |
+> TX-id = 600
+> RX-id = 580
+Note: RX/TX from host point of view. On board the convention is opposite.
-One can test the connection with a linux based host using can-utils tools with cansend and candump.
+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 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)
+^ Can id  ^  Command byte ^  OD idx  ^  OD subidx  ^  data  ^^^^
+|  603  |  23  |  3333  |  00  |  01  |  00  |  00  |  00  |
 <code>
 cansend 603#23.3333.00.01.00.00.00
 </code>
 ====== QuimDC OD ======