can_communication_with_controllers
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| Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
| can_communication_with_controllers [2019/02/13 10:12] – [SDO CAN frame structure] adrien | can_communication_with_controllers [2019/02/13 10:14] – [SDO CAN frame structure] adrien | ||
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| ===== SDO CAN frame structure ===== | ===== SDO CAN frame structure ===== | ||
| - | An SDO can frame is structured | + | An SDO can frame is structured |
| ^ Can id ^ Command byte ^ OD Idx ^ OD subidx | ^ Can id ^ Command byte ^ OD Idx ^ OD subidx | ||
| Line 40: | Line 40: | ||
| 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 based host using can-utils tools with cansend and candump. | ||
| - | > **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 = 3) |
| - | > | + | |
| - | > ^ Can id ^ Command byte ^ OD idx ^ OD subidx | + | ^ Can id ^ Command byte ^ OD idx ^ OD subidx |
| - | > | 603 | 23 | 3333 | 00 | 01 | 00 | 00 | 00 | | + | | 603 | 23 | 3333 | 00 | 01 | 00 | 00 | 00 | |
| - | > | + | |
| - | > < | + | < |
| cansend 603# | cansend 603# | ||
| </ | </ | ||
| + | |||
| ====== QuimDC OD ====== | ====== QuimDC OD ====== | ||
can_communication_with_controllers.txt · Last modified: 2019/02/15 14:35 by llibert