can_communication_with_controllers
Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revisionLast revisionBoth sides next revision | ||
| can_communication_with_controllers [2019/02/13 10:14] – [SDO CAN frame structure] adrien | can_communication_with_controllers [2019/02/13 10:16] – [SDO CAN frame structure] adrien | ||
|---|---|---|---|
| Line 24: | Line 24: | ||
| ===== 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 34: | Line 34: | ||
| > RX-id = 580 | > 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 |
| - | 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 |
| **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_communication_with_controllers.txt · Last modified: 2019/02/15 14:35 by llibert