can_communication_with_controllers
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can_communication_with_controllers [2019/02/12 16:33] – [CAN frame structure] llibert | can_communication_with_controllers [2019/02/15 14:35] (current) – [SDO CAN frame structure] llibert | ||
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> The QuimBox controllers implement a subset of the CANopen protocol. Namely the message layout is completely compatible and the OD concept is reused. | > The QuimBox controllers implement a subset of the CANopen protocol. Namely the message layout is completely compatible and the OD concept is reused. | ||
- | ===== CAN frame structure ===== | + | ===== SDO CAN frame structure ===== |
- | An SDO can frame is structured | + | An SDO can frame is structured |
- | ^ Can id ^ | + | ^ Can id ^ |
- | | 16 bits | 8 bits | 8 bits | 16 bits | 8 bits | 32 bits | | + | | 16 bits | 8 bits | 16 bits | 8 bits | 32 bits | |
- | e.g. A request to enter a QuimDC with can id 3 in operational mode. (Write request) | ||
- | ^ Can id | + | The can id is composed of the RX/TX identifier and the board identifier. (can id = RX/TX-id + Node-id) |
- | | 603 | 08 | 23 | 33 | 33 | 00 | 00 | 00 | 00 | 01 | | + | > 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 | ||
+ | |||
+ | **ex.** A request to enter a QuimDC in operational mode. (32bits write request) (Node-id = 7) | ||
+ | |||
+ | ^ Can id ^ Command byte ^ OD idx ^ OD subidx | ||
+ | | 607 | 23 | 3333 | 00 | 01 | 00 | 00 | 00 | | ||
< | < | ||
- | cansend | + | cansend |
</ | </ | ||
+ | |||
====== QuimDC OD ====== | ====== QuimDC OD ====== |
can_communication_with_controllers.1549985586.txt.gz · Last modified: 2019/02/12 16:33 by llibert