Difference between revisions of "CAN Protocol"

(→‎Periodic Communication)
(→‎Standard CAN Packet)
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==CAN Frames==
 
==CAN Frames==
 
===Standard CAN Packet===
 
===Standard CAN Packet===
 +
The standard CAN packet used for communication contains 8 bytes.
 +
<syntaxhighlight lang="cpp">
 +
typedef struct{
 +
unsigned char STD_EXT;
 +
unsigned long msg_id; //message identifier
 +
unsigned char data_length; //
 +
char          data[8]; // data array
 +
} can_msg; 
 +
</syntaxhighlight>
 +
 
===ID (Message Identifier)===
 
===ID (Message Identifier)===
 
====Command Identifiers====
 
====Command Identifiers====

Revision as of 21:14, 5 October 2012

Contents

CAN Communication

Baud-Rate

The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication

Messages can be sent to initialize or stop CAN communication.

Periodic Communication

The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds the joint torques are calculated and the joint angles are updated.

CAN Frames

Standard CAN Packet

The standard CAN packet used for communication contains 8 bytes. 

typedef struct{ 
	unsigned char STD_EXT; 
	unsigned long msg_id;		//message identifier 
	unsigned char data_length;	// 
	char           data[8];		// data array 
} can_msg;

ID (Message Identifier)

Command Identifiers

Source and Destination Identifiers

Case-study: Softing CAN

Opening the CAN Communication Channel

CAN Initialization

Starting Periodic CAN Communication

Stopping Periodic CAN Communication

Transmitting Control Torques

Receiving Joint Angles





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