Difference between revisions of "CAN Protocol v4.0"

Revision as of 17:54, 27 December 2018

CAN Communication

Baud-Rate

The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication

Messages can be sent to initialize or stop CAN communication.
Remote frame can be used to request data. If host sends remote frame, the Allegro Hand responds with it regardless periodic communication status.

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 is 14 bytes including 8 bytes of data.

typedef struct{ 
	unsigned char STD_EXT;            //type of message (Standard or Extended)
	unsigned long msg_id;		//message identifier 
	unsigned char data_length;	// 
	char           data[8];		// data array 
} can_msg;

ID (Message Identifier)

The 4 byte integer CAN message identifier (msg_id) is split into the command ID (26 bits), destination ID (3 bits) and source ID (3 bits).

1	8	16	24	26	27	29	30	32
Command ID					Dest. ID		Source ID

Command Identifiers

Variable Name	Value	Description	Destination	Source
ID_CMD_SET_SYSTEM_ON	0x01	Start periodic communication	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_SYSTEM_OFF	0x02	Stop periodic communication	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_PERIOD	0x03	Set communication frequency	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_MODE_JOINT	0x04	Command Transmission Mode	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_MODE_TASK	0x05	Command Transmission Mode	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_TORQUE_1	0x06	Index finger (1) torque command	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_TORQUE_2	0x07	Middle finger (2) torque command	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_TORQUE_3	0x08	Pinky finger (3) torque command	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_TORQUE_4	0x09	Thumb torque command	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_POSITION_1	0x0a	(unused)	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_POSITION_2	0x0b	(unused)	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_POSITION_3	0x0c	(unused)	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_SET_POSITION_4	0x0d	(unused)	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_QUERY_STATE_DATA	0x0e	Request joint state	ID_COMMON	ID_DEVICE_MAIN
ID_CMD_QUERY_STATE_DATA	0x0e	Joint state response	ID_DEVICE_MAIN	ID_DEVICE_SUB_01 ID_DEVICE_SUB_02 ID_DEVICE_SUB_03 ID_DEVICE_SUB_04
ID_CMD_QUERY_CONTROL_DATA	0x0f	Joint state response	ID_DEVICE_MAIN	ID_DEVICE_SUB_01 ID_DEVICE_SUB_02 ID_DEVICE_SUB_03 ID_DEVICE_SUB_04

Source and Destination Identifiers

Variable Name	Value	Description
ID_COMMON	0x01	Allegro Hand
ID_DEVICE_MAIN	0x02	Control PC
ID_DEVICE_SUB_01	0x03	Index Finger
ID_DEVICE_SUB_02	0x04	Middle Finger
ID_DEVICE_SUB_03	0x05	Little Finger
ID_DEVICE_SUB_04	0x06	Thumb

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File:V4 AllegroHandUsersManual.pdf

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@@ Line 4: / Line 4: @@
 ===Non-Periodic Communication===
-Messages can be sent to initialize or stop CAN communication.
+Messages can be sent to initialize or stop CAN communication.<br>
+Remote frame can be used to request data. If host sends remote frame, the Allegro Hand responds with it regardless periodic communication status.
 ===Periodic Communication===