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Robotell_USB-CAN.txt
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Robotell_USB-CAN.txt
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STM32 Flash Memory MAP
--- CAN_ADDR_START ---
[0] = 0xaaaaaaaa
--- CAN_ADDR_BAUD ---
[1] = 500,000 // Baudrate
--- CAN_ADDR_FILTER 0 ---
[2] = 0x01 : CAN_FILTER_EN | CAN_FORMAT_STD
[3] = 0 : Id
[4] = 0 : Mask
--- CAN_ADDR_FILTER 1 ---
[5] = 0x03 : CAN_FILTER_EN | CAN_FORMAT_EXT
[6] = 0 : Id
[7] = 0 : Mask
--- CAN_ADDR_FILTER 2 ---
[8] = 0x02 : CAN_FILTER_DIS | CAN_FORMAT_EXT
[9] = 0x1FFFFFFF
[10] = 0x1FFFFFFF
--- CAN_ADDR_FILTER 3 ---
[11]-[13] = Same as Mask2
--- CAN_ADDR_FILTER 4 ---
[14]-[16] = Same as Mask2
--- CAN_ADDR_FILTER 5 ---
[17]-[19] = Same as Mask2
--- CAN_ADDR_FILTER 6 ---
[20]-[22] = Same as Mask2
--- CAN_ADDR_FILTER 7 ---
[23]-[25] = Same as Mask2
--- CAN_ADDR_FILTER 8 ---
[26]-[28] = Same as Mask2
--- CAN_ADDR_FILTER 9 ---
[29]-[31] = Same as Mask2
--- CAN_ADDR_FILTER 10 ---
[32]-[34] = Same as Mask2
--- CAN_ADDR_FILTER 11 ---
[35]-[37] = Same as Mask2
--- CAN_ADDR_FILTER 12 ---
[38]-[40] = Same as Mask2
--- CAN_ADDR_FILTER 13 ---
[41]-[43] = Same as Mask2
--- CAN_ADDR_ABOM ---
[44] = False
--- CAN_ADDR_ART ---
[45] = False
--- CAN_ADDR_VER ---
[46] = 1
USB CAN Adapter Communication Format
* Inquiry about MCU side information
Inquire using the following CAN-ID.
#define CAN_BAUDRATE_ID 0x01fffed0
#define CAN_CPU_INFO0_ID 0x01fffff0
#define CAN_CPU_INFO1_ID (CAN_CPU_INFO0_ID + 1)
#define CAN_VERSION_ID 0x01ffffe0
#define CAN_INIT_ID 0x01fffeff // Clean Flash(500,000 bps/mask 0x0000)
#define CAN_FILTER_BASE_ID 0x01fffeeX // X=0-F(Mask Index)
#define CAN_ABOM_ID 0x01fffeb0
#define CAN_ART_ID 0x01fffea0
#define CAN_RESET_ID 0x01fffec0 // Reset
c=0xAA
c=0xAA
c=0xD0 : (Inquire-ID >> 0) & 0xFF
c=0xFE : (Inquire-ID >> 8) & 0xFF
c=0xFF : (Inquire-ID >> 16) & 0xFF
c=0x01 : (Inquire-ID >> 24) & 0xFF
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0xFF : Must be 0xFF
c=0x01 : Must be 0x01
c=0x00 : Request Type(0:Set/1:Inquiry)
c=0x66 : CRC
c=0x55
c=0x55
** Inquiry VERSION
[AA AA E0 FF FF 01 00 00 00 00 00 00 00 00 00 FF 01 00 DF 55 55]
** Inquiry CPU_INFO0
[AA AA F0 FF FF 01 00 00 00 00 00 00 00 00 00 FF 01 00 EF 55 55]
** Inquiry CPU_INFO1
[AA AA F1 FF FF 01 00 00 00 00 00 00 00 00 00 FF 01 00 F0 55 55]
** Inquiry ABOM
[AA AA B0 FE FF 01 00 00 00 00 00 00 00 00 00 FF 01 00 AE 55 55]
** Inquiry ART
[AA AA A0 FE FF 01 00 00 00 00 00 00 00 00 00 FF 01 00 97 55 55]
** Inquiry BAUDRATE
[AA AA D0 FE FF 01 00 00 00 00 00 00 00 00 00 FF 01 01 CE 55 55]
** Inquiry MASK
[AA AA E0 FE FF 01 00 00 00 80 00 00 00 00 08 FF 01 00 66 55 55]
[AA AA E1 FE FF 01 00 00 00 C0 00 00 00 00 08 FF 01 00 A7 55 55]
[AA AA E2 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 60 55 55]
[AA AA E3 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 61 55 55]
[AA AA E4 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 62 55 55]
[AA AA E5 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 63 55 55]
[AA AA E6 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 64 55 55]
[AA AA E7 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 65 55 55]
[AA AA E8 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 66 55 55]
[AA AA E9 FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 67 55 55]
[AA AA EA FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 68 55 55]
[AA AA EB FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 69 55 55]
[AA AA EC FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 6A 55 55]
[AA AA ED FE FF 01 FF FF FF 5F FF FF FF 1F 08 FF 01 00 6B 55 55]
[AA AA EE FE FF 01 00 00 00 00 01 00 00 00 08 FF 01 00 F5 55 55]
[AA AA EF FE FF 01 FF FF FF FF FF FF FF FF 08 FF 01 00 ED 55 55]
* Set BAUDRATE(1,000,000bps)
c=0xAA
c=0xAA
c=0xD0 : CAN_BAUDRATE_ID
c=0xFE : CAN_BAUDRATE_ID
c=0xFF : CAN_BAUDRATE_ID
c=0x01 : CAN_BAUDRATE_ID
c=0x40 : Speed
c=0x42 : Speed
c=0x0F : Speed
c=0x00 : Speed(0x000f4240=1,000,000)
c=0x01 : Not use
c=0x02 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x04 : Frame Data Length
c=0xFF : System Message(Must be 0xFF)
c=0x01 : Must be Extended Frame
c=0x00 : Request Type(0:Set/1:Read)
c=0x66 : CRC
c=0x55
c=0x55
* Set BAUDRATE(800,000bps)
c=0xAA
c=0xAA
c=0xD0 : CAN_BAUDRATE_ID
c=0xFE : CAN_BAUDRATE_ID
c=0xFF : CAN_BAUDRATE_ID
c=0x01 : CAN_BAUDRATE_ID
c=0x00 : Speed
c=0x35 : Speed
c=0x0C : Speed
c=0x00 : Speed(0x000c3500=800,000)
c=0x01 : Not use
c=0x02 : Not use
c=0x00 : Not use
c=0x00 : Not use
c=0x04 : Frame Data Length
c=0xFF : System Message(Must be 0xFF)
c=0x01 : Must be Extended Frame
c=0x00 : Request Type(0:Set/1:Read)
c=0x16 : CRC
c=0x55
c=0x55
* Set BAUDRATE(500,000bps)
c=0xAA
c=0xAA
c=0xD0 :
c=0xFE :
c=0xFF :
c=0x01 :
c=0x20 : speed
c=0xA1 : speed
c=0x07 : speed
c=0x00 : speed(0x0007a120=500,000)
c=0x01
c=0x02
c=0x00
c=0x00
c=0x04
c=0xFF
c=0x01
c=0x00
c=0x9D
c=0x55
c=0x55
* Return
[AA AA D0 FE FF 01 20 A1 07 00 01 02 00 00 04 FF 01 01 9E 55 55 ]
* Set BAUDRATE(400,000bps)
c=0xAA
c=0xAA
c=0xD0
c=0xFE
c=0xFF
c=0x01
c=0x80 : speed
c=0x1A : speed
c=0x06 : speed
c=0x00 : speed(0x00061A80=400,000)
c=0x01
c=0x02
c=0x00
c=0x00
c=0x04
c=0xFF
c=0x01
c=0x00
c=0x75
c=0x55
c=0x55
* Set BAUDRATE(250,000bps)
c=0xAA
c=0xAA
c=0xD0
c=0xFE
c=0xFF
c=0x01
c=0x90 : speed
c=0xD0 : speed
c=0x03 : speed
c=0x00 : speed(0x0003D090=250,000)
c=0x01
c=0x02
c=0x00
c=0x00
c=0x04
c=0xFF
c=0x01
c=0x00
c=0x38
c=0x55
c=0x55
* Set BAUDRATE(125,000bps)
c=0xAA
c=0xAA
c=0xD0
c=0xFE
c=0xFF
c=0x01
c=0x48 : speed
c=0xE8 : speed
c=0x01 : speed
c=0x00 : speed(0x0001E848=125,000)
c=0x01
c=0x02
c=0x00
c=0x00
c=0x04
c=0xFF
c=0x01
c=0x00
c=0x06
c=0x55
c=0x55
* Set BAUDRATE(100,000bps)
c=0xAA
c=0xAA
c=0xD0
c=0xFE
c=0xFF
c=0x01
c=0xA0 : speed
c=0x86 : speed
c=0x01 : speed
c=0x00 : speed(0x000186A0=100,000)
c=0x01
c=0x02
c=0x00
c=0x00
c=0x04
c=0xFF
c=0x01
c=0x00
c=0xFC
c=0x55
c=0x55
* Set Receive Filter (Std format)
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
---- Start of CRC Calculate ----
[02] 0xEn : Mask Number(0-15)
[03] 0x00
[04] 0x00
[05] 0x00
[06] 0x0F : (Id >> 0) & 0xFF
[07] 0x01 : (Id >> 8) & 0xFF
[08] 0x00 : (Id >> 16) & 0xFF
[09] 0x80 : (Id >> 24) & 0xFF + Enable(0x80)
[10] 0x10 : (Mask >> 0) & 0xFF
[11] 0x0F : (Mask >> 8) & 0xFF
[12] 0x00 : (Mask >> 16) & 0xFF
[13] 0x00 : (Mask >> 24) & 0xFF
[14] 0x08 : Frame Data jLength
[15] 0xFF : System Message(Must be 0xFF)
[16] 0x01 : Must be Extended Frame
[17] 0x00 : Must be 0(0:Set/1:Read)
---- End of CRC Calculate ----
[18] 0xA2 : CRC(8 bits)
[19] 0x55 : End Mark[0]
[20] 0x55 : End mark[1]
* Set Receive Filter (Ext format)
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
---- Start of CRC Calculate ----
[02] 0x0x : Mask Number(0-15)
[03] 0x00
[04] 0x00
[05] 0x00
[06] 0x78 : (Id >> 0) & 0xFF
[07] 0x56 : (Id >> 8) & 0xFF
[08] 0x34 : (Id >> 16) & 0xFF
[09] 0x12 : (Id >> 24) & 0xFF + Enable(0x80)
[10] 0x78 : (Mask >> 0) & 0xFF
[11] 0x56 : (Mask >> 8) & 0xFF
[12] 0x34 : (Mask >> 16) & 0xFF
[13] 0x12 : (Mask >> 24) & 0xFF + Extende(0x40)
[14] 0x08 : Frame Data Length
[15] 0xFF : System Message(Must be 0xFF)
[16] 0x01 : Must be Extended Frame
[17] 0x00 : Must be 0(0:Set/1:Read)
---- End of CRC Calculate ----
[18] 0xA2 : CRC(8 bits)
[19] 0x55 : End Mark[0]
[20] 0x55 : End mark[1]
* CAN Frame Receive Format
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
[02] 0x78 : (Frame ID & 0xFF) >> 0
[03] 0x56 : (Frame ID & 0xFF00) >> 8
[04] 0x34 : (Frame ID & 0xFF0000) >> 16
[05] 0x12 : (Frame ID & 0xFF000000) >> 24(0x12345678)
[06] 0x11 : Frame Data[0]
[07] 0x22 : Frame Data[1]
[08] 0x33 : Frame Data[2]
[09] 0x44 : Frame Data[3]
[10] 0x00 : Frame Data[4]
[11] 0x00 : Frame Data[5]
[12] 0x00 : Frame Data[6]
[13] 0x00 : Frame Data[70]
[14] c=04 : Frame Data Length
[15] c=00 : Message Type (00:Can Message/FF:System Message like BAUDRATE set)
[16] 0x01 : CAN Frame Type (0:Standard/1:Extended)
[17] 0x01 : CAN Request Type (0:Data frame/1:Remote frame)
[18] 0x3F : CRC
[19] 0x55 :
[20] 0x55 :
* Receive example
[AA AA 02 01 00 00 01 02 00 00 00 00 00 00 02 00 00 00 FF 55 55]
ID = 0x00000102
Data = 01 02 00 00 00 00 00 00
Length = 02
Type = Standard Data Frame
[AA AA 02 01 00 00 00 00 00 00 00 00 00 00 00 00 00 01 FF 55 55]
ID = 0x00000102
Data = 00 00 00 00 00 00 00 00
Length = 00
Type = Standard Remote Frame
[AA AA 61 00 00 10 10 11 12 13 14 15 00 00 06 00 01 00 E7 55 55]
ID = 0x10000061
Data = 10 11 12 13 14 15 00 00
Length = 06
Type = Extended Data Frame
[AA AA 61 00 00 10 00 00 00 00 00 00 00 00 00 00 01 01 E7 55 55]
ID = 0x10000061
Data = 00 00 00 00 00 00 00 00
Length = 00
Type = Extended Remote Frame
* Insert Frame Control Code
** There is neither 0xA5 / 0xAA / 0x55
** Packet is 21 Bytes
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
---- Start of CRC Calculate ----
[02] 0x0B : Frame ID[3]
[03] 0x00 : Frame ID[2]
[04] 0x00 : Frame ID[1]
[05] 0x10 : Frame ID[0]
[06] 0x10 : Frame Data[0]
[07] 0x11 : Frame Data[1]
[08] 0x12 : Frame Data[2]
[09] 0x13 : Frame Data[3]
[10] 0x14 : Frame Data[4]
[11] 0x15 : Frame Data[5]
[12] 0x16 : Frame Data[6]
[13] 0x00 : Frame Data[7]
[14] 0x00 : Frame Data Length
[15] 0x00 : Message Type (00:Can Message)
[16] 0x01 : CAN Frame type (0:Standard/1:Extended)
[17] 0x01 : CAN Request Type (0:Data frame/1:Remote request frame)
---- End of CRC Calculate ----
[18] 0xA2 : CRC(8 bits)
[19] 0x55 : End Mark[0]
[20] 0x55 : End mark[1]
** CRC calcurate
Simple addition
|----------------------------------------------------| Range of CRC
[170, 170, 7, 1, 0, 0, 16, 17, 18, 19, 20, 21, 22, 23, 8, 0, 0, 0, 172, 85, 85]
** If there is 0xA5 / 0xAA / 0x55 in the CRC calculation range, insert FrameCtrl(0xA5)
FrameCtrl is not included in crc calculation.
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
---- Start of CRC Calculate ----
[02] 0x0B : Frame ID[3]
[03] 0x00 : Frame ID[2]
[04] 0x00 : Frame ID[1]
[05] 0x10 : Frame ID[0]
[06] 0xA5 : FrameCtrl ---> Inserted (not included in crc calculation)
[07] 0x55 : Frame Data[0] ---> Ctrl Code
[08] 0x11 : Frame Data[1]
[09] 0x12 : Frame Data[2]
[10] 0xA5 : FrameCtrl ---> Inserted (not included in crc calculation)
[11] 0xAA : Frame Data[3] ---> Ctrl Code
[12] 0x14 : Frame Data[4]
[13] 0x15 : Frame Data[5]
[14] 0x16 : Frame Data[6]
[15] 0x00 : Frame Data[7]
[16] 0x00 : Frame Data Length
[17] 0x00 : Message Type (00:Can Message)
[18] 0x01 : CAN Frame type (0:Standard/1:Extended)
[19] 0x01 : CAN Request Type (0:Data frame/1:Remote request frame)
---- End of CRC Calculate ----
[20] 0xA2 : CRC(8 bits)
[21] 0x55 : End Mark[0]
[22] 0x55 : End mark[1]
Example
|---------------------------------------------------| Range of CRC
[AA AA 02 01 00 00 A5 A5 A5 55 00 00 00 00 00 00 02 00 00 00 FF 55 55]
CRC = 0x02+0x01+0xA5+0x55+0x02 = 0xFF
** If CRC is 0xA5 / 0xAA / 0x55, insert FrameCtrl(0xA5)
[00] 0xAA : Start Mark[1]
[01] 0xAA : Start mark[2]
---- Start of CRC Calculate ----
[02] 0x0B : Frame ID[3]
[03] 0x00 : Frame ID[2]
[04] 0x00 : Frame ID[1]
[05] 0x10 : Frame ID[0]
[06] 0x10 : Frame Data[0]
[07] 0x11 : Frame Data[1]
[08] 0x12 : Frame Data[2]
[09] 0x13 : Frame Data[3]
[10] 0x14 : Frame Data[4]
[11] 0x15 : Frame Data[5]
[12] 0x16 : Frame Data[6]
[13] 0x00 : Frame Data[7]
[14] 0x00 : Frame Data Length
[15] 0x00 : Message Type (00:Can Message)
[16] 0x01 : CAN Frame type (0:Standard/1:Extended)
[17] 0x01 : CAN Request Type (0:Data frame/1:Remote request frame)
---- End of CRC Calculate ----
[18] 0xA5 : FrameCtrl ---> Inserted
[19] 0xA5 : CRC(8 bits) ---> Real CRC
[20] 0x55 : End Mark[0]
[21] 0x55 : End mark[1]