eCAN_UserManual_Eng_DM v1.0.1

eCAN User Manual
30
5. eCAN Frame Structure
Ethernet Mode
The eCAN Frame can be broadly divided into eCAN Data Frame and eCAN Error Frame.
eCAN Data Frame defines STD DATA, STD REMOTE, EXT DATA, EXT REMOTE.
The eCAN Error Frame is the definition of an Error Frame.
Below is a table of the above descriptions and VALUE is the value of the corresponding TYPE.
eCAN Frame
CAN Frame TYPE
VALUE
eCAN Data Frame
STD DATA
0x04
STD REMOTE
0x05
EXT DATA
0x06
EXT REMOTE
0x07
eCAN Error Frame
Error Frame
0xFF
eCAN Data Frame
The total length of the eCAN Data Frame is 14bytes and consists of TYPE · ID · DLC · DATA.
eCAN Error Frame
The total length of the eCAN Error Frame is 14bytes and consists of TYPE · Status · REC · TEC · LEC.
When Request, it request 14bytes including Type(0xFF).
Ex) FF 00 00 00 00 00 00 00 00 00 00 00 00 00 (hex)
eCAN Data Frame Structure
Set TYPE to 1byte because the VALUE of Data Frame is 0x04~0x07.
Set ID to 4bytes, as the minimum sum of STD Frame value(13bits) and the EXT Frame value.
TYPE VALUE
CAN Frame
eCAN Frame
Available ID Range
0x04
STD DATA
eCAN Data Frame
0x00000000~0x000007FF
0x05
STD REMOTE
0x06
EXT DATA
0x00000000~0x1FFFFFFF
0x07
EXT REMOTE
0xFF
Error Info
eCAN Error Frame
-
Set DLC to 1byte which is a value between 0x00~0x08.
Set DATA to max. 8byte which is consists of 0~8byte.
The table below summarizes the explanation above.