ZLG CANFDNET-200U User Manual page 25

CANFDNET-200U
High-Performance Dual-Channel Ethernet to CAN (FD) Converter User Manual
Parameter
Time stamp
Message ID
Message
information
Message channel
Data length\
Data
Note: [1] The FD bit is valid when the controller type is CANFD 1. ESI is only valid for CANFD reception, and the BRS bit is valid
when FD is 1;
[2] When the ERR bit is 1, the frame is an error frame, the frame ID is invalid, and the data length is 8 bytes. For the definition
of the data field, see Table 7.5;
[3] The RTR bit should not be set to 1 when the FD bit is 1;
[4] The ECHO bit is valid when sending, and the TX bit is valid when receiving; when the ECHO bit is 1, TX is 1 when the
message is successfully sent back;
[5] CAN and CAN FD message formats only differ in the length of the message data field.
Data area
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5~7
The type parameter is 0, reserved;
The data is bus utilization information. Table 7.9 lists the definitions;
The data length is the length of bus utilization information
Table 7.4 CAN/CAN FD message format
Size (Byte)
8
Standard/extended frame ID, 11 bits for a standard frame, 29 bits for an extended
4
Message ID:
[bit15:10]: reserved;
[bit9]: ESI[1], 1-passive error, 0-active error;
[bit8]: BRS
[bit7]: ERR, 1-error message
[bit6]: EXT, 1-extended frame, 0-standard frame;
[bit5]: RTR
2
[bit4]
[bit3]: ECHO
[bit2]: TX
[bit1:0]: Transmission type (only valid for transmission, 0 for reception);
0: send properly;
1: Single transmission (CANFDNET-200U does not support);
2: Spontaneously send and receive;
1 When sending a message, if the channel number is -1, the message is sent to all CAN
Length of the message data; the values are as follows:
1 CAN message: 0-8;
CANFD message: 0-8, 12, 16, 20, 24, 32, 48, 64
Message data;
[5]
8/64 CAN: The message data length is 8 bytes;
CAN FD: The message data length is 64 bytes;
Table 7.5 Format description of error frame data field
For the definition of the bus status, see Table 7.6
Bus error type, valid when the bus status is bus error. For the definition, see Table 7.7
Current message receiving/sending time, in us;
[1]
, 1-CANFD acceleration, 0-no acceleration (CANFD is valid);
[2]
, 0-normal message (receive valid);
[3]
, 1-remote frame, 0-data frame;
， 1-CANFD，0-CAN；
[1]
: FD
[4]
, 1- send echo, 0- send no echo
[4]
, 1- send message, 0- receive message
CAN (FD) channel, starting from 0, the value of CANFDNET-200 is 0-1;
Description
Reserved, currently 0x00
Receive error count
Send error count
Reserved, currently 0x00
22
Description
frame;
channels.
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