Can Bus Frame Structure; Figure 8: Can Bus Frame; Figure 9: Can Bus Frame Example - KDE Direct KDECAN Protocol KDE-UAS125UVC-HE Manual

CAN Bus Extended Frame Structure (CAN 2.0B)
A CAN bus frame consists of an extended frame ID and a data frame. The extended frame ID consists of 5 bits
for priority, 8 bits for the source id (sender), 8 bits for the destination id (receiver), and 8 bits for the object
address which tells the ESC how to respond to the message.

Figure 8: CAN Bus frame.

Extended Frame ID
Priority Source Destination
Address Address
0x00 0x02 0x00

Figure 9: CAN bus frame example.

REV 1.1.1 (Last Modified May 25, 2023)
Object Byte0 Byte1
Address
0x08 MCU MCU
ID0 ID1
Data
Byte2 Byte3 Byte4
MCU MCU MCU
ID2 ID3 ID4
Byte5 Byte6 Byte7
MCU MCU MCU
ID5 ID6 ID7
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