Servosila-SC-25-Programming-Guide

Table of Contents
Introduction......................................................................................................................................4
Network Architecture.......................................................................................................................6
CAN Network.............................................................................................................................6
USB-to-CAN Gateway + CAN Network....................................................................................6
Unique Node ID..........................................................................................................................7
Application Programming Interfaces...............................................................................................8
Linux APIs..................................................................................................................................8
Windows APIs.............................................................................................................................9
Message Flows...............................................................................................................................10
Sending COMMANDS to devices............................................................................................10
Receiving TELEMETRY from devices.....................................................................................11
Fault Acknowledgment.............................................................................................................12
Reading a Telemetry or a Configuration Parameter..................................................................12
Encoding and Decoding.................................................................................................................14
General message structure.........................................................................................................14
Encoding COMMANDS...........................................................................................................15
Decoding TELEMETRY...........................................................................................................16
CAN ID Analysis & Decoding Example (C++)........................................................................16
Encoding a READ REQUEST..................................................................................................17
Decoding a READ RESPONSE................................................................................................18
Data Types.................................................................................................................................19
FLOAT16..................................................................................................................................19
List of applicable COB IDs.......................................................................................................20
SLCAN Text Protocol....................................................................................................................21
Format of an SLCAN text message..........................................................................................21
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