[https://legacy.uavcan.org/Specification/6._Application_level_functions/]
I have seen the example of dynamic allocation of nodes in this link
Time CAN ID CAN data field
1.117 1EEE8100 01 44 C0 8B 63 5E 05 C0
1.117 1E000101 00 44 C0 8B 63 5E 05 C0
1.406 1EEBE500 00 F4 BC 10 96 DF 11 C1
1.406 1E000101 05 B0 00 44 C0 8B 63 81
1.406 1E000101 5E 05 F4 BC 10 96 DF 21
1.406 1E000101 11 41
1.485 1E41E100 00 A8 BA 54 47 C2
1.485 1E000101 29 BA FA 44 C0 8B 63 82
1.485 1E000101 5E 05 F4 BC 10 96 DF 22
1.485 1E000101 11 A8 BA 54 47 42
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The assignee sends a unique ID to the assignee three times, 1.117 1EEE8100 01 44 C0 8B 63 5E 05 C0, 1.406 1EEBE500 00 F4 BC 10 96 DF 11 C1, 1.485 1E41E100 00 A8 BA 54 47 C2, but I don’t To understand what the first byte of each frame means, the first bytes of the three frames sent by the assignee are 0x01, 0x00, and 0x00 respectively. I did not see the anonymous frame format from this link. I hope you can tell me the meaning of the first byte
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1.117 1E000101 00 44 C0 8B 63 5E 05 C0 responded by the distributor,
What does this first byte 0x00 mean?
1.406 1E000101 05 B0 00 44 C0 8B 63 81
1.406 1E000101 5E 05 F4 BC 10 96 DF 21
1.406 1E000101 11 41
I believe there are two bytes for the first three bytes to check, but I don’t know whether the check is 0x05, 0xB0 or 0xB0, 0x00. I prefer 0xB0, 0x00 to check, but the first byte of 0x05 is the same meaning
1.485 1E000101 29 BA FA 44 C0 8B 63 82
1.485 1E000101 5E 05 F4 BC 10 96 DF 22
1.485 1E000101 11 A8 BA 54 47 42
Same as above -
This completes the process. Next time the allocatee sends an allocation request, it will be provided with the same node ID.
The values used in the example above were the following:
Name | Value |
---|---|
Unique ID |
44 C0 8B 63 5E 05 F4 BC 10 96 DF 11 A8 BA 54 47 (hex) |
Preferred node ID | 0 (any) |
Allocated node ID | 125 |
I don’t know if there is an algorithm, but I’m very confused and can’t see how the node id125 was obtained during the request response process. I am sorry for being stupid.
Hope to get a reply, thanks in advance!