Variable TMCL_MSG_SZ

Variable Documentation

const uint8_t TMCL_MSG_SZ = 7

Copyright (c) 2023-2024 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors. A TMCL Tx/Rx format will always be lke the following:

  • Tx: | [[Module Address]] | <Command> | <Type> | <Motor> |

|

|

|

| [[Checksum]]

  • Rx: | [[Reply Address]] | <Module Address> | <Status> | <Command> |

|

|

|

| [[Checksum]]

Specifically, for CAN interface:

  • Both Tx and Rx length will just be 7 bytes. Those enclosed with [[]] are not part of the message (they will automatically be added on the hardware-level).

  • Module Address: CAN-ID of the Sender

  • Reply Address: CAN-ID of the Receiver

  • Command, Type, Motor, Status can be either of the values enumerated below