70 lines
2.6 KiB
Markdown
70 lines
2.6 KiB
Markdown
# CANBUS protocol
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This document describes the protocol Klipper uses to communicate over
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[CAN bus](https://en.wikipedia.org/wiki/CAN_bus). See
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[CANBUS.md](CANBUS.md) for information on configuring Klipper with CAN
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bus.
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## Micro-controller id assignment
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Klipper uses only CAN 2.0A standard size CAN bus packets, which are
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limited to 8 data bytes and an 11-bit CAN bus identifier. In order to
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support efficient communication, each micro-controller is assigned at
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run-time a unique 1-byte CAN bus nodeid (`canbus_nodeid`) for general
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Klipper command and response traffic. Klipper command messages going
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from host to micro-controller use the CAN bus id of `canbus_nodeid *
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2 + 256`, while Klipper response messages from micro-controller to
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host use `canbus_nodeid * 2 + 256 + 1`.
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Each micro-controller has a factory assigned unique chip identifier
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that is used during id assignment. This identifier can exceed the
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length of one CAN packet, so a hash function is used to generate a
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unique 6-byte id (`canbus_uuid`) from the factory id.
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## Admin messages
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Admin messages are used for id assignment. Admin messages sent from
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host to micro-controller use the CAN bus id `0x3f0` and messages sent
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from micro-controller to host use the CAN bus id `0x3f1`. All
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micro-controllers listen to messages on id `0x3f0`; that id can be
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thought of as a "broadcast address".
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### CMD_QUERY_UNASSIGNED message
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This command queries all micro-controllers that have not yet been
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assigned a `canbus_nodeid`. Unassigned micro-controllers will respond
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with a RESP_NEED_NODEID response message.
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The CMD_QUERY_UNASSIGNED message format is:
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`<1-byte message_id = 0x00>`
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### CMD_SET_NODEID message
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This command assigns a `canbus_nodeid` to the micro-controller with a
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given `canbus_uuid`.
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The CMD_SET_NODEID message format is:
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`<1-byte message_id = 0x01><6-byte canbus_uuid><1-byte canbus_nodeid>`
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### RESP_NEED_NODEID message
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The RESP_NEED_NODEID message format is:
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`<1-byte message_id = 0x20><6-byte canbus_uuid>`
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## Data Packets
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A micro-controller that has been assigned a nodeid via the
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CMD_SET_NODEID command can send and receive data packets.
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The packet data in messages using the node's receive CAN bus id
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(`canbus_nodeid * 2 + 256`) are simply appended to a buffer, and when
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a complete [mcu protocol message](Protocol.md) is found its contents
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are parsed and processed. The data is treated as a byte stream - there
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is no requirement for the start of a Klipper message block to align
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with the start of a CAN bus packet.
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Similarly, mcu protocol message responses are sent from
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micro-controller to host by copying the message data into one or more
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packets with the node's transmit CAN bus id (`canbus_nodeid * 2 +
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256 + 1`).
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