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Chapter
3 Application Software development
3.1 Communication Protocol
69 Bytes
Frame info
Frame ID
Frame Data
1Byte
4 Byte
64 Bytes
Figure 3-1: CAN packets in UDP Frame
1) Frame Info
：
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
FF
RTR
EDL
BRS
DLC3
DLC2
DLC1
DLC0
FF
0: standard frame
，
1: extend frame.
RTR
0: data frame, 1: remote frame. (If the frame is CANFD, it must be zero)
EDL
0: CAN, 1: CANFD
BRS
0: do not switch bit rate, 1: switch bit rate (If the frame is CAN, it must be zero)
DLC3
～
DLC0
data length, see the figure below
