Differences

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--- doc:rfc_canraw-mode [2014/08/31 11:41] – [Examples] admin
+++ doc:rfc_canraw-mode [2014/09/01 07:14] – [Examples] admin
@@ Line 125: / Line 125: @@
 When having x=2, the output is like 1, but to have higher output performance (if needed), this output is already made in the CAN service routine.
-== Vector Style Output from ISR (2) ==
-When having x=2, the output is like 1, but to have higher output performance (if needed), this output is already made in the CAN service routine.
 == Lawicel Output from ISR (3) ==
@@ Line 143: / Line 139: @@
 Which has the following format for 11-bit CAN Identifier
-  tiiindddddddddddddddd[ssss]
+  tiiindddddddddddddddd[ssss]\r
 or
-  Tiiiiiiiindddddddddddddddd[ssss] \r
+  Tiiiiiiiindddddddddddddddd[ssss]\r
 for 29 bit CANIDs, where the meaning is
@@ Line 157: / Line 153: @@
 |    d        |     0.. 8       | 0-8 Data Bytes in Hexadecimal writing |
 |    s        |      2          | optional timestamp in hexadecimal writing (0..65535 ms) |
+== Binary Output from ISR (4) ==
+With x=4 the output is in a binary format for highest throughput. This binary format is unique to OOBD and not supported by other software (yet).
+All values are directly transferred in their binary representation, except the value 0xFF (255). If a 0xFF appears in the bytestream, it's written as a sequence of two 0xFF.
+On the other hand the 0xFF is used as Sync-Byte, which can optionally mark the start of a frame sequence. Please notice that this Sync-Byte is not mandatory for each frame sequence and might only be sent each few frames to allow the receiving software to sync to the byte stream.
+As the Sync Byte is always followed by the Info Byte, which MSB is always set to 0, a sync byte can always be identified.
+So a frame sequence consists of
+^ Field name  ^ Length (Bytes)  ^ Meaning ^
+|    SB    |      1          | Sync Byte (SB), Value 0xFF, **optional** |
+|    IB    |      1          | Bit 7 (MSB)=0 \\ Bit 6 = Extended CAN-ID \\ Bit 4-5 Errorflags \\ Bit 0-3 DLC |
+|    TS    |      2          | Time Stamp (0..65535 ms) |
+|    ID    |      2 / 4      | Extended / Normal CAN ID |
+|    Data    |    0..8       | Data Bytes |