CAN in Automation (CiA) International Users and Manufacturers Group e.V.
CAN Application Layer for Industrial Applications CiA/DS202-3 February 1996 CMS Data Types and Encoding Rules
February 1996 CMS Data Types and Encoding Rules
1.
Scope
This document contains the encoding rules that are used to transfer CMS data values across the CAN Network and definitions application specifc extended data types. This document is part of a set of documents that standardize the CAN Application Layer for Industrial Applications.
2.
References /1/ CiA/DS202-1, CMS Service Specification /2/ CiA/DS207, Application Layer Naming Conventions /3/ ANSI/IEEE Standard 754-1985 for Binary Floating-PointArithmetic. Reprinted in: ACM SIGPLAN Notices 22(2), 9-25 (1987).
3.
General Description
To be able to exchange meaningful data across the CAN network, the format of this data and its meaning have to be known by the sender and receiver(s). CMS models this by the concept of data types. The CMS encoding rules define the representation of values of data types and the CAN network transfer syntax for the repesentations. Values are represented as bit sequences. Bit sequences are transferred in sequences of octetts (bytes). For numerical data types the CMS encoding is little endian style. Applications require data types beyond the basic data types. Using the compound data type mechanism the list of available data types can be extended. Some general extended data types are defined.
- DS202-3 p. 2 -
February 1996 CMS Data Types and Encoding Rules
4.
Data Type Definitions
A data type determines a relation between values and encodings for data of that type. Data types are assigned names in their type definitions. The syntax of data and data type definitions is as follows.
::= ::= ::= | ::=| ::=ARRAY [] OF ::=STRUCT OF ::= | , ::= ::=BOOLEAN | VOID | INTEGER | UNSIGNED | REAL32 | NIL ::=positive integer ::=1|2|...|64 ::=symbolic name (see /2/) ::=symbolic name (see /2/) ::=symbolic name (see /2/)
Recursive definitions are not allowed. The data type defined by is called basic (resp.~compound) when the constructor is (resp. ).
- DS202-3 p. 3 -
February 1996 CMS Data Types and Encoding Rules
5.
Bit Sequences
5.1
Definitions A bit can take the values 0 or 1. Let b0,..., bn-1 be bits, n a non-negative integer. Then b = b0 b1 ... bn-1
is called a bit sequence of length |b| = n. The empty bit sequence of length 0 is denoted ε. Examples: 10110100, 1, 101, etc. are bit sequences. The inversion operator (¬) on bit sequences assigns to a bit sequence b = b0 b1 ... bn-1 the bit sequence ¬b = ¬b0 ¬b1... ¬bn-1 Here ¬0 =1 and ¬1 = 0 on bits. The basic operation on bit sequences is concatenation. Let a = a0...am-1 and b = b0 ... bn-1 be bit sequences. Then the concatenation of a and b, denoted ab, is ab = a0 ... am-1 b0 ... bn-1 Example: (10)(111) = 10111 is the concatenation of 10 and 111. The following holds for arbitrary bit sequences a and b: |ab| = |a| + |b| and εa = aε = a
5.2
Transfer Syntax
For transmission across a CAN network a bit sequence is reordered into a sequence of octetts. Here and in the following hexadecimal notation is used for octetts. Let b=b0...bn-1 be a bit sequence with n
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