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ardupilot/libraries/AP_PiccoloCAN/piccolo_protocol/README.md

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# Piccolo Protocol Generation
The Piccolo CAN protocol messages are generated using the [ProtoGen](https://github.com/billvaglienti/ProtoGen) protocol generation tool.
The raw protocol definition for each device type is provided in a `.xml` file (e.g. `protocol_esc_velocity.xml`).
To regenerate the protocol, run the following command:
`protogen.exe protocol_esc_velocity.xml --license license.txt`