-
Notifications
You must be signed in to change notification settings - Fork 2
CAN Specification
ID: 0x210
Source: CAN Gateway Module
Transmit Rate: 50 ms
- bit 0 | Reserved
- bit 1 | Steering Wheel Angle Valid
- bit 2 | Steering Wheel Angle Rate Valid
- bit 3 | Brake Pressure Valid
- bit 4 | Wheel Speed Valid
- bit 5 | Left Turn Signal On
- bit 6 | Right Turn Signal On
- bit 7 | Brake Signal On
- bits 8-15 | Reserved
- Byte 16-31 | Steering Wheel Angle
- Byte 32-47 | Steering Wheel Angle Rate
- Byte 48-63 | Brake Pressure
ID: 0x211
Source: CAN Gateway Module
Transmit Rate: 50 ms
- bits 0-15 | LF Wheel Speed
- bits 16-31 | RF Wheel Speed
- bits 32-47 | LR Wheel Speed
- bits 48-63 | RR Wheel Speed
ID: 0x060
Transmit Rate: 20 ms
Receive Timeout: 100 ms
- bits 0-15 | Pressure Command
- 0 = 0% 65535 = 100%
- bit 16 | Brake On
- 0 = off, 1 = on
- bit 17-23 | Reserved0
- bit 24 | Enabled
- bit 25 | Clear
- bit 26 | Ignore
- bit 27-31 | Reserved1
- bit 32-39 | Reserved2
- bit 40-47 | Reserved3
- bit 48-55 | Reserved4
- bit 56-63 | Count
ID: 0x061 Receive Rate: 50 ms
Receive Timeout: 100 ms
- bits 0-15 | Pedal Input
- 0 = 0% 65535 = 100%
- bits 16-31 | Pedal Command
- 0 = 0% 65535 = 100%
- bits 32-47 | Pedal Output
- 0 = 0% 65535 = 100%k
- bit 48 | Brake On Output
- bit 49 | Brake On Command
- bit 50 | Brake On Input
- bit 51 | Watchdog Brake
- bits 52-55 | Watchdog Source
- bit 56 | Enabled
- bit 57 | Override
- bit 58 | Driver Activity
- bit 59 | Watchdog Counter Fault State
- bit 60 | Channel 1 Fault State
- bit 61 | Channel 2 Fault State
- bit 62 | Brake Connector Fault State
- bit 63 | Connector Fault State
ID: 0x062
Transmit Rate: 20 ms
Receive Timeout:
- bits 0-15 | Pedal Command
- 0 = 0% 65535 = 100%
- bits 16-23 | Reserved0
- bit 24 | Enabled
- bit 25 | Clear
- bit 26 | Ignore
- bit 27-31 | Reserved1
- bit 32-39 | Reserved2
- bit 40-47 | Reserved3
- bit 55-48 | Reserved4
- bit 56-63 | Count
ID: 0x063
Receive Rate: 20 ms
Receive Timeout:
- bits 0-15 | Pedal Input
- 0 = 0% 65535 = 100%
- bits 16-31 | Pedal Command
- 0 = 0% 65535 = 100%
- bits 32-47 | Pedal Output
- 0 = 0% 65535 = 100%k
- bit 48-51 | Reserved0
- bits 52-55 | Watchdog Source
- bit 56 | Enabled
- bit 57 | Override
- bit 58 | Driver Activity
- bit 59 | Watchdog Counter Fault State
- bit 60 | Channel 1 Fault State
- bit 61 | Channel 2 Fault State
- bit 62 | Brake Connector Fault State
- bit 63 | Connector Fault State
ID: 0x064
Receive Rate: 20 ms
Receive Timeout: 150 ms
- bits 0-15 | Steering Wheel Angle Command
- 0 = 0% 65535 = 100%
- bit 16 | Enabled
- bit 17 | Clear
- bit 18 | Ignore
- bit 19-23 | Reserved0
- bit 24-31 | Steering Wheel Max Velocity
- 0 = No limit
- Value 0x01 means 2 degrees/second.
- Value 0xFA means 500 degrees/second. [2 degrees/second per bit]
- bit 32-47 | Torque
- bit 48-55 | Reserved3
- bit 56-63 | Count
ID: 0x065
Receive Rate: 20 ms
Receive Timeout: TODO
- bits 0-15 | Angle
- 0 = 0% 65535 = 100%
- bits 16-31 | Angle Command
- 0 = 0% 65535 = 100%
- bits 32-47 | Vehicle Speed
- Vehicle speed. [0.01 kilometers/hour per bit]
- bit 48-55 | Torque
- bit 56 | Enabled
- bit 57 | Override
- bit 58 | Driver Activity
- bit 59 | Watchdog Counter Fault State
- bit 60 | Channel 1 Fault State
- bit 61 | Channel 2 Fault State
- bit 62 | Fault Calibration
- bit 63 | Connector Fault State
A PolySync Project
Use of project plans, suggestions, parts, and supplies provided by PolySync, is at your own risk. Use of the final product resulting from the project is at your own risk. PolySync disclaims all responsibility for any resulting damage, injury, or expense. It is your responsibility to make sure that your activities comply with applicable laws, including copyright.
Want to stay updated on all things OSCC? Sign up for the OSCC newsletter here!
Jobs | Twitter @PolySync
Copyright (c) 2017 PolySync Technologies, Inc. All Rights Reserved.