ConceptCar - User contributions [en]

CAN Bus

2011-09-15T13:35:56Z

Jannis: /* CANID_VOLTAGE_ENGINE */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#ANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_VOLTAGE_ENGINE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x40 (Cell0), 0x41 (Cell1), 0x42 (Cell2), 0x43 (Cell3), 0x44 (Cell4)
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Not yet specified
|-valign="top"
|}

===CANID_VOLTAGE_ELECTRONIC===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x45
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function_electronic_system.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}

CAN Bus

2011-09-15T13:14:22Z

Jannis: /* CAN Bus Messages */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#ANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_VOLTAGE_ENGINE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x40 (Cell0), 0x41 (Cell1), 0x42 (Cell2), 0x43 (Cell3), 0x44 (Cell4)
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function_electronic_system.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_VOLTAGE_ELECTRONIC===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x45
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function_electronic_system.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}

CAN Bus

2011-09-15T13:10:21Z

Jannis: /* CANID_VOLTAGE_ELECTRONIC */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#CANID_VOLTAGE_ENGINE0|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE1|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE2|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE3|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE4|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_VOLTAGE_ELECTRONIC===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x45
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function_electronic_system.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}

File:Voltage conversion function electronic system.png

2011-09-15T13:09:35Z

Jannis: Voltage conversion function from the electronic System

Voltage conversion function from the electronic System

CAN Bus

2011-09-15T12:58:25Z

Jannis: /* CANID_VOLTAGE_ELECTRONIC */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#CANID_VOLTAGE_ENGINE0|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE1|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE2|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE3|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE4|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_VOLTAGE_ELECTRONIC===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x45
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}

CAN Bus

2011-09-15T12:56:30Z

Jannis: /* CAN Bus Messages */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#CANID_VOLTAGE_ENGINE0|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE1|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE2|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE3|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE4|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_VOLTAGE_ELECTRONIC===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|CC_MDiag]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}

CAN Bus

2011-09-15T12:26:19Z

Jannis: /* CAN Bus Messages */

== CAN Bus Configuration ==

The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].

In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in [[#CAN Bus Messages|the next section]].

== CAN Bus Messages ==

The following table gives an overview over all messages present on the CAN bus. Further detailed descriptions can be found below. The ID equals the CAN id that this message is transferred with, the Symbolic Constant is the name by which the corresponding ID is defined in the sources.

{| border="1" cellpadding="5" cellspacing="0"
|+ Messages present on the CAN Bus
|-
! ID (hex) !! ID !! Symbolic constant !!width=50%|Short Description !! Source
|-
| 0x008 || 8 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x009 || 9 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || [[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-
| 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]]
|-
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x025 || 37 || [[#CANID_STEERING|CANID_STEERING]] || Steering from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]]
|-
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || [[ECU_implementing_Controlboard|ARM7 Board]]
|-
| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-
| 0x040 || 64 || [[#CANID_VOLTAGE_ENGINE0|CANID_VOLTAGE_ENGINE0]] || Voltage of the Cell 0 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x041 || 65 || [[#CANID_VOLTAGE_ENGINE1|CANID_VOLTAGE_ENGINE1]] || Voltage of the Cell 1 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x042 || 66 || [[#CANID_VOLTAGE_ENGINE2|CANID_VOLTAGE_ENGINE2]] || Voltage of the Cell 2 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x043 || 67 || [[#CANID_VOLTAGE_ENGINE3|CANID_VOLTAGE_ENGINE3]] || Voltage of the Cell 3 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#CANID_VOLTAGE_ENGINE4|CANID_VOLTAGE_ENGINE4]] || Voltage of the Cell 4 from the Engine battery || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x044 || 68 || [[#ANID_VOLTAGE_ELECTRONIC|ANID_VOLTAGE_ELECTRONIC]] || Voltage of the electrical System || [[ECUs_implementing_Sensorboards_and_Actorboard#CC-MDiag|CC-MDiag]]
|-
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL
|-
|}

===CANID_WHEELSPEED===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x8 (FL), 0x9 (FR), 0xa (RL) and 0xb (RR)
|-valign="top"
|'''Interval'''
|50ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x9 and 0xa) and [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x8 and 0xb)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Todo
|}

===CANID_VOLTAGE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xd
|-valign="top"
|'''Interval'''
|200ms
|-valign="top"
|'''Producer'''
|width=90%|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:voltage_conversion_function.png|thumb|Conversion function from voltage to CAN data]] The voltage of the battery driving the electrical system.
|}

===CANID_RESETCOUNTER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0xe
|-valign="top"
|'''Interval'''
|Once at boot time of the Sensorboard Inertial
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer with the number of times the Sensorboard Inertial has been booted.
|}

===CANID_INERTIAL===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x10 (longitudinal) and 0x11 (lateral)
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[Image:acceleration_conversion_function.png|thumb|50%|Conversion from acceleration value to CAN data (both directions)]] The longitudinal and lateral acceleration of the car, measured with the [[media:ADIS16006_datasheet.pdf|ADIS16006]] accelerometer. The value from the sensor is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift.
|}

===CANID_ROTATION===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x12
|-valign="top"
|'''Interval'''
|20ms
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard_Acceleration_and_Datalogging|Sensorboard Inertial]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|[[image:gyroscope_conversion_function.png|thumb|50%|Conversion function for rotation speed to CAN data]] The rotation speed of the car around its axis, measured with the [[media:ADIS16100_datasheet.pdf|ADIS16100]] gyroscope. The value from the gyroscope is unprocessed, so refer to the datasheet for accuracy, deviation and temperature drift. The sensor is mounted on the top side, so a clockwise rotation of the car leads to bigger values.
|}

===CANID_SELECTJUMPER===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x20
|-valign="top"
|'''Interval'''
|1s, and sent when switch on Actorboard has been toggled.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Binary value, announces which source the Actorboard is configured to use. 
*0 if the source is from the Sensorboards Steering and Throttle (thus CAN ids 0x22 to 0x25)
*1 if the the source is the Controlboard (thus CAN ids 0x122 to 0x125). See [[#CANID_THROTTLE]], [[#CANID_STEERING]] and [[#CANID_BRAKE]].
|}

===CANID_THROTTLE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x22 and 0x122
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x22) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x122)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the throttle. It's a linear range from 0 (don't accelerate) to 1000 (maximum acceleration).
|}

===CANID_BRAKE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x23 and 0x123 (left), 0x24 and 0x124 (right)
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] (0x23 and 0x24) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x123 and 0x124)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|The relative value of the brake. Two distinct signals exist for brakes on the left and right side; currently they both carry the same value. It's a linear range from 0 (brakes released) to 1000 (full break).
|}

===CANID_STEERING===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x25 and 0x125
|-valign="top"
|'''Interval'''
|~20ms, depends on remote transceiver (currently 17ms)
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] (0x25) and [[ECU_implementing_Controlboard|ARM7 Board]] (0x125)
|-valign="top"
|'''Consumer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Actorboard|Actorboard]]
|-valign="top"
|'''Semantics'''
|[[image:steering_conversion_function.png|thumb|Conversion function from desired steering angle to CAN data]] The desired value for the steering in 0.1° steps. Ranges from 0 (steering 30° left) over 300 (steering straight) to 600 (steering 30° right), thus left steering values are negative and right is positive.
|}

===CANID_DISTANCE===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x30
|-valign="top"
|'''Interval'''
|10ms - 70ms, depends on distance (round trip time of sonic pulse). The farther the target, the longer it takes.
|-valign="top"
|'''Producer'''
|[[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]]
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|An integer value, holding the distance to the next obstacle detected ahead in centimeters. Detector unit is the supersonic sensor [[media:SRF02_datasheet.pdf|SRF02]].
*0, if no obstacle has been detected (>6m or obstacle too small)
*15-600, the distance in centimeters to an obstacle in measurement range
*do not consider other values, they exceed the sensor's range.
|}

===CANID_ERROR===

{| border="1" cellpadding="5" cellspacing="0" width="100%"
|-valign="top"
|'''CAN ID'''
|width=90%|0x400
|-valign="top"
|'''Interval'''
|Not periodic, triggered by an event
|-valign="top"
|'''Producer'''
|all (potentially)
|-valign="top"
|'''Consumer'''
|Not yet specified
|-valign="top"
|'''Semantics'''
|Currently no ECU uses these.
|}