Difference between revisions of "CAN Bus"
(→CAN Bus Messages) |
(→CAN Bus Messages) |
||
| Line 68: | Line 68: | ||
===CANID_THROTTLE=== | ===CANID_THROTTLE=== | ||
| − | === | + | ===CANID_BRAKE=== |
===CANID_STEERING=== | ===CANID_STEERING=== | ||
Revision as of 13:42, 4 August 2010
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 [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 Section ECUs Implementing Sensorboards and Actorboards, when the bus participant providing these messages is introduced.
A complete description of all messages being transmitted via CAN Bus in the Concept Car and the semantics and IDs of each message is presented in CAN IDs.
Contents
CAN Bus Messages
| ID (hex) | ID | Symbolic constant | Description | Source | Expected Interval |
|---|---|---|---|---|---|
| 0x008 | 8 | CANID_WHEELSPEED_FL | Rotation Speed Front Left Wheel | SB Throttle | 50ms |
| 0x009 | 9 | CANID_WHEELSPEED_FR | Rotation Speed Front Right Wheel | SB Steering | 50ms |
| 0x00a | 10 | CANID_WHEELSPEED_RL | Rotation Speed Rear Left Wheel | SB Steering | 50ms |
| 0x00b | 11 | CANID_WHEELSPEED_RR | Rotation Speed Rear Right Wheel | SB Throttle | 50ms |
| 0x00d | 13 | CANID_VOLTAGE | Voltage of the electrical System | SB Inertial | 200ms |
| 0x00e | 14 | CANID_RESETCOUNTER | Number of Resets since last ECU flashing | SB Inertial | Once@Boot |
| 0x010 | 16 | CANID_INERTIAL_AX | Longitudinal Acceleration | SB Inertial | 50ms |
| 0x011 | 17 | CANID_INERTIAL_AY | Lateral Acceleration | SB Inertial | 50ms |
| 0x012 | 18 | CANID_ROTATION | Rotation Speed Car | SB Inertial | 50ms |
| 0x020 | 32 | CANID_SELECTJUMPER | Actorboard Source Selection | ActorBoard | 1s |
| 0x022 | 34 | CANID_THROTTLE | Throttle from SensorBoard | SB Throttle | 20ms |
| 0x122 | 290 | CANID_THROTTLE_ARM7 | Throttle from ARM7 Board | ARM7 Board | 20ms |
| 0x023 | 35 | CANID_BRAKEFL | Front Left Brake Signal from SensorBoard | SB Throttle | 20ms |
| 0x123 | 291 | CANID_BRAKEFL_ARM7 | Front Left Brake Signal from ARM7 Board | ARM7 Board | 20ms |
| 0x024 | 36 | CANID_BRAKEFR | Front Right Brake Signal from SensorBoard | SB Throttle | 20ms |
| 0x124 | 292 | CANID_BRAKEFR_ARM7 | Front Right Brake Signal from ARM7 Board | ARM7 Board | 20ms |
| 0x025 | 37 | CANID_STEERING | Steering from SensorBoard | SB Steering | 20ms |
| 0x125 | 293 | CANID_STEERING_ARM7 | Steering from ARM7 Board | ARM7 Board | 20ms |
| 0x030 | 48 | CANID_DISTANCE | Front Distance (Ultrasonic Sensor) | SB Distance | 10ms – 70ms |
| 0x400 | 1024 | CANID_ERROR | Error Message | ALL | On Event |
