Difference between revisions of "CAN Bus"
From ConceptCar
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| 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] || 50ms | | 0x00a || 10 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Steering|Sensorboard Steering]] || 50ms | ||
|- | |- | ||
| − | | 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || | + | | 0x00b || 11 || [[#CANID_WHEELSPEED|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] || 50ms |
|- | |- | ||
| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || SB Inertial || 200ms | | 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || SB Inertial || 200ms | ||
| Line 34: | Line 34: | ||
| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || ActorBoard || 1s | | 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || ActorBoard || 1s | ||
|- | |- | ||
| − | | 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || | + | | 0x022 || 34 || [[#CANID_THROTTLE|CANID_THROTTLE]] || Throttle from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] || 20ms |
|- | |- | ||
| 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || ARM7 Board || 20ms | | 0x122 || 290 || [[#CANID_THROTTLE|CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || ARM7 Board || 20ms | ||
|- | |- | ||
| − | | 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || | + | | 0x023 || 35 || [[#CANID_BRAKE|CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] || 20ms |
|- | |- | ||
| 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || ARM7 Board || 20ms | | 0x123 || 291 || [[#CANID_BRAKE|CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || ARM7 Board || 20ms | ||
|- | |- | ||
| − | | 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || | + | | 0x024 || 36 || [[#CANID_BRAKE|CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Throttle|Sensorboard Throttle]] || 20ms |
|- | |- | ||
| 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || ARM7 Board || 20ms | | 0x124 || 292 || [[#CANID_BRAKE|CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || ARM7 Board || 20ms | ||
| Line 50: | Line 50: | ||
| 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || ARM7 Board || 20ms | | 0x125 || 293 || [[#CANID_STEERING|CANID_STEERING_ARM7]] || Steering from ARM7 Board || ARM7 Board || 20ms | ||
|- | |- | ||
| − | | 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || | + | | 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || [[ECUs_implementing_Sensorboards_and_Actorboard#Sensorboard Distance|Sensorboard Distance]] || 10ms – 70ms |
|- | |- | ||
| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL || On Event | | 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL || On Event | ||
Revision as of 13:51, 4 August 2010
Contents
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 [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 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.
| ID (hex) | ID | Symbolic constant | Short Description | Source | Expected Interval |
|---|---|---|---|---|---|
| 0x008 | 8 | CANID_WHEELSPEED_FL | Rotation Speed Front Left Wheel | Sensorboard Throttle | 50ms |
| 0x009 | 9 | CANID_WHEELSPEED_FR | Rotation Speed Front Right Wheel | Sensorboard Steering | 50ms |
| 0x00a | 10 | CANID_WHEELSPEED_RL | Rotation Speed Rear Left Wheel | Sensorboard Steering | 50ms |
| 0x00b | 11 | CANID_WHEELSPEED_RR | Rotation Speed Rear Right Wheel | Sensorboard 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 | Sensorboard Throttle | 20ms |
| 0x122 | 290 | CANID_THROTTLE_ARM7 | Throttle from ARM7 Board | ARM7 Board | 20ms |
| 0x023 | 35 | CANID_BRAKEFL | Front Left Brake Signal from SensorBoard | Sensorboard 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 | Sensorboard Throttle | 20ms |
| 0x124 | 292 | CANID_BRAKEFR_ARM7 | Front Right Brake Signal from ARM7 Board | ARM7 Board | 20ms |
| 0x025 | 37 | CANID_STEERING | Steering from SensorBoard | Sensorboard Steering | 20ms |
| 0x125 | 293 | CANID_STEERING_ARM7 | Steering from ARM7 Board | ARM7 Board | 20ms |
| 0x030 | 48 | CANID_DISTANCE | Front Distance (Ultrasonic Sensor) | Sensorboard Distance | 10ms – 70ms |
| 0x400 | 1024 | CANID_ERROR | Error Message | ALL | On Event |
