Difference between revisions of "CAN Bus"

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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|CAN IDs]].
 
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|CAN IDs]].
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== CAN Bus Messages ==
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{| border="1" cellpadding="5" cellspacing="0"
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|+ Messages present on the CAN Bus
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|-
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! ID (hex) !! ID !! Symbolic constant !!width=40%|Description !! Source !! Expected Interval
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|-
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| 0x008 || 8 || [[#CANID_WHEELSPEED_XX|CANID_WHEELSPEED_FL]] || Rotation Speed Front Left Wheel || SB Throttle || 50ms
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|-
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| 0x009 || 9 || [[#CANID_WHEELSPEED_XX|CANID_WHEELSPEED_FR]] || Rotation Speed Front Right Wheel || SB Steering || 50ms
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|-
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| 0x00a || 10 || [[#CANID_WHEELSPEED_XX|CANID_WHEELSPEED_RL]] || Rotation Speed Rear Left Wheel || SB Steering || 50ms
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|-
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| 0x00b || 11 || [[#CANID_WHEELSPEED_XX|CANID_WHEELSPEED_RR]] || Rotation Speed Rear Right Wheel || SB Throttle || 50ms
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|-
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| 0x00d || 13 || [[#CANID_VOLTAGE|CANID_VOLTAGE]] || Voltage of the electrical System || SB Inertial || 200ms
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|-
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| 0x00e || 14 || [[#CANID_RESETCOUNTER|CANID_RESETCOUNTER]] || Number of Resets since last ECU flashing || SB Inertial || Once@Boot
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|-
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| 0x010 || 16 || [[#CANID_INERTIAL|CANID_INERTIAL_AX]] || Longitudinal Acceleration || SB Inertial || 50ms
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|-
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| 0x011 || 17 || [[#CANID_INERTIAL|CANID_INERTIAL_AY]] || Lateral Acceleration || SB Inertial || 50ms
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|-
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| 0x012 || 18 || [[#CANID_ROTATION|CANID_ROTATION]] || Rotation Speed Car || SB Inertial || 50ms
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|-
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| 0x020 || 32 || [[#CANID_SELECTJUMPER|CANID_SELECTJUMPER]] || Actorboard Source Selection || ActorBoard || 1s
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|-
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| 0x022 || 34 || [[#CANID_THROTTLE]] || Throttle from SensorBoard || SB Throttle || 20ms
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|-
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| 0x122 || 290 || [[#CANID_THROTTLE_ARM7]] || Throttle from ARM7 Board || ARM7 Board || 20ms
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|-
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| 0x023 || 35 || [[#CANID_BRAKEFL]] || Front Left Brake Signal from SensorBoard || SB Throttle || 20ms
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|-
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| 0x123 || 291 || [[#CANID_BRAKEFL_ARM7]] || Front Left Brake Signal from ARM7 Board || ARM7 Board || 20ms
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|-
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| 0x024 || 36 || [[#CANID_BRAKEFR]] || Front Right Brake Signal from SensorBoard || SB Throttle || 20ms
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|-
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| 0x124 || 292 || [[#CANID_BRAKEFR_ARM7]] || Front Right Brake Signal from ARM7 Board || ARM7 Board || 20ms
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|-
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| 0x025 || 37 || [[#CANID_STEERING]] || Steering from SensorBoard || SB Steering || 20ms
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|-
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| 0x125 || 293 || [[#CANID_STEERING_ARM7]] || Steering from ARM7 Board || ARM7 Board || 20ms
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|-
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| 0x030 || 48 || [[#CANID_DISTANCE|CANID_DISTANCE]] || Front Distance (Ultrasonic Sensor) || SB Distance || 10ms – 70ms
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|-
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| 0x400 || 1024 || [[#CANID_ERROR|CANID_ERROR]] || Error Message || ALL || On Event
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|-
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|}
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===CANID_WHEELSPEED_XX===
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===CANID_VOLTAGE===
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===CANID_RESETCOUNTER===
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===CANID_INERTIAL===
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===CANID_ROTATION===
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===CANID_SELECTJUMPER===
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CANID_THROTTLE                 
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CANID_THROTTLE_ARM7           
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CANID_BRAKEFL
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CANID_BRAKEFL_ARM7
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CANID_BRAKEFR
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CANID_BRAKEFR_ARM7
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CANID_STEERING                 
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CANID_STEERING_ARM7           
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===CANID_DISTANCE===
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===CANID_ERROR===

Revision as of 13:39, 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.

CAN Bus Messages

Messages present on the CAN Bus
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

CANID_WHEELSPEED_XX

CANID_VOLTAGE

CANID_RESETCOUNTER

CANID_INERTIAL

CANID_ROTATION

CANID_SELECTJUMPER

CANID_THROTTLE CANID_THROTTLE_ARM7 CANID_BRAKEFL CANID_BRAKEFL_ARM7 CANID_BRAKEFR CANID_BRAKEFR_ARM7 CANID_STEERING CANID_STEERING_ARM7

CANID_DISTANCE

CANID_ERROR

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