Broadcast Messages
Identification Information
EXAMPLE:
| ID: | Driver Controls Base Address ... - Interval ... | ||
|---|---|---|---|
Variable |
Bits | Type/Units* | Description |
* Either Type, ie. Uint32 or Units, ie. m/s
| ID: | Driver Controls Base Address + 00 - Interval 1 second | ||
|---|---|---|---|
Serial Number |
63..32 | Uint32 | Device serial number, allocated at manufacture. |
Prohelion ID |
31..0 | char[4] | “TRIb” stored as a string. msg[0] = 'T', msg[1] = 'R'... |
The periodic broadcast of this message cannot be disabled. It is needed to help find the driver controls on the network if the base address is lost or mis-configured by the user.
Drive Commands
Motor Drive Command
| ID: | Driver Controls Base Address + 01 - Interval 100ms | ||
|---|---|---|---|
Motor Current |
63..32 | % | Desired motor current set point as a percentage of maximum current setting. |
Motor Velocity |
31..0 | m/s | Desired motor velocity set point in metres/second. |
The WaveSculptor motor controller must receive a Motor Drive Command frame at least once every 250ms. If this does not occur, the controller will assume that communications have failed and will halt all motor control functions, placing the system into neutral.
Motor Power Command
| ID: | Driver Controls Base Address + 02 - Interval 100ms or as needed | ||
|---|---|---|---|
Bus Current |
63..32 | % | Desired set point of current drawn from the bus by the controller as a percentage of absolute bus current limit. |
Reserved |
31..0 | - | - |
Reset Command
| ID: | Driver Controls Base Address + 03 - Interval no fixed interval, not used during normal operation | ||
|---|---|---|---|
Unused |
63..32 | - | - |
Unused |
31..0 | - | - |
Send a command from this address to reset the WaveSculptor.
Switch Commands
Switch position / activity
| ID: | Driver Controls Base Address + 04 - Interval 100ms | ||
|---|---|---|---|
Switch Position |
63..32 | Uint32 | Current position of the switch inputs on the driver controls module DB37 connector: |
| Bits | Parameter | ||
| 31..18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 |
Unused Right Indicator output (90 per minute) Left indicator output (90 per minute ) Unused Onboard (internal) debug button Encoder 1 pushbutton Encoder 2 pushbutton Right indicator switch Left indicator switch Hazards switch Horn switch Ignition – Accessory position Ignition – ON (Run) position Direction (0 = Forward, 1 = Reverse) Brake 1 switch Brake 2 switch Lights – Side / Running lights switch Lights – Low Beam switch Lights – High Beam switch |
||
Switch Activity |
31..0 | Uint32 | Shows if the switch has changed state since the last time this CAN frame was sent 1 = switch has changed 0 = no change Bit positions are identical to the Switch Position bitfield shown above. |