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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 + 05 - 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.