CAN Bus¶
Veronte CEX and CEM Communication Protocol over CAN Bus is defined as follow (v6.4.39 or higher):
cmd (8 bits): Message Type
data (up to 56 bits): Message Data
First 8 bits refers to the Message Type and are defined as follows:
Message Type |
Value |
Description |
|---|---|---|
t_arbitration |
0 |
Arbitration message |
t_version |
1 |
Version request / response |
t_pwm_0_3_set |
2 |
PWMs 0 to 3 |
t_pwm_4_7_set |
3 |
PWMs 4 to 7 |
4 |
Reserved |
|
t_esc_tm |
5 |
Scorpion Tribunus ESC telemetry data |
t_esc_tm2 |
6 |
Jeti ESC telemetry data |
t_bec_tm1 |
7 |
Jeti BEC telemetry data |
t_bec_tm2 |
8 |
Jeti BEC telemetry data 2 |
t_temp_tm |
9 |
Jeti Temperature sensor telemetry data |
t_mcu_cmd |
10 |
MCU command |
t_pwm_8_11_set |
11 |
PWMs 8 to 11 |
t_pwm_12_15_set |
12 |
PWMs 12 to 15 |
t_pwm_16_19_set |
13 |
PWMs 16 to 19 |
14 |
Reserved |
|
15 |
Reserved |
|
t_cmd_maint |
16 |
Command to go to Maintenance Mode |
t_stick_sel |
17 |
Command for Stick selection |
t_mcu_tm1 |
18 |
MCU telemetry data 1 |
t_mcu_tm2 |
19 |
MCU telemetry data 2 |
The following bytes refer to the Message Data.
Next sections decribe each of the possible messages.
Arbitration¶
CAN Expander Arbitration Status message is composed as follow:
Message 1
Message Type |
Bytes |
Description |
|---|---|---|
t_arbitration |
1 |
Message type (0) |
Flag |
1 |
Status Flag [0xFF] |
CAP |
7 bits |
Active Autopilot (Current) |
Flag |
1 bit |
Arbitrating |
Flag |
1 bit |
AP0 Alive |
Flag |
1 bit |
AP1 Alive |
Flag |
1 bit |
AP2 Alive |
Flag |
1 bit |
AP3 Alive (External) |
Flag |
1 bit |
AP0 Ready |
Flag |
1 bit |
AP1 Ready |
Flag |
1 bit |
AP2 Ready |
Flag |
1 bit |
AP3 Ready (External) |
Message 2 (One for each Autopilot)
Message Type |
Bytes |
Description |
|---|---|---|
t_arbitration |
1 |
Message type (0) |
AP ID |
1 |
Autopilot [0, 3] |
Score |
4 |
Autopilot score as Float (32 bits) |
Request Version¶
The command needed to ask the CEX version is the following:
cmd (8 bits): t_version
And CEX will answer with:
cmd (8 bits): t_version (1)
data0 (8 bits): App -> 9 CEXv2
data1 (8 bits): Version
data2 (8 bits): Major
data3 (8 bits): Minor
data4 (8 bits):
bits 7-3: 0
bit 1: arbitration_enabled
bit 0: arbitrating
Command PWMs¶
Each PWM in Veronte CAN Expander has to be associated to a Sub Id that indicates which of the CAN Bus message’s PWM is listening to.
That allows to control up to four PWMs using the same message if that is desired. Each message is composed by 4 PWMs maximum.
PWMs from 0 to 3 are sent in a message that includes 4 PWMs coded as 12-bit integers:
cmd (8 bits): t_pwm_0_3_set (2)
pwm0 (12 bits) PWM value for sub-id 0
pwm1 (12 bits) PWM value for sub-id 1
pwm2 (12 bits) PWM value for sub-id 2
pwm3 (12 bits) PWM value for sub-id 3
PWMs from 4 to 7 are sent in a message that includes 4 PWMs coded as 12-bit integers:
cmd (8 bits): t_pwm_4_7_set (3)
pwm0 (12 bits) PWM value for sub-id 4
pwm1 (12 bits) PWM value for sub-id 5
pwm2 (12 bits) PWM value for sub-id 6
pwm3 (12 bits) PWM value for sub-id 7
PWMs from 4 to 7 are sent in a message that includes 4 PWMs coded as 12-bit integers:
cmd (8 bits): t_pwm_8_11_set (11)
pwm0 (12 bits) PWM value for sub-id 8
pwm1 (12 bits) PWM value for sub-id 9
pwm2 (12 bits) PWM value for sub-id 10
pwm3 (12 bits) PWM value for sub-id 11
PWMs from 4 to 7 are sent in a message that includes 4 PWMs coded as 12-bit integers:
cmd (8 bits): t_pwm_12_15_set (12)
pwm0 (12 bits) PWM value for sub-id 12
pwm1 (12 bits) PWM value for sub-id 13
pwm2 (12 bits) PWM value for sub-id 14
pwm3 (12 bits) PWM value for sub-id 15
PWMs from 16 to 19 are sent in a message that includes 4 PWMs coded as 12-bit integers:
cmd (8 bits): t_pwm_16_19_set (13)
pwm0 (12 bits) PWM value for sub-id 16
pwm1 (12 bits) PWM value for sub-id 17
pwm2 (12 bits) PWM value for sub-id 18
pwm3 (12 bits) PWM value for sub-id 19
MCU Telemetry (CEX to Veronte)¶
The telemetry sent by CEX over CAN Bus is composed by:
Message 1
Message Type |
Bytes |
Description |
|---|---|---|
t_mcu_tm1 |
1 |
Message type (18) |
Battery SN |
1 |
Battery Serial Number [0] |
Battery SN |
1 |
Battery Serial Number [1] |
Temperature |
1 |
Battery Temperature (as received from MCU) |
Voltage |
1 |
Low Cell Voltage (as received from MCU) |
4 bits |
Reserved (Zeros) |
|
Status Bit |
1 |
PWM receiving Ok |
Status Bit |
1 |
CAN PWM receiving Ok |
Status Bit |
1 |
CAN B receiving |
Status Bit |
1 |
CAN A receiving |
Message 2
Message Type |
Bytes |
Description |
|---|---|---|
t_mcu_tm2 |
1 |
Message type (19) |
Battery SN |
1 |
Battery Serial Number [2] |
Battery SN |
1 |
Battery Serial Number [3] |
Battery SN |
1 |
Battery Serial Number [4] |
Battery SN |
1 |
Battery Serial Number [5] |
Battery SN |
1 |
Battery Serial Number [6] |
Battery SN |
1 |
Battery Serial Number [7] |
MCU Telemetry (Veronte to CEX)¶
The telemetry sent from Veronte to CEX must be configured as follows:
Message Type |
Bytes |
Description |
|---|---|---|
t_mcu_cmd |
1 |
Message type (10) |
SUB-id |
1 |
SUB-id A |
LED Value |
1 |
Value A |
SUB-id |
1 |
SUB-id B |
LED Value |
1 |
Value B |
SUB-id |
1 |
SUB-id C |
LED Value |
1 |
Value C |
Each Veronte CAN Expander will use the SUB-id of the PWM associated to the “Scorpion Tribunus”/PWM ID to identify the value to be used.
Scorpion Tribunus ESC Telemetry¶
The telemetry read from the Scorpion ESC is sent as:
Message Type |
Bytes |
Description |
|---|---|---|
t_esc_tm |
1 |
Message type (5) |
Voltage |
1 |
Input voltage in range [0, 85] |
Temperature |
1 |
Temperature in Celsius |
Errors |
1 |
Error Flags from the ESC |
Current |
1 |
Current in Amps [0, 255] |
Consumption |
1 |
Consumption in mAmps [0, 25500] |
RPMs |
1 |
RPMs [0, 25500] |
Throttle |
1 |
Throttle as percentage*2 [0, 200] |
JetiTM ESC Telemetry¶
The telemetry read from Jeti-TM compatible ESCs is sent as:
Message Type |
Bytes |
Description |
|---|---|---|
t_esc_tm2 |
1 |
Message type (6) |
Throttle |
1 |
Throttle value [0, 200] |
RPMs |
2 |
Current RPMs |
Voltage |
10 bits |
Input voltage in the range [0, 70] Volts |
Temperature |
10 bits |
Temperature in the range [0, 575] Kelvin |
Current |
12 bits |
Current in the range [0, 400.0] Amps |
Jeti BEC Telemetry¶
The telemetry read from a BEC will be sent in 2 different messages:
Message 1:
Message Type |
Bytes |
Description |
|---|---|---|
t_bec_tm1 |
1 |
Message type (7) |
Device ID |
2 |
|
Voltage In |
12 bits |
Input voltage in the range [0, 70] Volts |
Voltage Out |
12 bits |
Output voltage in the range [0, 70] Volts |
Temperature |
12 bits |
Temperature in the range [0, 575] Kelvin |
Message 2:
Message Type |
Bytes |
Description |
|---|---|---|
t_bec_tm2 |
1 |
Message type (8) |
Device ID |
2 |
|
Current |
12 bits |
Current in the range [0, 100.0] Amps |
Jeti Temperature Sensor Telemetry¶
The telemetry read from a Temperature sensor will be send as:
Message Type |
Bytes |
Description |
|---|---|---|
t_temp_tm |
1 |
Message type (9) |
Device ID |
2 |
|
Temperature 1 |
12 bits |
Measured temperature 1 in the range [0, 750] Kelvin |
Temperature 2 |
12 bits |
Measured temperature 2 in the range [0, 750] Kelvin |
Set Maintenance Mode Command¶
This command will configure the CEX in maintence mode, setting its configuration in a way that Communications can work over SCI-A, SCI-B or Serial-Over-CAN configured as:
SCI-A and SCI-B: 115200 bauds, 8 data bits, 1 stop, no parity
Serial over CAN:
TX Id: 1301
RX Id: 1301
The format of the command is:
cmd (8 bits): t_cmd_maint (16)
Stick Selection Command¶
This command is used to enable or disable the CEX PPM reader. If the address received matches the CEX’s one, CEX PPM reader will be enabled, otherwise it will be disabled.
The format of the command is:
cmd (8 bits): t_stick_sel (17)
address (16 bits)