CAN Protocol¶
CAN Payload protocol for arbitration messages.
Endianness is Little Endian for all messages.
CAN IDs are configurable for all messages.
From Arbiter¶
Status Message¶
Byte
Position
Value
Description
0
0 - 7
0x00
Header
1
0 - 7
0xFF
Status message Header
2
0 - 6
0 - 3
Selected AP (0 = AP1, 1 = AP2, 2 = AP3, 3 = External AP)
7
0 - 1
Arbitration OFF/ON
3
0
0 - 1
AP1 Alive
1
0 - 1
AP2 Alive
2
0 - 1
AP3 Alive
3
0 - 1
External AP Alive
4
0 - 1
AP1 Ready
5
0 - 1
AP2 Ready
6
0 - 1
AP3 Ready
7
0 - 1
External AP Ready
4
0
0 - 1
CBIT. System error. Will fail if any of the below items fail.
1
0 - 1
PBIT. System Boot Ok.
2
0 - 1
PDI Ok. Will fail if there is an error in configuration files.
3
0 - 1
Memory Allocation OK
4
0 - 1
CAN A Ok
5
0 - 1
CAN B Ok
6
0 - 1
CIO Low Task Ok
7
0 - 1
CIO High Task Ok
5
0
0 - 1
Power OK. All power indicators are OK.
1
0 - 1
A Bus Voltage Ok
2
0 - 1
B Bus Voltage Ok
3
0 - 1
Arbiter Voltage Ok
4
0 - 1
AP1 Voltage Ok
5
0 - 1
AP2 Voltage Ok
6
0 - 1
AP3 Voltage Ok
7
0 - 1
Arbiter Mode. 1 = Normal, 0 = Maintenance
Score Message¶
Byte
Position
Value
Description
0
0 - 7
0x00
Header
1
0 - 7
0 - 3
Autopilot ID (0 = AP1, 1 = AP2, 2 = AP3, 3 = External AP)
2 - 5
0 - 31
0 - 0xFFFF FFFF
Autopilot Arbitration Score
From Veronte¶
Send to its corresponding CAN ID address.
Recomended addresses 8,9,10 & 11 (AP1,AP2,AP3, External AP).
Ready Message¶
Byte
Position
Value
Description
0
0 - 7
0x00
Header
1
0 - 7
0xFF
Ready Message Header
2
0 (1 bit)
0 - 1
Ready/Not Ready
Arbitration Messages¶
Byte
Position
Value
Description
0
0 - 7
0x00
Header
1
0 - 7
0 - 5
Arbitration Variable Number
2 - 5
0 - 31
0 - 0xFFFF FFFF
Arbitration Variable Value