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