Difference between revisions of "Robotino3 IO CAN"

From RobotinoWiki
(Created page with "Image:Robotino3_can_nodes.png")
 
(Charger error arguments)
 
(9 intermediate revisions by the same user not shown)
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[[Image:Robotino3_can_nodes.png]]
 
[[Image:Robotino3_can_nodes.png]]
 +
 +
==Info message==
 +
Length=8
 +
{| class="wikitable"
 +
|-
 +
!Byte
 +
!Description
 +
|-
 +
|0-1
 +
|Global time in seconds (LSB first).
 +
|-
 +
|2-3
 +
|Battery Voltage in milli Volts (LSB first).
 +
|-
 +
|4
 +
|Charging current in Ampere = value/100.
 +
|-
 +
|5
 +
|Temperature in °C of battery 1.
 +
|-
 +
|6
 +
|Temperature in °C of battery 2.
 +
|-
 +
|7
 +
|Charger state.
 +
|}
 +
 +
==Error message==
 +
Length=8
 +
{| class="wikitable"
 +
|-
 +
!Byte
 +
!Description
 +
|-
 +
|0-1
 +
|Global time in seconds (LSB first).
 +
|-
 +
|2
 +
|Error type. "Fatal system error" or "Charger error"
 +
|-
 +
|-
 +
|3
 +
|In case of "Fatal system error" this is the system error type. Otherwise it is the charger error type.
 +
|-
 +
|4-5
 +
|Error argument 0 (LSB first).
 +
|-
 +
|6-7
 +
|Error argument 0 (LSB first).
 +
|}
 +
 +
===Charger error arguments===
 +
{| class="wikitable"
 +
|-
 +
!Charger error type
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!Meaning
 +
!ARG0
 +
!ARG1
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|-
 +
|TIMEOUT_ERROR
 +
|timeout occured
 +
|charger state that timed out
 +
|
 +
|-
 +
|MISSING_C10_ERROR
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|In stage2 volatage dropped below 28.5V
 +
|battery voltage in mV
 +
|
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|-
 +
|OVERVOLTAGE_ERROR
 +
|Battery voltage to high
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|battery voltage in mV
 +
|
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|-
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|NTC_MISMATCH_ERROR
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|only one NTC is connected
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|BAT1 temperatur reading raw ADC value
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|BAT2 temperatur reading  raw ADC value
 +
|-
 +
|BAT1_OVERTEMP_ERROR
 +
|BAT1 to hot
 +
|BAT1 temperatur in °C
 +
|BAT2 temperatur in °C
 +
|-
 +
|BAT2_OVERTEMP_ERROR
 +
|BAT2 to hot
 +
|BAT1 temperatur in °C
 +
|BAT2 temperatur in °C
 +
|-
 +
|UNDERVOLTAGE_ERROR
 +
|Battery voltage to low
 +
|battery voltage in mV
 +
|
 +
|}
 +
 +
==Version message==
 +
Length=3
 +
{| class="wikitable"
 +
|-
 +
!Byte
 +
!Description
 +
|-
 +
|0
 +
|Major version
 +
|-
 +
|1
 +
|Minor version
 +
|-
 +
|2
 +
|Patch version
 +
|}
 +
 +
==GetVersion message==
 +
Length=0
 +
 +
==Reset message==
 +
Length=2
 +
{| class="wikitable"
 +
|-
 +
!Byte
 +
!Description
 +
|-
 +
|0
 +
|0xAA
 +
|-
 +
|1
 +
|0x55
 +
|}

Latest revision as of 10:07, 8 October 2013

Robotino3 can nodes.png

Info message

Length=8

Byte Description
0-1 Global time in seconds (LSB first).
2-3 Battery Voltage in milli Volts (LSB first).
4 Charging current in Ampere = value/100.
5 Temperature in °C of battery 1.
6 Temperature in °C of battery 2.
7 Charger state.

Error message

Length=8

Byte Description
0-1 Global time in seconds (LSB first).
2 Error type. "Fatal system error" or "Charger error"
3 In case of "Fatal system error" this is the system error type. Otherwise it is the charger error type.
4-5 Error argument 0 (LSB first).
6-7 Error argument 0 (LSB first).

Charger error arguments

Charger error type Meaning ARG0 ARG1
TIMEOUT_ERROR timeout occured charger state that timed out
MISSING_C10_ERROR In stage2 volatage dropped below 28.5V battery voltage in mV
OVERVOLTAGE_ERROR Battery voltage to high battery voltage in mV
NTC_MISMATCH_ERROR only one NTC is connected BAT1 temperatur reading raw ADC value BAT2 temperatur reading raw ADC value
BAT1_OVERTEMP_ERROR BAT1 to hot BAT1 temperatur in °C BAT2 temperatur in °C
BAT2_OVERTEMP_ERROR BAT2 to hot BAT1 temperatur in °C BAT2 temperatur in °C
UNDERVOLTAGE_ERROR Battery voltage to low battery voltage in mV

Version message

Length=3

Byte Description
0 Major version
1 Minor version
2 Patch version

GetVersion message

Length=0

Reset message

Length=2

Byte Description
0 0xAA
1 0x55