Difference between revisions of "Robotino3 IO CAN"
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+ | |||
+ | ==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 | ||
+ | !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 | ||
+ | {| 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
Contents
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 |