Updated CAN interface docs
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21
README.md
21
README.md
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@ -66,6 +66,13 @@ End switch feedback interface.
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Senses the status of the end switches and sends CAN bus messages on changes.
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Senses the status of the end switches and sends CAN bus messages on changes.
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This module requires firmware. Connect an Atmel programmer to the ISP header,
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change into the firmware directory `feedback/firmware/` and run:
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```shell
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make flash
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```
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### poweriface
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### poweriface
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Interface between CAN bus and power board.
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Interface between CAN bus and power board.
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@ -124,14 +131,12 @@ The final wiring should look like this:
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Bus communication only makes use of basic CAN features. No higher-level
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Bus communication only makes use of basic CAN features. No higher-level
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protocols such as CiA, EtherCAN, VSCP or similar are required.
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protocols such as CiA, EtherCAN, VSCP or similar are required.
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Extended 29-bit CAN adressing mode is used.
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Normal 11-bit CAN adressing mode is used.
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This is the list of supported message IDs:
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This is the list of supported message IDs:
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| Message ID | Sender | Receiver | Data Length | Data Format | Description |
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| Message ID | Sender | Receiver | RTR Support? |Data Length | Data Format | Description |
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|------------|------------|------------|-------------|-------------------------|-------------|
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|------------|------------|------------|--------------|------------|-------------------------|-------------|
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| 0x1000 | controller | poweriface | 1 | 0b00000MMM | Start dispensing from slot M (0-5) |
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| 0x10 | feedback | any | yes | 2 | 0b00000KJI 0bHGFEDCBA | Feedback module status report (A..E = end switch D..H, F..J = empty switch D..H, K = reset switch, 0 = off, 1 = on) |
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| 0x100 | any | poweriface | 0 | | Send power board status report |
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| 0x11 | poweriface | any | yes | 2 | 0bHHHHHHHH 0bLLLLLLLL | Power module status report (0xHHLL are the contents of the 16-bit shift register) |
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| 0x101 | any | sensor | 0 | | Send sensor board status report |
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| 0x21 | controller | poweriface | no | 1 | 0b00000MMM | Start dispensing from slot M (0-4) |
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| 0x10 | poweriface | any | 2 | 0xLL 0xHH | Power board status report (0xHHLL are the contents of the 16-bit shift register) |
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| 0x1 | sensor | any | 2 | 0bABCDEFGH 0b00000IJK | Sensor board status report (ABCDEFGHIJK are the states of the end switches, dispenser empty switches and the rest switch) |
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