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Updated CAN interface docs

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Gregor Riepl 2021-01-17 15:38:50 +01:00
parent 0dc044e43f
commit 726b6aa912
1 changed files with 13 additions and 8 deletions
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README.md
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@ -66,6 +66,13 @@ End switch feedback interface.
Senses the status of the end switches and sends CAN bus messages on changes.
This module requires firmware. Connect an Atmel programmer to the ISP header,
change into the firmware directory `feedback/firmware/` and run:
```shell
make flash
```
### poweriface
Interface between CAN bus and power board.
@ -124,14 +131,12 @@ The final wiring should look like this:
Bus communication only makes use of basic CAN features. No higher-level
protocols such as CiA, EtherCAN, VSCP or similar are required.
Extended 29-bit CAN adressing mode is used.
Normal 11-bit CAN adressing mode is used.
This is the list of supported message IDs:
| Message ID | Sender | Receiver | Data Length | Data Format | Description |
|------------|------------|------------|-------------|-------------------------|-------------|
| 0x1000 | controller | poweriface | 1 | 0b00000MMM | Start dispensing from slot M (0-5) |
| 0x100 | any | poweriface | 0 | | Send power board status report |
| 0x101 | any | sensor | 0 | | Send sensor board status report |
| 0x10 | poweriface | any | 2 | 0xLL 0xHH | Power board status report (0xHHLL are the contents of the 16-bit shift register) |
| 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) |
| Message ID | Sender | Receiver | RTR Support? |Data Length | Data Format | Description |
|------------|------------|------------|--------------|------------|-------------------------|-------------|
| 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) |
| 0x11 | poweriface | any | yes | 2 | 0bHHHHHHHH 0bLLLLLLLL | Power module status report (0xHHLL are the contents of the 16-bit shift register) |
| 0x21 | controller | poweriface | no | 1 | 0b00000MMM | Start dispensing from slot M (0-4) |