Chassis State 1

ID: 0x210

Source: CAN Gateway Module

Transmit Rate: 50 ms

• bit 0 | Reserved
• bit 1 | Steering Wheel Angle Valid
• bit 2 | Steering Wheel Angle Rate Valid
• bit 3 | Brake Pressure Valid
• bit 4 | Wheel Speed Valid
• bit 5 | Left Turn Signal On
• bit 6 | Right Turn Signal On
• bit 7 | Brake Signal On
• bits 8-15 | Reserved
• Byte 16-31 | Steering Wheel Angle
• Byte 32-47 | Steering Wheel Angle Rate
• Byte 48-63 | Brake Pressure

Chassis State 2

ID: 0x211

Source: CAN Gateway Module

Transmit Rate: 50 ms

• bits 0-15 | LF Wheel Speed
• bits 16-31 | RF Wheel Speed
• bits 32-47 | LR Wheel Speed
• bits 48-63 | RR Wheel Speed

Brake Command

ID: 0x060

Transmit Rate: 20 ms

Receive Timeout: 100 ms

• bits 0-15 | Pressure Command
• 0 = 0% 65535 = 100%
• bit 16 | Brake On
• 0 = off, 1 = on
• bit 17-23 | Reserved0
• bit 24 | Enabled
• bit 25 | Clear
• bit 26 | Ignore
• bit 27-31 | Reserved1
• bit 32-39 | Reserved2
• bit 40-47 | Reserved3
• bit 48-55 | Reserved4
• bit 56-63 | Count

Brake Report

ID: 0x061 Receive Rate: 50 ms

Receive Timeout: 100 ms

• bits 0-15 | Pedal Input
• 0 = 0% 65535 = 100%
• bits 16-31 | Pedal Command
• 0 = 0% 65535 = 100%
• bits 32-47 | Pedal Output
• 0 = 0% 65535 = 100%k
• bit 48 | Brake On Output
• bit 49 | Brake On Command
• bit 50 | Brake On Input
• bit 51 | Watchdog Brake
• bits 52-55 | Watchdog Source
• bit 56 | Enabled
• bit 57 | Override
• bit 58 | Driver Activity
• bit 59 | Watchdog Counter Fault State
• bit 60 | Channel 1 Fault State
• bit 61 | Channel 2 Fault State
• bit 62 | Brake Connector Fault State
• bit 63 | Connector Fault State

Throttle Command

ID: 0x062

Transmit Rate: 20 ms

Receive Timeout:

• bits 0-15 | Pedal Command
• 0 = 0% 65535 = 100%
• bits 16-23 | Reserved0
• bit 24 | Enabled
• bit 25 | Clear
• bit 26 | Ignore
• bit 27-31 | Reserved1
• bit 32-39 | Reserved2
• bit 40-47 | Reserved3
• bit 55-48 | Reserved4
• bit 56-63 | Count

Throttle Report

ID: 0x063

Receive Rate: 20 ms

Receive Timeout:

• bits 0-15 | Pedal Input
• 0 = 0% 65535 = 100%
• bits 16-31 | Pedal Command
• 0 = 0% 65535 = 100%
• bits 32-47 | Pedal Output
• 0 = 0% 65535 = 100%k
• bit 48-51 | Reserved0
• bits 52-55 | Watchdog Source
• bit 56 | Enabled
• bit 57 | Override
• bit 58 | Driver Activity
• bit 59 | Watchdog Counter Fault State
• bit 60 | Channel 1 Fault State
• bit 61 | Channel 2 Fault State
• bit 62 | Brake Connector Fault State
• bit 63 | Connector Fault State

Steering Command

ID: 0x064

Receive Rate: 20 ms

Receive Timeout: 150 ms

• bits 0-15 | Steering Wheel Angle Command
• 0 = 0% 65535 = 100%
• bit 16 | Enabled
• bit 17 | Clear
• bit 18 | Ignore
• bit 19-23 | Reserved0
• bit 24-31 | Steering Wheel Max Velocity
• 0 = No limit
• Value 0x01 means 2 degrees/second.
• Value 0xFA means 500 degrees/second. [2 degrees/second per bit]
• bit 32-47 | Torque
• bit 48-55 | Reserved3
• bit 56-63 | Count

Steering Report

ID: 0x065

Receive Rate: 20 ms

Receive Timeout: TODO

• bits 0-15 | Angle
• 0 = 0% 65535 = 100%
• bits 16-31 | Angle Command
• 0 = 0% 65535 = 100%
• bits 32-47 | Vehicle Speed
• Vehicle speed. [0.01 kilometers/hour per bit]
• bit 48-55 | Torque
• bit 56 | Enabled
• bit 57 | Override
• bit 58 | Driver Activity
• bit 59 | Watchdog Counter Fault State
• bit 60 | Channel 1 Fault State
• bit 61 | Channel 2 Fault State
• bit 62 | Fault Calibration
• bit 63 | Connector Fault State