DMOC CAN Status Reporting: Temperature, Mechanical, and Electrical Messages - Prof. John K | Study Guides, Projects, Research Computer Science

DMOC

DMOC Status Reporting Over CAN – draft manual 8/15/08

CAN status reporting

While this application does not receive any command messages over CAN, it may be enabled to report

status for use by in vehicle displays. Setting the calibration EEXCANTxEnable to 1 will enable sending of

all status messages.

Three status messages are available with the contents defined below in Table __. The CAN ID and

transmit rate of each message can be individually configured, using the CAN parameters defined in Table

__. General settings for the CAN bus are documented in Table __.

 Message Temperature Status Message EEXCANTempStatusID

 Rate (sec) 1 EEXCANTempStatusCycleSec

 DLC 8

 Format standard

 Direction tx

 Endian big

Byte Signal Name Min Max Res. Units Width Offset Details

0 motor stator

temperature -40 200 1 C 8 -40 based on ISR2MotorLimit

1 inverter temperature -40 200 1 C 8 -40 ISR2HeatsinkTemp

2 reserved

3 reserved

4 reserved

5 reserved

6 CAN Interface Level 0 240 1 n/a 8 0 FRC_CAN_REV

7 rolling counter 0 255 1 n/a 8 0 Value increments with each

message to show DMoC is alive

Message Mechanical Status Message EEXCANMechStatus1ID

Rate (sec) 0.02 EEXCANMechStatus1CycleSec

DLC 8

Format standard

Direction tx

Endian big

Byte Signal Name Min Max Res. Units Width Offset Details

0,1 motor torque actual -3000 3000 0.1 Nm 16 -3000 ISR2ActualTorque

2,3 motor speed actual -20000 20000 1 rpm 16 -20000 ISR2HertzWF

4 power state state 0 240 1 n/a 8 0 ISR2PowerStageState

5 active fault (enum) 0 240 1 n/a 8 0 ISR2PSActiveFault

6 status code 0 255 1 n/a 8 0 ISR2StatusCode (See general

DMOC documentation)

7 reserved

Message Electrical Status Message EEXCANElecStatus1ID

Rate (sec) 0.02 EEXCANElecStatus1CycleSec

DLC 8

Format standard

Direction tx

Endian big

Byte Signal Name Min Max Res. Units Width Offset Details

0,1 DC battery voltage 0 1000 0.1 V 16 0 ISR2BatVoltageWF

2,3 DC current -500 500 0.1 A 16 -500 ISR2EstBatCurrent

4 thermal limit cause 0 240 1 n/a 8 0 ISR2ThermCurrentLimitCause

5 reserved

6 reserved

7 reserved

Table __: DMOC Status Reporting Over CAN

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DMOC Status Reporting Over CAN – draft manual 8/15/

CAN status reporting

While this application does not receive any command messages over CAN, it may be enabled to report

status for use by in vehicle displays. Setting the calibration EEXCANTxEnable to 1 will enable sending of

all status messages.

Three status messages are available with the contents defined below in Table __. The CAN ID and

transmit rate of each message can be individually configured, using the CAN parameters defined in Table

. General settings for the CAN bus are documented in Table .

Table __: DMOC Status Reporting Over CAN

DMOC Status Reporting Over CAN – draft manual 8/15/

Note, all these messages are Big Endian Format (most significant byte first) and that all signed values

have offsets equal to their maximum negative value. To find the desired value in the units you expect,

take the raw value over CAN, multiply by the resolution and add the offset.

Example of Parsing a Temperature Signal:

Looking at a temperature signal, for example the inverter temperature, with a range -40C to 200C with a

resolution of 1C and offset of -40C, the following table has some example conversions:

Hex Value Decimal Value Temperature

0x00 0 -40C

0xF1-0xFF 241-255 Error, invalid data

Example of Parsing the Mechanical Status Message:

For example, on startup the Mechanical Status Message content might read as follows

75 30 4e 20 01 00 23 ff

Bytes 0 and 1 (0x7530) indicate zero torque ( 0x7530 = 30000 and 30000*0.1 – 3000 = 0 Nm).

Bytes 2 and 3 (0x4e20) indicate zero speed (0x4e20 = 20000 and 20000*1 – 20000 = 0 RPM).

Byte 4, shows the PowerStageState at 1 (READY).

Byte 5 shows there are no active errors.

Byte 6 shows the Status Code of 0x23 which corresponds to b00100011, which, as shown in REF 445

Manual, indicates the contactor is closed, power stage is ready, more torque and power are available.

Note that bit 5 (the thermal limit active signal) is not relevant in the READY state.

Table __: Application specific CAN parameters