Messages

The ECHO application exclusively uses messages originating from the Driver API.

note

By default, the controller does not send any CAN messages. To enable CAN message transmission, you must either use the Driver API's "Setup Sampling" command or configure the parameters described below.

Automatic Transmission of Status Messages

You can configure the transmission interval (period) for each status message individually.

note

• All parameters listed below are located in the /sampling directory.
• For parameter changes to take effect, you must save the parameters and restart the controller.
• You can override the configured periods at any time by using the "Setup Sampling" command.
• The system supports sending status messages to only one interface at a time. Requesting messages through CAN will disable UART message transmission and vice versa.

Parameter	Description
state1_period	Period (in ms) for sending the state1 message
state2_period	Period (in ms) for sending the state2 message
range_period	Period (in ms) for sending the range message
supply1_period	Period (in ms) for sending the supply1 message
motor1_period	Period (in ms) for sending the motor1 message
motor2_period	Period (in ms) for sending the motor2 message
motor3_period	Period (in ms) for sending the motor3 message
motor4_period	Period (in ms) for sending the motor4 message
interface_no	Interface used for sending status messages: 3 – CAN (default) 1 – UARTCOM 5 – UARTEXT