Ophion control message

This message enables mapping CAN signals to OPHION inputs. You can also combine controller GPIO inputs with CAN inputs.

info

• All messages use little-endian format
• Setting /io/level_INPUT to 0,255 enables level input from CAN message
• To control driver mode via CAN, set /io/can_input to 1

Message ID

Message ID calculation: can_offset + device address

The can_offset parameter can be modified using /io/can_offset.

example

For a controller with address 0 and default can_offset, the message ID is 0x610

Message structure

Byte	Type	Description
0-1	INT_16 (Little endian)	can_level
2-3	INT_16 (Little endian)	can_level2
4	UINT_8	Digital input: - Bit 1 = can_in1 - Bit 2 = can_in2
5	UINT_8	can_clt_mode - Used only if can_input = 1
6	UINT_8	can_ctl_mode_reverse - Used only if can_input = 1
7	-	ignored

• Message DLC must be 7 or 8 bytes (otherwise ignored)
• 200ms message timeout - all values reset to zero if exceeded

Received values

All received values appear as variables in the /can_input_signals folder, regardless of CAN input mapping.

State variable	Description	Unit
can_ctl_mode	Parsed ctl_mode value	[UINT_8]
can_ctl_reverse_mode	Parsed ctl_reverse_mode value	[UINT_8]
can_in1	Parsed in1 value	[boolean]
can_in2	Parsed in2 value	[boolean]
can_level	Parsed level value	[INT_16]
can_level2	Parsed level2 value	[INT_16]
can_timeout	CAN message watchdog status	-1: No message received 0: Message timed out Positive value: Timeout countdown