Common I/O Commands

info

• All datagram types listed here are unicast with SID = 40
• All payloads listed here use big-endian byte order

Interface Configuration

Interface:CAN BusUARTHost addr:Controller addr:

Advanced

SID offset:n (addr bits):

Play Beep

Controller receivingCAN ID: 0x147(40 << 3) + 7 host address|Controller address: 0x00

Datagram byte	Value / type	Description
0	0x00	Controller address (link layer)
1	6	Command - play beep
2-3	int16	note
4-5	int16	len
6-7	int16	flags

More information about note, len and flags

Get Info

Controller receivingCAN ID: 0x147(40 << 3) + 7 host address|Controller address: 0x00

Datagram byte	Value / type	Description
0	0x00	Controller address (link layer)
1	0	Command - get info

Response

Controller sendingCAN ID: 0x140(40 << 3) + 0 controller address|Host address: 0x07

Datagram byte	Value / type	Description
0	0x07	Host address (link layer)
1	0x40	Success indicator
2	uint8_t	Device signature
3-6	uint32_t	Proccom API version (current is 2)

Contactor Control

note

Always verify contactor settings. For contactor voltage setup, check parameters in /common/contactor. To control contactors using this message, ensure driver contactor control is disabled - see parameter /common/contactor/opts

Controller receivingCAN ID: 0x147(40 << 3) + 7 host address|Controller address: 0x00

Datagram byte	Value / type	Description
0	0x00	Controller address (link layer)
1	4	Contactor command
2	11	Contactor command
3	UINT8	Contactor number 0 = power switch 1-3 = contactor 1-3
4	UINT8	0 = turn contactor off 1 = turn contactor on

Response

Controller sendingCAN ID: 0x140(40 << 3) + 0 controller address|Host address: 0x07

Datagram byte	Value / type	Description
0	0x07	Host address (link layer)
1	68	Contactor command response
2	11	Contactor command response
3	int8_t	0 = command successfully accepted -1 = error (contactor doesn't exist, wrong message)