Setup Periodic Sampling
This document describes how to configure the ESCx driver for periodic status message transmission.
info
- All payloads use big-endian format
Interface Configuration
Advanced
Message - Configure Driver Sampling
Set bits to 1, to enable periodic transmission of the corresponding status message type.
Controller receivingCAN ID:
0x0C7(24 << 3) + 7 host address|Controller address: 0x00| Datagram byte | Value / type | Description |
|---|---|---|
| 0 | 0x00 | Controller address (link layer) |
| 1 | 0x08 | Configure driver sampling command |
| 2 | bit 0 | Motor 3 - Set to 1 to enable periodic transmission |
| 2 | bit 1 | Motor 4 - Set to 1 to enable periodic transmission |
| 2 | bits 2-3 | Reserved |
| 2 | bit 4 | Driver State 2- Set to 1 to enable periodic transmission |
| 2 | bits 5-7 | Reserved |
| 3 | bits 0-1 | Reserved |
| 3 | bit 2 | Driver State 1- Set to 1 to enable periodic transmission |
| 3 | bit 3 | Range and Reference- Set to 1 to enable periodic transmission |
| 3 | bit 4 | Supply 1- Set to 1 to enable periodic transmission |
| 3 | bit 6 | Motor 1- Set to 1 to enable periodic transmission |
| 3 | bit 7 | Motor 2- Set to 1 to enable periodic transmission |
| 4-5 | uint16 | Transmission period [ms]. Set to 0 to disable retransmission (one-time sample mode). |
| 6-7 | uint16 | Initial delay [ms] before first transmission. Set to 0 to disable transmission. |
Different sampling periods can be configured for each status message type by setting them individually.