CAN communication - Revision history

ElMaco at 17:24, 1 February 2026

2026-02-01T17:24:49Z

← Older revision		Revision as of 17:24, 1 February 2026
Line 30:		Line 30:
	* regenpreset[48:55]		* regenpreset[48:55]
	* cancrc[56:63]		* cancrc[56:63]
	~~Or as a table:~~		[[File:CAN mapping table inverter control.png\|thumb\|489x489px\|It is important to shift the bits to their correct position within each eight-bit byte.]]
	[[File:CAN mapping table inverter control.png\|thumb\|~~988x988px~~\|It is important to shift the bits to their correct position within each eight-bit byte.]]		The same thing described in the table.

	pot is the value of the first throttle channel and its range is configured with potmin/potmax as before. pot2 is the value of the second throttle channel, its range configured via pot2min/pot2max '''and we strongly recommend to use dual channel throttle pedals''' and setting potmode to CanDual (or DualChannel if you choose to connect the throttle directly to the inverter). We also recommand to set up your throttle in a way that doesn't use the full range from 0-4095 but leaves at least 500 digit at either end (so 500-3600) to be able to detect cable issues between throttle and VCU (short to Vcc, loss of GND and other wire breaks)		pot is the value of the first throttle channel and its range is configured with potmin/potmax as before. pot2 is the value of the second throttle channel, its range configured via pot2min/pot2max '''and we strongly recommend to use dual channel throttle pedals''' and setting potmode to CanDual (or DualChannel if you choose to connect the throttle directly to the inverter). We also recommand to set up your throttle in a way that doesn't use the full range from 0-4095 but leaves at least 500 digit at either end (so 500-3600) to be able to detect cable issues between throttle and VCU (short to Vcc, loss of GND and other wire breaks)

ElMaco: Added a table to describe CAN mapping

2026-02-01T17:22:49Z

Added a table to describe CAN mapping

← Older revision		Revision as of 17:22, 1 February 2026
Line 30:		Line 30:
	* regenpreset[48:55]		* regenpreset[48:55]
	* cancrc[56:63]		* cancrc[56:63]
			Or as a table:
			[[File:CAN mapping table inverter control.png\|thumb\|988x988px\|It is important to shift the bits to their correct position within each eight-bit byte.]]
	pot is the value of the first throttle channel and its range is configured with potmin/potmax as before. pot2 is the value of the second throttle channel, its range configured via pot2min/pot2max '''and we strongly recommend to use dual channel throttle pedals''' and setting potmode to CanDual (or DualChannel if you choose to connect the throttle directly to the inverter). We also recommand to set up your throttle in a way that doesn't use the full range from 0-4095 but leaves at least 500 digit at either end (so 500-3600) to be able to detect cable issues between throttle and VCU (short to Vcc, loss of GND and other wire breaks)		pot is the value of the first throttle channel and its range is configured with potmin/potmax as before. pot2 is the value of the second throttle channel, its range configured via pot2min/pot2max '''and we strongly recommend to use dual channel throttle pedals''' and setting potmode to CanDual (or DualChannel if you choose to connect the throttle directly to the inverter). We also recommand to set up your throttle in a way that doesn't use the full range from 0-4095 but leaves at least 500 digit at either end (so 500-3600) to be able to detect cable issues between throttle and VCU (short to Vcc, loss of GND and other wire breaks)

Johu: Added start/stop commands

2026-01-19T22:25:08Z

Added start/stop commands

← Older revision		Revision as of 22:25, 19 January 2026
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	* Subindex 2 - MCU reset		* Subindex 2 - MCU reset
	* Subindex 3 - Load parameter defaults		* Subindex 3 - Load parameter defaults
			* Subindex 4 - Manuel start (sine firmware only)
			* Subindex 5 - Manual stop (inverter firmware only)

	== Limits ==		== Limits ==

Johu: /* SDO commands */

2024-02-17T16:40:04Z

SDO commands

← Older revision		Revision as of 16:40, 17 February 2024
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	After changing the map you have to send a flash save command to make your changes permanent. See commands below		After changing the map you have to send a flash save command to make your changes permanent. See commands below

	=== SDO commands ===		== SDO commands ==
	Write requests to SDO Index 0x5002 trigger various commands		Write requests to SDO Index 0x5002 trigger various commands

Line 236:		Line 236:
	* Subindex 3 - Load parameter defaults		* Subindex 3 - Load parameter defaults

	=== Limits ===		== Limits ==
	* A maximum of 10 messages can be defined		* A maximum of 10 messages can be defined
	* Per message a maximum of 8 values can be mapped (50 total over all messages in FW v5.27 and later)		* Per message a maximum of 8 values can be mapped (50 total over all messages in FW v5.27 and later)

Johu: Added more SDO objects

2024-02-17T16:39:15Z

Added more SDO objects

@@ Line 187: / Line 187: @@
 ** This is where in the 64 bit length of the CAN message the data should start.
 * Bits
-** How many bits are assigned to send the data.
+** How many bits are assigned to send the data. Negative numbers will yield big endian mapping
 * Gain
 ** This applies the internal scaling.  Pre FW v5.27 this is fixed point (integers only).  FW v5.27 and later is floating point (decimals allowed).
@@ Line 194: / Line 194: @@
 ** TX to tell the control board to transmit the data onto the CANBUS
 ** RX to tell the control board to expect to receive this data from the CANBUS
 === Limits ===
 * A maximum of 10 messages can be defined
 * Per message a maximum of 8 values can be mapped (50 total over all messages in FW v5.27 and later)
-* a value can not span across the 32-bit boundary, i.e. it must be fully contained in the first or second 32 bits of the message. E.g. "can tx udc 123 16 32 10" is not allowed
+* a value can not span across the 32-bit boundary, i.e. it must be fully contained in the first or second 32 bits of the message. E.g. "can tx udc 123 16 32 10" is not allowed (will change in later versions)
 * A value can span maximum 32 bits
@@ Line 204: / Line 245: @@
 CAN messages sent to, or received from the inverter are Little-endian.
-If you are sending or receiving messages containing multi-byte values then the byte order must be taken into account.
+If you are sending or receiving messages containing multi-byte values then the byte order must be taken into account. Upcoming versions of the CAN module will allow receiving big endian data.
 == PC Tool ==

Johu: /* Setting and reading parameters via SDO */

2023-09-14T17:09:39Z

Setting and reading parameters via SDO

@@ Line 42: / Line 42: @@
 == Controlling throttle via CAN - deprecated! ==
 If you want to send the throttle and regen magnitude commands via CAN rather then via analog inputs you have to set "potmode" to "CAN" (=2). Next you have to map a CAN message to pot and optionally pot2. So say you have a digital throttle that sends values from 0 to 1000 for 0 to 100% travel on CAN-Id 100 in the first two bytes.
 * Configure potmin=0 and potmax=1000
@@ Line 48: / Line 50: @@
 == Controlling Digital IO via CAN - deprecated ==
 signals, namely cruise, start, brake, forward, backward and bms can be controlled via CAN. The CAN message is ORed to the physical inputs so you can have mixed signals also. Digital CAN IO doesn't need to be explicitely configured, it works as soon as you map a CAN message to "canio". "canio" is bit-encoded:
 * Bit 0: cruise
@@ Line 102: / Line 106: @@
 |Value Index
 |Value x 32
 |-
 |Abort - invalid index

Johu: /* Inverter control via CAN - new! */

2023-09-14T16:29:03Z

Inverter control via CAN - new!

← Older revision		Revision as of 16:29, 14 September 2023
Line 39:		Line 39:
	canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.		canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.

	cancrc is an 8-bit CRC, the lowest byte of the STM32 integrated CRC32 generator. It spans over all 8 bytes where the crc byte is set to 0. If you're on a non-STM32 platform you can use this C-implementation<ref>https://github.com/jsphuebner/esp32-web-interface/blob/can-backend/src/oi_can.cpp#L191</ref>		cancrc is an 8-bit CRC, the lowest byte of the STM32 integrated CRC32 generator. It spans over all 8 bytes where the crc byte is set to 0. If you're on a non-STM32 platform you can use this C-implementation<ref>https://github.com/jsphuebner/esp32-web-interface/blob/can-backend/src/oi_can.cpp#L191</ref>. CRC checking is optional to remain compatible with "dumb" CAN converters. It can be disabled with parameter controlcheck=CounterOnly.

	== Controlling throttle via CAN - deprecated! ==		== Controlling throttle via CAN - deprecated! ==

Davefiddes: /* Inverter control via CAN - new! */ Fix a typo in the cruise bit field name

2023-08-01T10:05:12Z

Inverter control via CAN - new!: Fix a typo in the cruise bit field name

← Older revision		Revision as of 10:05, 1 August 2023
Line 19:		Line 19:
	* pot2[12:23]		* pot2[12:23]
	* canio[24:29]		* canio[24:29]
	** ~~cuise~~[24]		** cruise[24]
	** start[25]		** start[25]
	** brake[26]		** brake[26]

Johu: /* Inverter control via CAN - new! */

2023-07-25T10:55:30Z

Inverter control via CAN - new!

← Older revision		Revision as of 10:55, 25 July 2023
Line 39:		Line 39:
	canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.		canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.

	cancrc is an 8-bit CRC, the ~~last~~ byte of the STM32 integrated CRC32 generator. It spans over all 8 bytes where the crc byte is set to 0. If you're on a non-STM32 platform you can use this C-implementation<ref>https://github.com/jsphuebner/esp32-web-interface/blob/can-backend/src/oi_can.cpp#L191</ref>		cancrc is an 8-bit CRC, the lowest byte of the STM32 integrated CRC32 generator. It spans over all 8 bytes where the crc byte is set to 0. If you're on a non-STM32 platform you can use this C-implementation<ref>https://github.com/jsphuebner/esp32-web-interface/blob/can-backend/src/oi_can.cpp#L191</ref>

	== Controlling throttle via CAN - deprecated! ==		== Controlling throttle via CAN - deprecated! ==

Johu: /* Inverter control via CAN - new! */

2023-07-25T10:54:41Z

Inverter control via CAN - new!

← Older revision		Revision as of 10:54, 25 July 2023
Line 39:		Line 39:
	canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.		canrun1/2 are simple message counters that count from 0-3 and indicate that the message producer doesn't just send the same, stale, content over and over again.

	cancrc is an 8-bit CRC, the last byte of the STM32 integrated CRC32 generator.		cancrc is an 8-bit CRC, the last byte of the STM32 integrated CRC32 generator. It spans over all 8 bytes where the crc byte is set to 0. If you're on a non-STM32 platform you can use this C-implementation<ref>https://github.com/jsphuebner/esp32-web-interface/blob/can-backend/src/oi_can.cpp#L191</ref>

	== Controlling throttle via CAN - deprecated! ==		== Controlling throttle via CAN - deprecated! ==