Robotino3 IO CAN
From RobotinoWiki
Contents
Info message
Length=8
| Byte | Description |
|---|---|
| 0-1 | Global time in seconds (LSB first). |
| 2-3 | Battery Voltage in milli Volts (LSB first). |
| 4 | Charging current in Ampere = value/100. |
| 5 | Temperature in °C of battery 1. |
| 6 | Temperature in °C of battery 2. |
| 7 | Charger state. |
Error message
Length=8
| Byte | Description |
|---|---|
| 0-1 | Global time in seconds (LSB first). |
| 2 | Error type. "Fatal system error" or "Charger error" |
| 3 | In case of "Fatal system error" this is the system error type. Otherwise it is the charger error type. |
| 4-5 | Error argument 0 (LSB first). |
| 6-7 | Error argument 0 (LSB first). |
Charger error arguments
| Charger error type | Meaning | ARG0 | ARG1 |
|---|---|---|---|
| TIMEOUT_ERROR | timeout occured | charger state that timed out | |
| MISSING_C10_ERROR | In stage2 volatage dropped below 28.5V | battery voltage in mV | |
| OVERVOLTAGE_ERROR | Battery voltage to high | battery voltage in mV | |
| NTC_MISMATCH_ERROR | only one NTC is connected | BAT1 temperatur reading raw ADC value | BAT2 temperatur reading raw ADC value |
| BAT1_OVERTEMP_ERROR | BAT1 to hot | BAT1 temperatur in °C | BAT2 temperatur in °C |
| BAT2_OVERTEMP_ERROR | BAT2 to hot | BAT1 temperatur in °C | BAT2 temperatur in °C |
| UNDERVOLTAGE_ERROR | Battery voltage to low | battery voltage in mV |
Version message
Length=3
| Byte | Description |
|---|---|
| 0 | Major version |
| 1 | Minor version |
| 2 | Patch version |
GetVersion message
Length=0
Reset message
Length=2
| Byte | Description |
|---|---|
| 0 | 0xAA |
| 1 | 0x55 |
