CAN Output

 Top  Previous 

The Traction Control can output CAN packets for datalogging or other use.  This is available from the CANL and CANH pins on the connector.

 

Format: 11 bit, 500 kbps, big-endian

Speed: 100 Hz, cycling through the packets

 

ID

Description

Data

Conversion

0x680

Wheel speeds

LF (16 bits)

RF (16 bits)

LR (8 bits)

RR (8 bits)

Note 1

0x681

Slip

Target slip (16 bits)

Over slip (16 bits)

Over slip smoothed (16 bits)

ECU output (8 bits)

Flags (8 bits)

Note 2

Note 3

Note 2

volts / 5 * 256, lsb=5/256v

Note 4

 

 

Note 1 (wheel speeds)

Wheel speed conversion = speed (kph) * 10, lsb=0.1 kph, offset = 0

eg 0x0B 0x6F = 29.27 kph

 

Note 2 (target slip, over slip smoothed)

percentage * 100, lsb=0.01%, offset 0

eg 0x02 0x58 = 6.00 %

 

Note 3 (over slip)

percentage * 100, lsb=0.01%, offset 10000

eg 0x27 0x10 = 0%, 0x26 0xAA = -1.02%, 0x29 0x02 = 4.98%

 

Note 4 (flags)

bit 0 = error

bit 1 = traction control active

bits 2-7 unused