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CANopen Device Specifications
CANopen Device Specifications
- Marc Lievin
Owned by Marc Lievin
Nov 25, 2022
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The system supports the following CANopen devices:
HCMS8 Specification
This plug-in is developed for a joystick based on the HCMS8 controller.
| Specification Name | HCMS8 |
|---|---|
| Default Node ID | 0x49 |
| Communication Baudrate | 250 kbps |
| Data Byte Ordering | Little Endian |
PDO Mapping
| PDO | COB-ID | Data Segment Count | Data Segments |
|---|---|---|---|
| TPD01 | 0x183 | 1 | 8 |
Hardware Inputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| AI-00 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 0-1 | 11 bits | |
| AI-01 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 2-3 | 11 bits | |
| AI-02 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 4-5 | 11 bits | |
| DI-00 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 0 | 1 bit | 1 = button pressed |
| DI-01 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 1 | 1 bit | 1 = button pressed |
| DI-02 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 2 | 1 bit | 1 = button pressed |
| DI-03 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 3 | 1 bit | 1 = button pressed |
| DI-04 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 4 | 1 bit | 1 = button pressed |
| DI-05 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 5 | 1 bit | 1 = button pressed |
| DI-06 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 6 | 1 bit | 1 = button pressed |
| DI-07 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 7 | 1 bit | 1 = button pressed |
| DI-08 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 0 | 1 bit | 1 = button pressed |
| DI-09 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 1 | 1 bit | 1 = button pressed |
| DI-10 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 2 | 1 bit | 1 = button pressed |
| DI-11 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 3 | 1 bit | 1 = button pressed |
| DI-12 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 4 | 1 bit | 1 = button pressed |
| DI-13 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 5 | 1 bit | 1 = button pressed |
| DI-14 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 6 | 1 bit | 1 = button pressed |
| DI-15 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 7 | 1 bit | 1 = button pressed |
Hardware Outputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| DO-00 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 0 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-01 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 1 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-02 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 2 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-03 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 3 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-04 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 4 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-05 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 5 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-06 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 6 | 1 bit | 0 = Light Off 1 = Light On | |
| DO-07 | bool | RPDO1 (0x249) | 24 ms | byte 0, bit 7 | 1 bit | 0 = Light Off 1 = Light On | |
| Thumper (optional) | bool | RPDO2 (0x349) | byte 0, bit 2 | 1 bit | 0 = Vibrate Off 1 = Virbrate On |
Heartbeat
| Direction | Rate | Format | Notes |
|---|---|---|---|
| From | 250 ms | NMT status from node ID 49 | Standard NMT heartbeat should be sent every 250 ms. |
Software Extension
Extension name: HCMS8
Software Inputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Digital Input 1 | bool | DO-00 | true light is on |
| Digital Input 2 | bool | DO-01 | true light is on |
| Digital Input 3 | bool | DO-02 | true light is on |
| Digital Input 4 | bool | DO-03 | true light is on |
| Digital Input 5 | bool | DO-04 | true light is on |
| Digital Input 6 | bool | DO-05 | true light is on |
| Digital Input 7 | bool | DO-06 | true light is on |
| Digital Input 8 | bool | DO-07 | true light is on |
| Enable Thumper | Enable thumper, work with field thumper frequency | ||
| Thumper Frequency | double | Thumper | Bit is set at the given frequency when Enable Thumper is true |
Software Outputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Device Initialized | bool | Indicates the software is receiving updates from the hardware | |
| Axis 1 | unsigned int | AI-00 | Typically the forward axis, centered at 0x400 |
| Axis 2 | unsigned int | AI-01 | Typically the side axis, centered at 0x400 |
| Digital Output 1 | bool | DI-00 | true when the button is pressed |
| Digital Output 2 | bool | DI-01 | true when the button is pressed |
| Digital Output 3 | bool | DI-02 | true when the button is pressed |
| Digital Output 4 | bool | DI-03 | true when the button is pressed |
| Digital Output 5 | bool | DI-04 | true when the button is pressed |
| Digital Output 6 | bool | DI-05 | true when the button is pressed |
| Digital Output 7 | bool | DI-06 | true when the button is pressed |
| Digital Output 8 | bool | DI-07 | true when the button is pressed |
| Digital Output 9 | bool | DI-08 | true when the button is pressed |
| Digital Output 10 | bool | DI-09 | true when the button is pressed |
| Digital Output 11 | bool | DI-10 | true when the button is pressed |
| Digital Output 12 | bool | DI-11 | true when the button is pressed |
| Digital Output 13 | bool | DI-12 | true when the button is pressed |
| Digital Output 14 | bool | DI-13 | true when the button is pressed |
| Digital Output 15 | bool | DI-14 | true when the button is pressed |
| Digital Output 16 | bool | DI-15 | true when the button is pressed |
Parameters
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Nodes | Array | N/A | The device has a single node |
| 0. Node ID | 73 | When these controls come in pair, the left node is 73 (0x49) and the right is 72 (0x48) | |
| 0.NMT State | Varies | Indicates the current NMT state of the device |
Analog Foot Pedal Specification
The system supports the following types of analog foot pedals:
| Analog Pedal Type | Description |
|---|---|
| Bidirectional | Users can press the pedal forwards and backwards (two functions) |
| Unidirectional | Users can press the pedal forwards (single function) |
Note For information about foot pedals supplied with the Vortex Advantage hardware platform, see the specification for Vortex Advantage Steering Wheel and Pedals.
| Specification Name | OC13 |
|---|---|
| Default Node ID | 0x61 (unidirectional; 0x64 (bidirectional) |
| Communication Baudrate | 250 kbps |
| Data Byte Ordering | Little Endian |
PDO Mapping
| PDO | COB-ID | Data Segment Count | Data Segments |
|---|---|---|---|
| TPDO5 | 0x1E1 | 2 | 16, 8 |
Hardware Inputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| AI-00 | unsigned int16 | TPDO5 (0x1C9) | 24ms | 0 | byte 0-1 | 11 bits |
Heartbeat
| Direction | Rate | Format | Notes |
|---|---|---|---|
| From | 250 ms | NMT status from node ID 49 | Standard NMT heartbeat should be sent every 250 ms. |
Software Extension
Extension Name: Unidirectional Analog Pedal or Bidirectional Analog Pedal
Software Outputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Device Initialized | bool | Indicates the software is receiving updates from the hardware | |
| Pedal | unsigned int | AI-00 | Unidirectional: value at rest 100 Bidirectional: value at rest 1023 |
Parameters
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Nodes | Array | N/A | The device has a single node |
| 0. Node ID | 73 | Unidirectional: node ID 97 (0x61) Bidirectional: node ID100 (0x64) On a pedal board, additional pedals are typically at node ID 98 and 99 | |
| 0.NMT State | Varies | Indicates the current NMT state of the device |
Digital Pedal Specification
| Specification Name | IO-X1 |
|---|---|
| Default Node ID | 0x3 |
| Communication Baudrate | 250 kbps |
| Data Byte Ordering | Little Endian |
PDO Mapping
| PDO | COB-ID | Data Segment Count | Data Segments |
|---|---|---|---|
| TPDO1 | 0x183 | 1 | 8 |
Hardware Inputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| DI-00 | bool | TPDO1 (0x183) | 24 ms | 0 | byte 0, bit 0 | 1 bit | 1 = pedal pressed |
| DI-01 | bool | TPDO1 (0x183) | 24 ms | 0 | byte 0, bit 1 | 1 bit | 1 = pedal pressed |
| DI-02 | bool | TPDO1 (0x183) | 24 ms | 0 | byte 0, bit 2 | 1 bit | 1 = pedal pressed |
| DI-03 | bool | TPDO1 (0x183) | 24 ms | 0 | byte 0, bit 3 | 1 bit | 1 = pedal pressed |
Heartbeat
| Direction | Rate | Format | Notes |
|---|---|---|---|
| From | 250 ms | NMT status from node ID 3 | Standard NMT heartbeat should be sent every 250 ms. |
Software Extension
Extension Name: Unidirectional Analog Pedal or Bidirectional Analog Pedal
Software Outputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Device Initialized | bool | Indicates the software is receiving updates from the hardware | |
| Left | bool | DI-00 | true when pedal is pressed |
| Middle Left | bool | DI-01 | true when pedal is pressed |
| Middle Right | bool | DI-02 | true when pedal is pressed |
| Right | bool | DI-03 | true when pedal is pressed |
Parameters
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Nodes | Array | N/A | The device has a single node |
| 0. Node ID | 3 | ||
| 0.NMT State | Varies | Indicates the current NMT state of the device |
Vortex Advantage Steering and Pedal Specification
This plug-in is developed for the joystick which controls the steering and pedal functions on a Vortex Advantage training simulator. Both the pedals and steering wheel can be removed.
| Specification Name | Micromod |
|---|---|
| Default Node ID | 0x30 |
| Communication Baudrate | 250 kbps |
| Data Byte Ordering | Little Endian |
PDO Mapping
| PDO | COB-ID | Data Segment Count | Data Segments |
|---|---|---|---|
| TPDO1 | 0x1B0 | 1 | 8 |
| TPDO2 | 0x2B0 | 4 | 16, 16, 16, 16 |
| TPDO3 | 0x3B0 | 4 | 16, 16, 16, 16 |
| RPDO2 | 0x330 | 4 | 16, 16, 16, 16 |
Hardware Inputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| DI-00 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 0 | 1 bit | 1 = button pressed, mapped to Gear III |
| DI-01 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 1 | 1 bit | 1 = button pressed, mapped to Neutral |
| DI-02 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 2 | 1 bit | 1 = button pressed, mapped to Gear II |
| DI-03 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 3 | 1 bit | 1 = button pressed, mapped to Reverse |
| DI-04 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 4 | 1 bit | 1 = button pressed, mapped to Forward |
| DI-05 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 5 | 1 bit | 1 = button pressed, mapped to Gear I |
| DI-06 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 6 | 1 bit | 1= button pressed, mapped to right horn |
| DI-07 | bool | TPDO1 (0x1B0) | 24 ms | 0 | byte 0, bit 7 | 1 bit | 1 = button pressed, mapped to Gear IV |
| AI-00 | unsigned int 16 | TPDO2 (0x2B0) | byte 0-1 | 10 bits | Pedal pressed, Left | ||
| AI-01 | unsigned int 16 | TPDO2 (0x2B0) | byte 2-3 | 10 bits | Pedal pressed, Middle Left | ||
| AI-02 | unsigned int 16 | TPDO2 (0x2B0) | byte 4-5 | 10 bits | Pedal pressed, Middle Right | ||
| AI-03 | unsigned int 16 | TPDO2 (0x2B0) | byte 6-7 | 10 bits | Pedal pressed, Right | ||
| AI-04 | unsigned int 16 | TPDO3 (0x3B0) | byte 0-1 | 10 bits | Steering Angle 1 0-1024 maps to 0 - 2pi | ||
| AI-05 | unsigned int 16 | TPDO3 (0x3B0) | byte 2-3 | 10 bits | Steering Angle 2 0-1024 maps to pi - 3pi | ||
| AI-06 | unsigned int 16 | TPDO3 (0x3B0) | byte 4-5 | 10 bits | Digital Turn signal to Analog, value above 0xFF is considered activated | ||
| AI-07 | unsigned int 16 | TPDO3 (0x3B0) | byte 6-7 | 10 bits | Digital Turn signal to Analog, value above 0xFF is considered activated |
Hardware Outputs
| Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
| AO-00 | unsigned int 16 | RPDO2 (0x330) | byte 6-7 | 10 bit | Wheel stiffness, 0 is free wheel, 0x3FF is almost locked |
Heartbeat
| Direction | Rate | Format | Notes |
|---|---|---|---|
| From | 250 ms | NMT status from node ID 30 | Standard NMT heartbeat should be sent every 250 ms. |
Software Extension
Extension name: VxAdvantage Steering Wheel and Pedals
Software Inputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Steering Stiffness | int | AO-00 | Range 0 - 1023, where 1023 is stiff |
Software Outputs
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Device Initialized | bool | Indicates the software is receiving updates from the hardware | |
| Gear I | bool | DI-05 | true when the Gear indicator is at position I. The default value is true. |
| Gear II | bool | DI-02 | true when the Gear indicator is at position II. The default value is false. |
| Gear III | bool | DI-00 | true when the Gear indicator is at position III. The default value is false. |
| Gear IV | bool | DI-07 | true when the Gear indicator is at position IV. The default value is false. |
| Forward | bool | DI-04 | true when the lever in the Forward position. The default value is false. |
| Neutral | bool | DI-03 | true when the lever is in the Neutral position. The default value is true. |
| Reverse | bool | DI-01 | true when the lever is in the Reverse position. The default value is false. |
| Right Horn | bool | DI-06 | true when the right horn button is pressed. The default value is false. |
| Left Pedal | int | AI-00 | Pedal position, between 0 - 1023, default value is 0 |
| Middle Left Pedal | int | AI-01 | Pedal position, between 0 - 1023, default value is 0 |
| Middle Right Left Pedal | int | AI-02 | Pedal position, between 0 - 1023, default value is 0 |
| Right Pedal | int | AI-03 | Pedal position, between 0 - 1023, default value is 0 |
| Wheel Angle | int | AI-04/AI-05 | Returns an angle between 0 and 2 pi from an algorithm based on previous value and position in both angle ramps, default value is 0 |
| Turn Signal Left | bool | AI-06 | true when the turn signal left is activated. The default value is false. |
| Turn Signal Right | bool | AI-07 | true when the turn signal right is activated. The default value is false. |
Parameters
| Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
| Nodes | Array | N/A | The device has a single node |
| 0. Node ID | 48 | Hexadecimal value is 0x30 | |
| 0.NMT State | Varies | Indicates the current NMT state of the device |
, multiple selections available,
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