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CANopen Device Specifications

CANopen Device Specifications

Jan 11, 2023

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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



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