CANopen Device Specifications

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)	Data Location	Data Length	Notes
AI-00	unsigned int16	TPDO5 (0x1C9)	byte 0-1	11 bits
AI-01	unsigned int16	TPDO5 (0x1C9)	byte 2-3	11 bits
AI-02	unsigned int16	TPDO5 (0x1C9)	byte 4-5	11 bits
DI-00	bool	TPDO5 (0x1C9)	byte 6, bit 0	1 bit	1 = button pressed
DI-01	bool	TPDO5 (0x1C9)	byte 6, bit 1	1 bit	1 = button pressed
DI-02	bool	TPDO5 (0x1C9)	byte 6, bit 2	1 bit	1 = button pressed
DI-03	bool	TPDO5 (0x1C9)	byte 6, bit 3	1 bit	1 = button pressed
DI-04	bool	TPDO5 (0x1C9)	byte 6, bit 4	1 bit	1 = button pressed
DI-05	bool	TPDO5 (0x1C9)	byte 6, bit 5	1 bit	1 = button pressed
DI-06	bool	TPDO5 (0x1C9)	byte 6, bit 6	1 bit	1 = button pressed
DI-07	bool	TPDO5 (0x1C9)	byte 6, bit 7	1 bit	1 = button pressed
DI-08	bool	TPDO5 (0x1C9)	byte 7, bit 0	1 bit	1 = button pressed
DI-09	bool	TPDO5 (0x1C9)	byte 7, bit 1	1 bit	1 = button pressed
DI-10	bool	TPDO5 (0x1C9)	byte 7, bit 2	1 bit	1 = button pressed
DI-11	bool	TPDO5 (0x1C9)	byte 7, bit 3	1 bit	1 = button pressed
DI-12	bool	TPDO5 (0x1C9)	byte 7, bit 4	1 bit	1 = button pressed
DI-13	bool	TPDO5 (0x1C9)	byte 7, bit 5	1 bit	1 = button pressed
DI-14	bool	TPDO5 (0x1C9)	byte 7, bit 6	1 bit	1 = button pressed
DI-15	bool	TPDO5 (0x1C9)	byte 7, bit 7	1 bit	1 = button pressed

Hardware Outputs

Label	Data Type	PDO (COB-ID)	Event 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	Data Location	Data Length	Notes
DI-00	bool	TPDO1 (0x183)	24 ms	byte 0, bit 0	1 bit	`1` = pedal pressed
DI-01	bool	TPDO1 (0x183)	24 ms	byte 0, bit 1	1 bit	`1` = pedal pressed
DI-02	bool	TPDO1 (0x183)	24 ms	byte 0, bit 2	1 bit	`1` = pedal pressed
DI-03	bool	TPDO1 (0x183)	24 ms	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