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Policumbent CAN Bus Documentation - Nodes and messages

List of nodes

Gearbox

The gearbox has two types of messages:

We divide them due to ID priority, giving GbError higher priority since the gearbox is the most critical ECU of our bikes.

GbError

  • GbError encodes the error diagnostics message type for the gearbox
  • ID: 0x222
  • DLC: 1

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
GbErrCode 0 3 1 0 0 7 - Gearbox error code
GbGear 3 5 1 0 0 16 - Current gear

GbData

  • GbData encodes the error diagnostics message type for the gearbox
  • ID: 0x422
  • DLC: 1

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
GbGear 0 5 1 0 0 16 - Current gear

Greta

Greta has two types of messages. Recall that it is present only on Cerberus.

GretaError

  • GretaError encodes the error message type for the gearbox receiver
  • ID: 0x221
  • DLC: 1

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
TimeOutError 0 1 1 0 0 1 - 1 if a receiver timeout has occurred

GretaData

  • GretaData encodes the data message type for the gearbox receiver
  • ID: 0x421
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
TelekBattery 0 7 1 0 0 100 % Battery percentage of Telekhambion
RxShifting 7 2 1 0 0 3 - Shifting information received from Telekhambion

Raspberry Pi

The Raspberry Pi has five types of messages:

BobSrmPower

  • BobSrmPower encodes the power computed by the on-board SRM Power Meter
  • ID: 0x441
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
SrmPower 0 16 0.1 0 0 1000 W Power read by SRM Power Meter

BobSrmCadence

  • BobSrmCadence encodes the pedals cadence computed by the on-board SRM Power Meter
  • ID: 0x442
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
SrmCadence 16 16 0.1 0 0 1000 rpm Cadence read by SRM Power Meter

BobHsSpeed

  • BobSRM encodes the data collected by the on-board velocity Hall Sensor
  • ID: 0x443
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
HsSpeed 0 16 0.01 0 0 200 km/h Speed computed by Hall Sensor

BobHsDisplacement

  • BobHsDisplacement encodes the pedals cadence computed by the on-board SRM Power Meter
  • ID: 0x444
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
HsDistance 16 16 1 0 0 9000 m Distance computed by Hall Sensor

BobHR

  • BobSRM encodes the data collected by the on-board velocity Hall Sensor
  • ID: 0x446
  • DLC: 1

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
HeartRate 0 8 1 0 0 250 bpm Heart rate received by Bob

DumBMS (1 and 2)

There could be two DumBMS Control Units on the bike (especially on Cerberus) and they have the same messages encoding (N stands for the Control Unit number):

DumbmsNError

  • DumbmsNError encodes the batteries undervoltage detection (if any)
  • ID 1: 0x280
  • ID 2: 0x2A0
  • DLC: 1

It encodes the following signal

Name Start Len Factor Offset Min Max Unit Comment
Bat0UnderVolt 0 1 1 0 0 1 - DumBMS LiPo undervoltage detected
Bat1UnderVolt 1 1 1 0 0 1 - 3S slot 1 undervoltage detected
Bat2UnderVolt 1 1 1 0 0 1 - 3S slot 2 undervoltage detected
Bat3UnderVolt 1 1 1 0 0 1 - 3S slot 3 undervoltage detected
Bat4UnderVolt 1 1 1 0 0 1 - 3S slot 4 undervoltage detected

DumbmsNData

  • DumbmsNData encodes the batteries voltages
  • ID 1: 0x480
  • ID 2: 0x4A0
  • DLC: 5
Name Start Len Factor Offset Min Max Unit Comment
Bat0Voltage 0 8 0.1 0 0 1 - DumBMS LiPo voltage
Bat1Voltage 8 8 0.1 0 0 1 - 3S slot 1 voltage
Bat2Voltage 16 8 0.1 0 0 1 - 3S slot 2 voltage
Bat3Voltage 24 8 0.1 0 0 1 - 3S slot 3 voltage
Bat4Voltage 32 8 0.1 0 0 1 - 3S slot 4 voltage

whereami

whereami has two types of messages:

whereamiData

  • whereamiData encodes the data gathered by the GNSS system and linearized with respect to the straight track
  • ID: 0x460
  • DLC: 4

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
Speed 0 16 0.01 0 0 200 km/h Parallel speed computed from GNSS data
Distance 16 16 1 0 0 20000 m Parallel distance computed from GNSS data

whereamiRawData

  • whereamiRawData encodes the raw data gathered by the GNSS
  • ID: 0x462
  • DLC: 4

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
RawSpeed 0 16 0.01 0 0 200 km/h Raw speed computed from GNSS data
RawDistance 16 16 1 0 0 20000 m Raw distance computed from GNSS data

whereamiCoords

  • whereamiCoords encodes the coordinates given by the GNSS system
  • ID: 0x464
  • DLC: 8

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
Latitude 0 32 0.000001 0 -90 90 ° Latitude given by GNSS
Longitude 32 32 0.000001 0 -180 180 ° Longitude given by GNSS

Notice: both the encoded signals are signed!

whereamiPosUncert

  • whereamiPosUncert encodes the position uncertainty computed by the GNSS system
  • ID: 0x468
  • DLC: 2

It encodes the following signals:

Name Start Len Factor Offset Min Max Unit Comment
PosUncertainty 0 16 0.01 0 0 100 m Position uncertainty computed by GNSS system