CAN Bus Settings

the following settings affect the operation of can bus on the micro drive units arinc custom node service offset description this will offset the service function codes (sfcs) of the custom hargrave node services the new sfc can be calculated by adding this offset to the defined sfc this setting should be used if there is a conflict of sfcs with an existing system id 0x0191 dronecan name arinc nsc offset units n/a arinc esc status 1 rate description set the output rate of the arinc 825 esc status 1 telemetry message id 0x009b dronecan name arinc stat1 hz units units are in hertz (hz) arinc esc status 2 rate description set the output rate of the arinc 825 esc status 2 telemetry message id 0x009c dronecan name arinc stat2 hz units units are in hertz (hz) arinc esc status 3 rate description set the output rate of the arinc 825 esc status 3 telemetry message id 0x009d dronecan name arinc stat3 hz units units are in hertz (hz) arinc fid description the arinc 825 functional code identifier (fid) of the device id 0x009f dronecan name arinc fid units n/a arinc phsm rate description set the output rate of the arinc 825 periodic health status message (phsm) id 0x009e dronecan name arinc phsm hz units units are in hertz (hz) arinc profile id description the number to the left of the decimal place of the arinc 825 profile id id 0x018c dronecan name arinc pf id units n/a arinc profile sub id description the number to the right of the decimal place of the arinc 825 profile id id 0x018d dronecan name arinc pf s id units n/a arinc sid description the arinc 825 server id (sid) of the device this should be unique for each device on the bus id 0x00a0 dronecan name arinc sid units n/a arinc tunnel fid description the fid of the hargrave configurator that the device will respond to for the arinc 825 hargrave protocol tunnel setting this fid to 0 will disable the hargrave protocol tunnel id 0x018e dronecan name arinc tunnel fid units n/a can bitrate description sets the can arbitration bitrate id 0x0084 dronecan name can bitrate units n/a value mappings 1 > 125kbps 2 > 250kbps 3 > 500kbps 4 > 800kbps 5 > 1mbps can protocol description the can protocol to use on the device can bus 'auto' will automatically detect which can protocol is in use based on traffic on the bus, this requires existing periodic traffic on the bus 'auto' is not recommended for use in final production vehicles id 0x009a dronecan name can protocol units n/a value mappings 0 > dronecan 1 > arinc 825 2 > auto can sample point description this setting defines at what point of a can bit time the high/low state of a bit is sampled different values may be required depending on what other devices are on the can bus id 0x01c8 dronecan name can sample point units n/a value mappings 1 > 40% 2 > 45% 3 > 50% 4 > 55% 5 > 60% 6 > 65% 7 > 70% 8 > 75% 9 > 80% 10 > 85% 11 > 90% 12 > 95% can signal priority description select the priority of the can throttle signal selecting primary will cause can to override other signals, selecting secondary will cause can to be used when the primary signal is not available setting to none will ignore can throttle signals id 0x0163 dronecan name can sig prio units n/a value mappings 0 > none 1 > primary 2 > secondary can terminator enable description enable the onboard can termination resistor defaults to off to keep the bus loading at optimum levels id 0x0076 dronecan name can term en units n/a dronecan allow configuration when armed description toggles if a dronecan param set or execute opcode request should be accepted by the unit when the unit is armed configuring the unit while armed will require a reboot before being able to drive allowing configuration while armed can be helpful during prototyping and if using serial signalling id 0x0179 dronecan name can cfg w armed units n/a dronecan arm log level description sets the log level at which 'armed' and 'disarmed' messages are emitted over dronecan id 0x0099 dronecan name can arm log lvl units n/a value mappings 0 > debug 1 > info 2 > warning 3 > error dronecan armed message timeout period description the timeout period where no armed message is present results in shutting down the output drive the drive will be resumed once the armed packet is present and the throttle is 0% id 0x0038 dronecan name arm msg timeout units units are in milliseconds (ms) dronecan console messages description toggle the output of debug text messages over dronecan disabling this setting may free up some bus utilisation id 0x0022 dronecan name dronecan cnsl en units n/a dronecan esc index description esc channel as per flight controller output number determines esc position within the system/aircraft id 0x001f dronecan name dronecan index units n/a dronecan extended telem rate description the rate at which (in hz) to transmit the extended dronecan telemetry message a rate of zero corresponds to no transmission id 0x0061 dronecan name can tel ext rate units units are in hertz (hz) dronecan force nodeid description ignore dna server and force the preferred id setting as the current node id utilised within can network id 0x0063 dronecan name force nodeid units n/a dronecan preferred node id description the id the esc will attempt to use to connect to the dna enabled network if already assigned, dna server will apply the next available node id a setting of 0 will automatically assign a node id id 0x0020 dronecan name dronecan nodeid units n/a dronecan require armed msg description require armed msg within timeout window to allow drive loss of armed results in unit disarming rearm behavior may follow zero throttle checks id 0x0036 dronecan name can arm chk en units n/a dronecan telem rate description the rate at which (in hz) to transmit the dronecan esc status telemetry message a rate of zero corresponds to no transmission id 0x0165 dronecan name can tel stat rte units units are in hertz (hz) dronecan use celsius description toggle units output over can telemetry between kelvin and celsius id 0x001c dronecan name can temp unit units n/a identify on dronecan beep command description when enabled any dronecan 1080 beepcommand message will cause the device to enter/leave the identify state when commanded to identify the device led will flash and the motor will beep to make it easy to identify the device when integrated into a vehicle id 0x01ed dronecan name id beep cmd units n/a