CAN Bus Settings

The following settings affect the operation of CAN Bus on nanoDRIVE 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

Battery Circuit Status Telem Rate

Description	The rate at which to transmit the DroneCAN Circuit Status message for the battery input circuit. A rate of zero corresponds with no transmission. This setting only affects units equipped with a battery input sensor.
ID	0x0161
DroneCAN Name	BATT_TLM_FREQ
Units	Units are in Hz (Hertz)

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

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 Base ID

Description	The base preferred node ID that each ESC will enumerate from based on its device index. On a 4in1 unit if the base ID is set to 100, ESC 1 will prefer node ID 100 and ESC 4 will prefer node ID 103. The preferred node ID is the ID the ESC will attempt to use to connect to the DNA-enabled network.
ID	0x0091
DroneCAN Name	DRONECAN_BASEID
Units	N/A

DroneCAN Battery Circuit ID

Description	The ID to assign to the 'circuit_id' field in the DroneCAN Circuit Status telemetry message for the battery circuit. This setting only affects units equipped with a battery input sensor.
ID	0x0162
DroneCAN Name	BATT_TLM_CIRC_ID
Units	N/A

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 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

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