CiA Draft Standard Proposal 447

Transcription

1 CiA Draft Standard Proposal 447 Application profile for special-purpose car add-on devices Part 4: Pre-defined s and This DSP is for CiA members only and may be changed without notification. Version: May 2008 CAN in Automation (CiA) e. V.

2 HISTORY Date Changes Publication of version 1.0 as draft standard proposal General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification as is without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. Trademarks CANopen and CiA are registered community trademarks of CAN in Automation. The use is restricted for CiA members or owners of CANopen vendor ID. More detailed terms for the use are available from CiA. CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumanzgarten 3 DE Nuremberg, Germany Tel.: Fax: Url: headquarters@can-cia.org 2 CiA 2008 All rights reserved

3 CONTENTS 1 Scope Normative references Definitions and abbreviations Definitions Abbreviations Communication parameters Introduction SDO communication Basic principles SDO assignment Unified diagnostic services and ISO-TP Basic principles assignment for UDS and ISO-TP PDO communication Basic principles PDO parameters PDO mapping parameters...17 Annex A - Calculation of s (informative)...21 A.1 Calculation of s for SDO communication...21 A.2 Calculation of s for ISO-TP access to car resources...21 A.3 Calculation of s for PDO communication...21 CiA 2008 All rights reserved 3

4 1 Scope This CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions Part 2: Virtual device definition Part 3: Detailed process data specification Part 4: Pre-defined s and This part specifies the pre-defined. 2 Normative references /CiA447-1/ CiA 447, CANopen application profile for special-purpose car add-on devices Part 1: General definitions The normative references given in /CiA447-1/ apply for this specification, too. 3 Definitions and abbreviations 3.1 Definitions The definitions given in /CiA447-1/ apply to this specification, too. 3.2 Abbreviations The abbreviations given in /CiA447-1/ apply to this specification, too. 4 Communication parameters 4.1 Introduction This clause defines the set of communication principles specific for this profile. For those the pre-defined s of /CiA301/ shall not be valid. For all communication services not covered in chapter 4 such as default SDO s, NMT functionality, Emergency message and Heartbeat functionality the pre-defined s of /CiA301/ shall be valid, but reduced by using the node-ids 1 to SDO communication Basic principles The SDO services are used to realize the full meshed SDO communication. Therefore every car add-on device shall provide 15 SDO servers and may provide 1 to 15 SDO clients. Diagnostic testers or other tools shall apply the rules of the distribution. For this they shall have a node-id. The node-id may be assigned via LSS FastScan procedure (see /CiA305/) or by setting a fixed free node-id. It is recommended to assign node-ids starting from 2 and ascending for car add-on CANopen devices and tools to use node-ids starting with 16 and descending. In a network with 16 installed devices no further tool may be attached. NOTE: It has to be considered that for devices of category LSS-ID the SSDO parameters, CSDO parameters and PDO parameters are calculated after the node-id assignment. After the calculation these parameters are stored in RAM of the device. 4 CiA 2008 All rights reserved

5 The used s for full meshed SDO communication are specified in clause SDO assignment Table 1 and Table 2 specify the s that shall be used for SDO communication services. The SDO parameter entries 12XX h shall be implemented with access type ro (read only). The s for SDO communication were calculated by means of structure and formula as given in annex A (informative). Table 1 SDO s for request client (C) to server (S) Node-ID S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12 S13 S14 S15 S16 C1-241 h 242 h 243 h 244 h 245 h 246 h 247 h 248 h 249 h 24A h 24B h 24C h 24D h 24E h 24F h C2 250 h h 253 h 254 h 255 h 256 h 257 h 258 h 259 h 25A h 25B h 25C h 25D h 25E h 25F h C3 260 h 261 h h 264 h 265 h 266 h 267 h 268 h 269 h 26A h 26B h 26C h 26D h 26E h 26F h C4 270 h 271 h 272 h h 275 h 276 h 277 h 278 h 279 h 27A h 27B h 27C h 27D h 27E h 27F h C5 340 h 341 h 342 h 343 h h 346 h 347 h 348 h 349 h 34A h 34B h 34C h 34D h 34E h 34F h C6 350 h 351 h 352 h 353 h 354 h h 357 h 358 h 359 h 35A h 35B h 35C h 35D h 35E h 35F h C7 360 h 361 h 362 h 363 h 364 h 365 h h 368 h 369 h 36A h 36B h 36C h 36D h 36E h 36F h C8 370 h 371 h 372 h 373 h 374 h 375 h 376 h h 379 h 37A h 37B h 37C h 37D h 37E h 37F h C9 440 h 441 h 442 h 443 h 444 h 445 h 446 h 447 h h 44A h 44B h 44C h 44D h 44E h 44F h C h 451 h 452 h 453 h 454 h 455 h 456 h 457 h 458 h - 45A h 45B h 45C h 45D h 45E h 45F h C h 461 h 462 h 463 h 464 h 465 h 466 h 467 h 468 h 469 h - 46B h 46C h 46D h 46E h 46F h C h 471 h 472 h 473 h 474 h 475 h 476 h 477 h 478 h 479 h 47A h - 47C h 47D h 47E h 47F h C h 541 h 542 h 543 h 544 h 545 h 546 h 547 h 548 h 549 h 54A h 54B h - 54D h 54E h 54F h C h 551 h 552 h 553 h 554 h 555 h 556 h 557 h 558 h 559 h 55A h 55B h 55C h - 55E h 55F h C h 561 h 562 h 563 h 564 h 565 h 566 h 567 h 568 h 569 h 56A h 56B h 56C h 56D h - 56F h C h 571 h 572 h 573 h 574 h 575 h 576 h 577 h 578 h 579 h 57A h 57B h 57C h 57D h 57E h - Table 2 SDO s for response server (S) to client (C) Node-ID S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12 S13 S14 S15 S16 C1-1C1 h 1C2 h 1C3 h 1C4 h 1C5 h 1C6 h 1C7 h 1C8 h 1C9 h 1CA h 1CB h 1CC h 1CD h 1CE h 1CF h C2 1D0 h - 1D2 h 1D3 h 1D4 h 1D5 h 1D6 h 1D7 h 1D8 h 1D9 h 1DA h 1DB h 1DC h 1DD h 1DE h 1DF h C3 1E0 h 1E1 h - 1E3 h 1E4 h 1E5 h 1E6 h 1E7 h 1E8 h 1E9 h 1EA h 1EB h 1EC h 1ED h 1EE h 1EF h C4 1F0 h 1F1 h 1F2 h - 1F4 h 1F5 h 1F6 h 1F7 h 1F8 h 1F9 h 1FA h 1FB h 1FC h 1FD h 1FE h 1FF h C5 2C0 h 2C1 h 2C2 h 2C3 h - 2C5 h 2C6 h 2C7 h 2C8 h 2C9 h 2CA h 2CB h 2CC h 2CD h 2CE h 2CF h C6 2D0 h 2D1 h 2D2 h 2D3 h 2D4 h - 2D6 h 2D7 h 2D8 h 2D9 h 2DA h 2DB h 2DC h 2DD h 2DE h 2DF h C7 2E0 h 2E1 h 2E2 h 2E3 h 2E4 h 2E5 h - 2E7 h 2E8 h 2E9 h 2EA h 2EB h 2EC h 2ED h 2EE h 2EF h C8 2F0 h 2F1 h 2F2 h 2F3 h 2F4 h 2F5 h 2F6 h - 2F8 h 2F9 h 2FA h 2FB h 2FC h 2FD h 2FE h 2FF h C9 3C0 h 3C1 h 3C2 h 3C3 h 3C4 h 3C5 h 3C6 h 3C7 h - 3C9 h 3CA h 3CB h 3CC h 3CD h 3CE h 3CF h C10 3D0 h 3D1 h 3D2 h 3D3 h 3D4 h 3D5 h 3D6 h 3D7 h 3D8 h - 3DA h 3DB h 3DC h 3DD h 3DE h 3DF h C11 3E0 h 3E1 h 3E2 h 3E3 h 3E4 h 3E5 h 3E6 h 3E7 h 3E8 h 3E9 h - 3EB h 3EC h 3ED h 3EE h 3EF h C12 3F0 h 3F1 h 3F2 h 3F3 h 3F4 h 3F5 h 3F6 h 3F7 h 3F8 h 3F9 h 3FA h - 3FC h 3FD h 3FE h 3FF h C13 4C0 h 4C1 h 4C2 h 4C3 h 4C4 h 4C5 h 4C6 h 4C7 h 4C8 h 4C9 h 4CA h 4CB h - 4CD h 4CE h 4CF h C14 4D0 h 4D1 h 4D2 h 4D3 h 4D4 h 4D5 h 4D6 h 4D7 h 4D8 h 4D9 h 4DA h 4DB h 4DC h - 4DE h 4DF h C15 4E0 h 4E1 h 4E2 h 4E3 h 4E4 h 4E5 h 4E6 h 4E7 h 4E8 h 4E9 h 4EA h 4EB h 4EC h 4ED h - 4EF h C16 4F0 h 4F1 h 4F2 h 4F3 h 4F4 h 4F5 h 4F6 h 4F7 h 4F8 h 4F9 h 4FA h 4FB h 4FC h 4FD h 4FE h - CiA 2008 All rights reserved 5

6 4.3 Unified diagnostic services and ISO-TP Basic principles For diagnostic services each car add-on device shall implement the objects 1000 h, 1001 h, 1003 h, 1018 h sub-indices 00 h to 04 h and 6000 h inclusive all sub-indices. For extended diagnostic functions each device may implement services according to /ISO / (UDS). The used communication protocol then shall be /ISO / (ISO-TP). The data content shall be according to /ISO / and /ISO /. The used s are specified in clause For enhanced functionality on accessing car-specific resources like the vehicle display the car add-on devices may implement a communication channel from the requesting device to the IVN gateway using /ISO /. The data content structure shall be according to /ISO / and is not specified in this profile. The used s are specified in clause assignment for UDS and ISO-TP Table 3 specifies the s that shall be used for diagnostic communication using /ISO / (UDS) and /ISO / (ISO-TP). Table 4 specifies the s that shall be used for communication to car resources using /ISO /. The s for ISO-TP access to car resources were calculated by means of the formula as given in annex A (informative). Table 3 s for usage of UDS Usage for functional addressing (broadcast) for diagnostic channel from IVN gateway to node 2 for diagnostic channel from IVN gateway to node 3 to for diagnostic channel from IVN gateway to node h 781 h 782 h to 78F h for diagnostic channel from node 2 to IVN gateway for diagnostic channel from node 3 to IVN gateway to for diagnostic channel from node 16 to IVN gateway 791 h 792 h to 79F h Table 4 s for ISO-TP access to car resources Node-ID To IVN gateway 251 h 262 h 273 h 344 h 355 h 366 h 377 h 448 h 459 h 46A h 47B h 54C h 55D h 56E h 57F h From IVN gateway 1D1 h 1E2 h 1F3 h 2C4 h 2D5 h 2E6 h 2F7 h 3C8 h 3D9 h 3EA h 3FB h 4CC h 4DD h 4EE h 4FF h 4.4 PDO communication Basic principles This application profile specifies the PDO communication between the virtual devices. If virtual devices are implemented in the very same CANopen device, they may exchange the process data locally not using the CANopen network. The PDO parameters of RPDOs are located in the object dictionary starting with the index 1400 h (communication parameters) and 1600 h (mapping parameters). The explicit assignment 6 CiA 2008 All rights reserved

7 of a dedicated RPDO to a pre-defined virtual device is not specified. The RPDO parameters shall be supported for each activated RPDO. The RPDO mapping parameters shall match to the mapping of the corresponding TPDO. NOTE: Be aware that the adjustment of s for the RPDOs takes place during the start-up phase of the network. While this phase a CANopen device gathers information about virtual devices located on other CANopen devices. Based on this information the activation of the corresponding RPDO may occur. If several functional clients of the same type are located in one CANopen device, the data of the additional functional clients shall be located in the manufacturer-specific area (2000 h to 5FFF h ) of the object dictionary. The local application takes care of assigning this data to the related functional client. The RPDO mapping parameters shall reflect this special configuration case. The value definitions of object and entry descriptions for PDO communication and mapping parameters are given in /CiA301/. The sub-index 04 h of the PDO communication parameter is reserved for compatibility reasons. Sub-index 02 h (transmission type) shall be 255. TPDOs with transmission type of 255 shall be sent immediately after transition into NMT operational state or if one of the mapped process data changes its value. RPDOs with transmission type of 255 shall update the mapped objects immediately. If a PDO is supported, all objects mapped in this PDO shall be supported in the object dictionary. The virtual device IVN gateway (function group car body electronics, light and signaling and power train) exists only once in the network and shall be always implemented in the physical device with node-id 1. Therefore the COB-IDs of PDOs transmitted from this virtual device are set to fix values. Other virtual devices may be implemented in multiple physical devices. Several virtual devices of the same type shall not be implemented in one physical CANopen device PDO parameters In the following the PDO communication and mapping parameter attributes are specified. For all PDO communication and mapping parameters the access attribute shall be set to ro (read only). Table 5 specifies the communication and mapping parameter objects that shall be used by certain virtual devices. For differentiation of virtual devices, a (virtual device function group) as specified in Table 5 is assigned. The is different from the bit identifying certain virtual devices in virtual device support (object 6000 h ). Table 5 Assignment of PDOs to virtual devices Virtual device Objects used for PDO definition 18XX h (TPDO communication parameter) 1AXX h (TPDO mapping parameter) 0 Car body electronics (IVN gateway) 1 Power train, Light and signaling (IVN gateway) 1800 h to 180F h, 1A00 h to 1A0F h 1810 h to 181F h, 1A10 h to 1A1F h 2 Radio hand-free conversation 1840 h, 1A40 h 3 Blue light flasher module 1841 h, 1A41 h 4 Driver identification 1842 h, 1A42 h 5 Emergency fresh-air system 1843 h, 1A43 h 6 Fire extinguishing system 1844 h, 1A44 h CiA 2008 All rights reserved 7

8 Virtual device Objects used for PDO definition 18XX h (TPDO communication parameter) 1AXX h (TPDO mapping parameter) 7 GPS 1845 h, 1A45 h 8 Taxi alarm system 1846 h, 1A46 h 9 Printer 1847 h, 1A47 h 10 Roof bar light 1848 h, 1A48 h 11 Roof bar light 1849 h, 1A49 h 12 Roof bar light 184A h, 1A4A h 13 Roof bar sound 184B h, 1A4B h 14 Tariff display 184C h, 1A4C h 15 Tariff display 184D h, 1A4D h 16 Discrete inputs 184E h, 1A4E h 17 Taximeter 184F h, 1A4F h 18 Terminal 1850 h, 1A50 h 19 Terminal 1851 h, 1A51 h 20 Radio 1852 h, 1A52 h 21 Power supply 1853 h, 1A53 h 22 to 31 Reserved 1854 h to 185D h, 1A54 h to 1A5D h Table 6 specifies the value range and default value of the PDO communication parameter entries sub-index 01 h (COB-ID). The node-id and the shall apply to the corresponding functional server (transmitter of the source signal). All implemented PDOs shall be valid. The usage of CAN remote frames is not allowed. The s for PDO communication as given in Table 6 were calculated by means of CAN- ID structure and formula as given in annex A (informative). Table 6 Assignment of COB-IDs to PDOs Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 180 h h h 200 h h h 280 h h h 300 h h h 380 h h h 400 h h h 480 h h h 500 h h h 1A0 h A0 h h 220 h h A h 2A0 h A0 h B h 320 h h C h 3A0 h A0 h D h 420 h h E h 4A0 h A0 h F h 520 h h h 181 h h 8 CiA 2008 All rights reserved

9 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 201 h h h 281 h h h 301 h h h 381 h h h 401 h h h 481 h h h 501 h h h 1A1 h A1 h h 221 h h A h 2A1 h A1 h B h 321 h h C h 3A1 h A1 h D h 421 h h E h 4A1 h A1 h F h 521 h h h 182 h h h 183 h h h 184 h h h 185 h h h 186 h h h 187 h h h 188 h h h 189 h h h 18A h A h h 18B h B h A h 18C h C h B h 18D h D h C h 18E h E h D h 18F h F h E h 190 h h F h 191 h h h 192 h h h 193 h h h 194 h h h 195 h h 1 22 to h to 185D h 196 h to 19F h h to F h h 202 h h h 203 h h h 204 h h h 205 h h h 206 h h CiA 2008 All rights reserved 9

10 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 207 h h h 208 h h h 209 h h h 20A h A h h 20B h B h A h 20C h C h B h 20D h D h C h 20E h E h D h 20F h F h E h 210 h h F h 211 h h h 212 h h h 213 h h h 214 h h h 215 h h 2 22 to h to 185D h 216 h to 21F h h to F h h 282 h h h 283 h h h 284 h h h 285 h h h 286 h h h 287 h h h 288 h h h 289 h h h 28A h A h h 28B h B h A h 28C h C h B h 28D h D h C h 28E h E h D h 28F h F h E h 290 h h F h 291 h h h 292 h h h 293 h h h 294 h h h 295 h h 3 22 to h to 185D h 296 h to 29F h h to F h h 302 h h h 303 h h h 304 h h 10 CiA 2008 All rights reserved

11 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 305 h h h 306 h h h 307 h h h 308 h h h 309 h h h 30A h A h h 30B h B h A h 30C h C h B h 30D h D h C h 30E h E h D h 30F h F h E h 310 h h F h 311 h h h 312 h h h 313 h h h 314 h h h 315 h h 4 22 to h to 185D h 316 h to 31F h h to F h h 382 h h h 383 h h h 384 h h h 385 h h h 386 h h h 387 h h h 388 h h h 389 h h h 38A h A h h 38B h B h A h 38C h C h B h 38D h D h C h 38E h E h D h 38F h F h E h 390 h h F h 391 h h h 392 h h h 393 h h h 394 h h h 395 h h 5 22 to h to 185D h 396 h to 39F h h to F h h 402 h h CiA 2008 All rights reserved 11

12 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 403 h h h 404 h h h 405 h h h 406 h h h 407 h h h 408 h h h 409 h h h 40A h A h h 40B h B h A h 40C h C h B h 40D h D h C h 40E h E h D h 40F h F h E h 410 h h F h 411 h h h 412 h h h 413 h h h 414 h h h 415 h h 6 22 to h to 185D h 416 h to 41F h h to F h h 482 h h h 483 h h h 484 h h h 485 h h h 486 h h h 487 h h h 488 h h h 489 h h h 48A h A h h 48B h B h A h 48C h C h B h 48D h D h C h 48E h E h D h 48F h F h E h 490 h h F h 491 h h h 492 h h h 493 h h h 494 h h h 495 h h 7 22 to h to 185D h 496 h to 49F h h to F h 12 CiA 2008 All rights reserved

13 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 502 h h h 503 h h h 504 h h h 505 h h h 506 h h h 507 h h h 508 h h h 509 h h h 50A h A h h 50B h B h A h 50C h C h B h 50D h D h C h 50E h E h D h 50F h F h E h 510 h h F h 511 h h h 512 h h h 513 h h h 514 h h h 515 h h 8 22 to h to 185D h 516 h to 51F h h to F h h 1A2 h A2 h h 1A3 h A3 h h 1A4 h A4 h h 1A5 h A5 h h 1A6 h A6 h h 1A7 h A7 h h 1A8 h A8 h h 1A9 h A9 h h 1AA h AA h h 1AB h AB h A h 1AC h AC h B h 1AD h AD h C h 1AE h AE h D h 1AF h AF h E h 1B0 h B0 h F h 1B1 h B1 h h 1B2 h B2 h h 1B3 h B3 h h 1B4 h B4 h CiA 2008 All rights reserved 13

14 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 1B5 h B5 h 9 22 to h to 185D h 1B6 h to 1BF h B6 h to BF h h 222 h h h 223 h h h 224 h h h 225 h h h 226 h h h 227 h h h 228 h h h 229 h h h 22A h A h h 22B h B h A h 22C h C h B h 22D h D h C h 22E h E h D h 22F h F h E h 230 h h F h 231 h h h 232 h h h 233 h h h 234 h h h 235 h h to h to 185D h 236 h to 23F h h to F h h 2A2 h A2 h h 2A3 h A3 h h 2A4 h A4 h h 2A5 h A5 h h 2A6 h A6 h h 2A7 h A7 h h 2A8 h A8 h h 2A9 h A9 h h 2AA h AA h h 2AB h AB h A h 2AC h AC h B h 2AD h AD h C h 2AE h AE h D h 2AF h AF h E h 2B0 h B0 h F h 2B1 h B1 h h 2B2 h B2 h 14 CiA 2008 All rights reserved

15 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID h 2B3 h B3 h h 2B4 h B4 h h 2B5 h B5 h to h to 185D h 2B6 h to 2BF h B6 h to BF h h 322 h h h 323 h h h 324 h h h 325 h h h 326 h h h 327 h h h 328 h h h 329 h h h 32A h A h h 32B h B h A h 32C h C h B h 32D h D h C h 32E h E h D h 32F h F h E h 330 h h F h 331 h h h 332 h h h 333 h h h 334 h h h 335 h h to h to 185D h 336 h to 33F h h to F h h 3A2 h A2 h h 3A3 h A3 h h 3A4 h A4 h h 3A5 h A5 h h 3A6 h A6 h h 3A7 h A7 h h 3A8 h A8 h h 3A9 h A9 h h 3AA h AA h h 3AB h AB h A h 3AC h AC h B h 3AD h AD h C h 3AE h AE h D h 3AF h AF h E h 3B0 h B0 h CiA 2008 All rights reserved 15

16 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID F h 3B1 h B1 h h 3B2 h B2 h h 3B3 h B3 h h 3B4 h B4 h h 3B5 h B5 h to h to 185D h 3B6 h to 3BF h B6 h to BF h h 422 h h h 423 h h h 424 h h h 425 h h h 426 h h h 427 h h h 428 h h h 429 h h h 42A h A h h 42B h B h A h 42C h C h B h 42D h D h C h 42E h E h D h 42F h F h E h 430 h h F h 431 h h h 432 h h h 433 h h h 434 h h h 435 h h to h to 185D h 436 h to 43F h h to F h h 4A2 h A2 h h 4A3 h A3 h h 4A4 h A4 h h 4A5 h A5 h h 4A6 h A6 h h 4A7 h A7 h h 4A8 h A8 h h 4A9 h A9 h h 4AA h AA h h 4AB h AB h A h 4AC h AC h B h 4AD h AD h C h 4AE h AE h 16 CiA 2008 All rights reserved

17 Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID D h 4AF h AF h E h 4B0 h B0 h F h 4B1 h B1 h h 4B2 h B2 h h 4B3 h B3 h h 4B4 h B4 h h 4B5 h B5 h to h to 185D h 4B6 h to 4BF h B6 h to BF h h 522 h h h 523 h h h 524 h h h 525 h h h 526 h h h 527 h h h 528 h h h 529 h h h 52A h A h h 52B h B h A h 52C h C h B h 52D h D h C h 52E h E h D h 52F h F h E h 530 h h F h 531 h h h 532 h h h 533 h h h 534 h h h 535 h h to h to 185D h 536 h to 53F h h to F h Table 7 specifies the value range and default value of the PDO communication parameter entries with sub-index 03 h (inhibit time) and 05 h (event timer) for specific TPDOs. The value range and default value in sub-index 03 h (inhibit time) and 05 h (event timer) for all other TPDOs shall be set to 0 h. Table 7 Inhibit time and event timer for specific TPDOs Index Inhibit time Event timer 1800 h 1000 (= 100 ms) 100 (= 100 ms) 1810 h 1000 (= 100 ms) 100 (= 100 ms) 1845 h (= 1 s) 0 (no timer) PDO mapping parameters In the following the PDO mapping parameters and attributes are specified. CiA 2008 All rights reserved 17

18 For all PDO mapping parameters the access attribute shall be set to const (constant). The field value in Table 8 specifies the value range and the default value of the PDO mapping entries. Table 8 PDO mapping Index Sub-Index Value Description 1A00 h 00 h 01 h 01 h h Ignition switch status 1A01 h 00 h 03 h 01 h h Car flap status 02 h h Switch illumination level status 03 h 601A h Wiper system status 1A02 h 00 h 01 h 01 h h Tester present 1A03 h 00 h 03 h 01 h h Occupant classification status 02 h h Buckle switch status 03 h h Central locking system status 1A04 h 00 h 04 h 01 h 600B h Window status 02 h 600D h Door status 03 h 601D h Turn Indicator reset status 04 h h Day/night detection 1A05 h 00 h 02 h 01 h h Seat adjustment status (sub-index 01 h: driver) 02 h h Seat adjustment status (sub-index 01 h: passenger) 1A06 h 00 h 01 h 01 h h Accident detection 1A07 h to 1A0F h Reserved 1A10 h 00 h 03 h 01 h h Actual engine revolutions 02 h h Wheel rpm 03 h h Wheel pulse counter 1A11 h 00 h 01 h 01 h h Engine status 1A12 h 00 h 05 h 01 h h Car light status 02 h h Anti theft warning system status 03 h 604A h Horn status 04 h h Mirror anti-dazzle position 05 h h Environment light intensity 1A13 h to 1A1F h Reserved 1A40 h 00 h 01 h 01 h h Radio hand-free status 18 CiA 2008 All rights reserved

19 Index Sub-Index Value Description 1A41 h 00 h 01 h 1A42 h 00 h 01 h 1A43 h 00 h 01 h 1A44 h 00 h 01 h 1A45 h 00 h 02 h 1A46 h 00 h 01 h 1A47 h 00 h 02 h 1A48 h 00 h 02 h 1A49 h 00 h 02 h 1A4A h 00 h 01 h 1A4B h 00 h 02 h 1A4C h 00 h 02 h 1A4D h 00 h 01 h 1A4E h 00 h 01 h 1A4F h 00 h 01 h 1A50 h 00 h 08 h 01 h h Blue light flasher status 01 h 60FA h Driver ID status 01 h 606C h Emergency fresh-air system status 01 h h Fire extinguishing system status 01 h 60B h GPS current position (sub-index 01 h: latitude) 02 h 60B h GPS current position (sub-index 02 h: longitude) 01 h h Taxi alarm system status 01 h 60E h Printer status 02 h 60E h Printer errors 01 h h Light status roof bar (sub-index 01 h) 02 h h Light status roof bar (sub-index 02 h) 01 h h Light status roof bar (sub-index 03 h) 02 h h Light status roof bar (sub-index 04 h) 01 h h Light status roof bar (sub-index 05 h) 01 h 613B h Sound status roof bar (sub-index 01 h) 02 h 613B h Sound status roof bar (sub-index 02 h) 01 h h Tariff display lamp failures 1 02 h h Tariff display lamps status 1 01 h h Tariff display inputs status 01 h h Discrete inputs status 01 h 60D h Taximeter status 01 h h Number pad status 02 h h Number pad user interaction 03 h h Function keys status 04 h h Function keys user interaction 05 h 608A h Control keys status 06 h 608C h Control keys user interaction 07 h h Display status 1 CiA 2008 All rights reserved 19

20 Index Sub-Index Value Description 1A51 h 00 h 04 h 1A52 h 00 h 02 h 1A53 h 00 h 02 h 08 h 609B h Display status 2 01 h h Steering wheel switch pad status 02 h h Steering wheel switch pad user interaction 03 h h Emergency key status 04 h h Emergency key user interaction 01 h h Radio status 02 h h Radio device status 01 h h Radio power supply status 02 h h Periphery power supply status 20 CiA 2008 All rights reserved

21 Annex A - Calculation of s (informative) A.1 Calculation of s for SDO communication The s for SDO communication were calculated by means of structure as shown in Figure 1 and formula as given in Table 10. Table 9 describes the structure values for SDO s calculation clnt MSB rsp 1 clnt LSB srv MSB LSB Figure 1 structure for SDO s calculation Table 9 structure description for SDO s calculation part srv clnt rsp clnt LSB clnt MSB Server node-id decremented by one Description Client node-id decremented by one (as an Unsigned5 value) 0 b = SDO request (client to server) 1 b = SDO response (server to client) The two least significant bits of clnt If rsp = 0 b: (The three most significant bits of clnt) incremented by two If rsp = 1 b: (The three most significant bits of clnt) incremented by one Table 10 SDO s calculation Usage Request from client with node-id i to server with node-id j (240 h + (((i-1)&c h)<<6) + (((i-1)&3 h)<<4) + (j-1)) Response from server with node-id j to client with node-id i (1C0 h + (((i-1)&c h)<<6) + (((i-1)&3 h)<<4) + (j-1)) A.2 Calculation of s for ISO-TP access to car resources The s for ISO-TP access to car resources were calculated by means of the formula as given in Table 11. Table 11 s calculation for ISO-TP access to car resources Usage for display transport protocol from node i to IVN gateway for display transport protocol from IVN gateway to node i (240 h + (((i-1)&c h)<<6) + (((i-1)&3 h)<<4) + (i-1)) (1C0 h + (((i-1)&c h)<<6) + (((i-1)&3 h)<<4) + (i-1)) A.3 Calculation of s for PDO communication The s for PDO communication were calculated by means of structure as shown in Figure 2 and formula as given in Table 13. Table 12 describes the structure values for PDO s calculation. This calculation is only valid for s specified in Table 6. CiA 2008 All rights reserved 21

22 pdoc LSB 0 pdoc MSB MSB LSB Figure 2 structure for PDO s calculation Table 12 structure description for PDO s calculation part pdoc pdoc LSB pdoc MSB Virtual device function group Description IVN gateway virtual device: PDO decremented by one No IVN gateway virtual device: Node-ID decremented by one The three least significant bits of pdoc + 11 b The most significant bit of pdoc Table 13 PDO s calculation 180 h + (((pdoc)&7 h)<<7) + (((pdoc)&8 h)<<2) + () 22 CiA 2008 All rights reserved