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: 1.0 21 May 2008 CAN in Automation (CiA) e. V.
HISTORY Date Changes 2008-05-21 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 - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2 CiA 2008 All rights reserved
CONTENTS 1 Scope...4 2 Normative references...4 3 Definitions and abbreviations...4 3.1 Definitions...4 3.2 Abbreviations...4 4 Communication parameters...4 4.1 Introduction...4 4.2 SDO communication...4 4.2.1 Basic principles...4 4.2.2 SDO assignment...5 4.3 Unified diagnostic services and ISO-TP...6 4.3.1 Basic principles...6 4.3.2 assignment for UDS and ISO-TP...6 4.4 PDO communication...6 4.4.1 Basic principles...6 4.4.2 PDO parameters...7 4.4.3 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
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 16. 4.2 SDO communication 4.2.1 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
The used s for full meshed SDO communication are specified in clause 4.2.2. 4.2.2 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 - 252 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 - 263 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 - 274 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 - 345 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 - 356 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 - 367 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 - 378 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 - 449 h 44A h 44B h 44C h 44D h 44E h 44F h C10 450 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 C11 460 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 C12 470 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 C13 540 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 C14 550 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 C15 560 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 C16 570 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
4.3 Unified diagnostic services and ISO-TP 4.3.1 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 /ISO14229-1/ (UDS). The used communication protocol then shall be /ISO15765-3/ (ISO-TP). The data content shall be according to /ISO14229-1/ and /ISO15765-3/. The used s are specified in clause 4.3.2. 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 /ISO15765-3/. The data content structure shall be according to /ISO15765-3/ and is not specified in this profile. The used s are specified in clause 4.3.2. 4.3.2 assignment for UDS and ISO-TP Table 3 specifies the s that shall be used for diagnostic communication using /ISO14229-1/ (UDS) and /ISO15765-3/ (ISO-TP). Table 4 specifies the s that shall be used for communication to car resources using /ISO15765-3/. 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 16 780 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 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 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 4.4.1 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
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. 4.4.2 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
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 1 0 1800 h 180 h 4000 0180 h 1 0 1801 h 200 h 4000 0200 h 1 0 1802 h 280 h 4000 0280 h 1 0 1803 h 300 h 4000 0300 h 1 0 1804 h 380 h 4000 0380 h 1 0 1805 h 400 h 4000 0400 h 1 0 1806 h 480 h 4000 0480 h 1 0 1807 h 500 h 4000 0500 h 1 0 1808 h 1A0 h 4000 01A0 h 1 0 1809 h 220 h 4000 0220 h 1 0 180A h 2A0 h 4000 02A0 h 1 0 180B h 320 h 4000 0320 h 1 0 180C h 3A0 h 4000 03A0 h 1 0 180D h 420 h 4000 0420 h 1 0 180E h 4A0 h 4000 04A0 h 1 0 180F h 520 h 4000 0520 h 1 1 1810 h 181 h 4000 0181 h 8 CiA 2008 All rights reserved
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 1 1 1811 h 201 h 4000 0201 h 1 1 1812 h 281 h 4000 0281 h 1 1 1813 h 301 h 4000 0301 h 1 1 1814 h 381 h 4000 0381 h 1 1 1815 h 401 h 4000 0401 h 1 1 1816 h 481 h 4000 0481 h 1 1 1817 h 501 h 4000 0501 h 1 1 1818 h 1A1 h 4000 01A1 h 1 1 1819 h 221 h 4000 0221 h 1 1 181A h 2A1 h 4000 02A1 h 1 1 181B h 321 h 4000 0321 h 1 1 181C h 3A1 h 4000 03A1 h 1 1 181D h 421 h 4000 0421 h 1 1 181E h 4A1 h 4000 04A1 h 1 1 181F h 521 h 4000 0521 h 1 2 1840 h 182 h 4000 0182 h 1 3 1841 h 183 h 4000 0183 h 1 4 1842 h 184 h 4000 0184 h 1 5 1843 h 185 h 4000 0185 h 1 6 1844 h 186 h 4000 0186 h 1 7 1845 h 187 h 4000 0187 h 1 8 1846 h 188 h 4000 0188 h 1 9 1847 h 189 h 4000 0189 h 1 10 1848 h 18A h 4000 018A h 1 11 1849 h 18B h 4000 018B h 1 12 184A h 18C h 4000 018C h 1 13 184B h 18D h 4000 018D h 1 14 184C h 18E h 4000 018E h 1 15 184D h 18F h 4000 018F h 1 16 184E h 190 h 4000 0190 h 1 17 184F h 191 h 4000 0191 h 1 18 1850 h 192 h 4000 0192 h 1 19 1851 h 193 h 4000 0193 h 1 20 1852 h 194 h 4000 0194 h 1 21 1853 h 195 h 4000 0195 h 1 22 to 31 1854 h to 185D h 196 h to 19F h 4000 0196 h to 4000 019F h 2 2 1840 h 202 h 4000 0202 h 2 3 1841 h 203 h 4000 0203 h 2 4 1842 h 204 h 4000 0204 h 2 5 1843 h 205 h 4000 0205 h 2 6 1844 h 206 h 4000 0206 h CiA 2008 All rights reserved 9
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 2 7 1845 h 207 h 4000 0207 h 2 8 1846 h 208 h 4000 0208 h 2 9 1847 h 209 h 4000 0209 h 2 10 1848 h 20A h 4000 020A h 2 11 1849 h 20B h 4000 020B h 2 12 184A h 20C h 4000 020C h 2 13 184B h 20D h 4000 020D h 2 14 184C h 20E h 4000 020E h 2 15 184D h 20F h 4000 020F h 2 16 184E h 210 h 4000 0210 h 2 17 184F h 211 h 4000 0211 h 2 18 1850 h 212 h 4000 0212 h 2 19 1851 h 213 h 4000 0213 h 2 20 1852 h 214 h 4000 0214 h 2 21 1853 h 215 h 4000 0215 h 2 22 to 31 1854 h to 185D h 216 h to 21F h 4000 0216 h to 4000 021F h 3 2 1840 h 282 h 4000 0282 h 3 3 1841 h 283 h 4000 0283 h 3 4 1842 h 284 h 4000 0284 h 3 5 1843 h 285 h 4000 0285 h 3 6 1844 h 286 h 4000 0286 h 3 7 1845 h 287 h 4000 0287 h 3 8 1846 h 288 h 4000 0288 h 3 9 1847 h 289 h 4000 0289 h 3 10 1848 h 28A h 4000 028A h 3 11 1849 h 28B h 4000 028B h 3 12 184A h 28C h 4000 028C h 3 13 184B h 28D h 4000 028D h 3 14 184C h 28E h 4000 028E h 3 15 184D h 28F h 4000 028F h 3 16 184E h 290 h 4000 0290 h 3 17 184F h 291 h 4000 0291 h 3 18 1850 h 292 h 4000 0292 h 3 19 1851 h 293 h 4000 0293 h 3 20 1852 h 294 h 4000 0294 h 3 21 1853 h 295 h 4000 0295 h 3 22 to 31 1854 h to 185D h 296 h to 29F h 4000 0296 h to 4000 029F h 4 2 1840 h 302 h 4000 0302 h 4 3 1841 h 303 h 4000 0303 h 4 4 1842 h 304 h 4000 0304 h 10 CiA 2008 All rights reserved
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 4 5 1843 h 305 h 4000 0305 h 4 6 1844 h 306 h 4000 0306 h 4 7 1845 h 307 h 4000 0307 h 4 8 1846 h 308 h 4000 0308 h 4 9 1847 h 309 h 4000 0309 h 4 10 1848 h 30A h 4000 030A h 4 11 1849 h 30B h 4000 030B h 4 12 184A h 30C h 4000 030C h 4 13 184B h 30D h 4000 030D h 4 14 184C h 30E h 4000 030E h 4 15 184D h 30F h 4000 030F h 4 16 184E h 310 h 4000 0310 h 4 17 184F h 311 h 4000 0311 h 4 18 1850 h 312 h 4000 0312 h 4 19 1851 h 313 h 4000 0313 h 4 20 1852 h 314 h 4000 0314 h 4 21 1853 h 315 h 4000 0315 h 4 22 to 31 1854 h to 185D h 316 h to 31F h 4000 0316 h to 4000 031F h 5 2 1840 h 382 h 4000 0382 h 5 3 1841 h 383 h 4000 0383 h 5 4 1842 h 384 h 4000 0384 h 5 5 1843 h 385 h 4000 0385 h 5 6 1844 h 386 h 4000 0386 h 5 7 1845 h 387 h 4000 0387 h 5 8 1846 h 388 h 4000 0388 h 5 9 1847 h 389 h 4000 0389 h 5 10 1848 h 38A h 4000 038A h 5 11 1849 h 38B h 4000 038B h 5 12 184A h 38C h 4000 038C h 5 13 184B h 38D h 4000 038D h 5 14 184C h 38E h 4000 038E h 5 15 184D h 38F h 4000 038F h 5 16 184E h 390 h 4000 0390 h 5 17 184F h 391 h 4000 0391 h 5 18 1850 h 392 h 4000 0392 h 5 19 1851 h 393 h 4000 0393 h 5 20 1852 h 394 h 4000 0394 h 5 21 1853 h 395 h 4000 0395 h 5 22 to 31 1854 h to 185D h 396 h to 39F h 4000 0396 h to 4000 039F h 6 2 1840 h 402 h 4000 0402 h CiA 2008 All rights reserved 11
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 6 3 1841 h 403 h 4000 0403 h 6 4 1842 h 404 h 4000 0404 h 6 5 1843 h 405 h 4000 0405 h 6 6 1844 h 406 h 4000 0406 h 6 7 1845 h 407 h 4000 0407 h 6 8 1846 h 408 h 4000 0408 h 6 9 1847 h 409 h 4000 0409 h 6 10 1848 h 40A h 4000 040A h 6 11 1849 h 40B h 4000 040B h 6 12 184A h 40C h 4000 040C h 6 13 184B h 40D h 4000 040D h 6 14 184C h 40E h 4000 040E h 6 15 184D h 40F h 4000 040F h 6 16 184E h 410 h 4000 0410 h 6 17 184F h 411 h 4000 0411 h 6 18 1850 h 412 h 4000 0412 h 6 19 1851 h 413 h 4000 0413 h 6 20 1852 h 414 h 4000 0414 h 6 21 1853 h 415 h 4000 0415 h 6 22 to 31 1854 h to 185D h 416 h to 41F h 4000 0416 h to 4000 041F h 7 2 1840 h 482 h 4000 0482 h 7 3 1841 h 483 h 4000 0483 h 7 4 1842 h 484 h 4000 0484 h 7 5 1843 h 485 h 4000 0485 h 7 6 1844 h 486 h 4000 0486 h 7 7 1845 h 487 h 4000 0487 h 7 8 1846 h 488 h 4000 0488 h 7 9 1847 h 489 h 4000 0489 h 7 10 1848 h 48A h 4000 048A h 7 11 1849 h 48B h 4000 048B h 7 12 184A h 48C h 4000 048C h 7 13 184B h 48D h 4000 048D h 7 14 184C h 48E h 4000 048E h 7 15 184D h 48F h 4000 048F h 7 16 184E h 490 h 4000 0490 h 7 17 184F h 491 h 4000 0491 h 7 18 1850 h 492 h 4000 0492 h 7 19 1851 h 493 h 4000 0493 h 7 20 1852 h 494 h 4000 0494 h 7 21 1853 h 495 h 4000 0495 h 7 22 to 31 1854 h to 185D h 496 h to 49F h 4000 0496 h to 4000 049F h 12 CiA 2008 All rights reserved
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 8 2 1840 h 502 h 4000 0502 h 8 3 1841 h 503 h 4000 0503 h 8 4 1842 h 504 h 4000 0504 h 8 5 1843 h 505 h 4000 0505 h 8 6 1844 h 506 h 4000 0506 h 8 7 1845 h 507 h 4000 0507 h 8 8 1846 h 508 h 4000 0508 h 8 9 1847 h 509 h 4000 0509 h 8 10 1848 h 50A h 4000 050A h 8 11 1849 h 50B h 4000 050B h 8 12 184A h 50C h 4000 050C h 8 13 184B h 50D h 4000 050D h 8 14 184C h 50E h 4000 050E h 8 15 184D h 50F h 4000 050F h 8 16 184E h 510 h 4000 0510 h 8 17 184F h 511 h 4000 0511 h 8 18 1850 h 512 h 4000 0512 h 8 19 1851 h 513 h 4000 0513 h 8 20 1852 h 514 h 4000 0514 h 8 21 1853 h 515 h 4000 0515 h 8 22 to 31 1854 h to 185D h 516 h to 51F h 4000 0516 h to 4000 051F h 9 2 1840 h 1A2 h 4000 01A2 h 9 3 1841 h 1A3 h 4000 01A3 h 9 4 1842 h 1A4 h 4000 01A4 h 9 5 1843 h 1A5 h 4000 01A5 h 9 6 1844 h 1A6 h 4000 01A6 h 9 7 1845 h 1A7 h 4000 01A7 h 9 8 1846 h 1A8 h 4000 01A8 h 9 9 1847 h 1A9 h 4000 01A9 h 9 10 1848 h 1AA h 4000 01AA h 9 11 1849 h 1AB h 4000 01AB h 9 12 184A h 1AC h 4000 01AC h 9 13 184B h 1AD h 4000 01AD h 9 14 184C h 1AE h 4000 01AE h 9 15 184D h 1AF h 4000 01AF h 9 16 184E h 1B0 h 4000 01B0 h 9 17 184F h 1B1 h 4000 01B1 h 9 18 1850 h 1B2 h 4000 01B2 h 9 19 1851 h 1B3 h 4000 01B3 h 9 20 1852 h 1B4 h 4000 01B4 h CiA 2008 All rights reserved 13
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 9 21 1853 h 1B5 h 4000 01B5 h 9 22 to 31 1854 h to 185D h 1B6 h to 1BF h 4000 01B6 h to 4000 01BF h 10 2 1840 h 222 h 4000 0222 h 10 3 1841 h 223 h 4000 0223 h 10 4 1842 h 224 h 4000 0224 h 10 5 1843 h 225 h 4000 0225 h 10 6 1844 h 226 h 4000 0226 h 10 7 1845 h 227 h 4000 0227 h 10 8 1846 h 228 h 4000 0228 h 10 9 1847 h 229 h 4000 0229 h 10 10 1848 h 22A h 4000 022A h 10 11 1849 h 22B h 4000 022B h 10 12 184A h 22C h 4000 022C h 10 13 184B h 22D h 4000 022D h 10 14 184C h 22E h 4000 022E h 10 15 184D h 22F h 4000 022F h 10 16 184E h 230 h 4000 0230 h 10 17 184F h 231 h 4000 0231 h 10 18 1850 h 232 h 4000 0232 h 10 19 1851 h 233 h 4000 0233 h 10 20 1852 h 234 h 4000 0234 h 10 21 1853 h 235 h 4000 0235 h 10 22 to 31 1854 h to 185D h 236 h to 23F h 4000 0236 h to 4000 023F h 11 2 1840 h 2A2 h 4000 02A2 h 11 3 1841 h 2A3 h 4000 02A3 h 11 4 1842 h 2A4 h 4000 02A4 h 11 5 1843 h 2A5 h 4000 02A5 h 11 6 1844 h 2A6 h 4000 02A6 h 11 7 1845 h 2A7 h 4000 02A7 h 11 8 1846 h 2A8 h 4000 02A8 h 11 9 1847 h 2A9 h 4000 02A9 h 11 10 1848 h 2AA h 4000 02AA h 11 11 1849 h 2AB h 4000 02AB h 11 12 184A h 2AC h 4000 02AC h 11 13 184B h 2AD h 4000 02AD h 11 14 184C h 2AE h 4000 02AE h 11 15 184D h 2AF h 4000 02AF h 11 16 184E h 2B0 h 4000 02B0 h 11 17 184F h 2B1 h 4000 02B1 h 11 18 1850 h 2B2 h 4000 02B2 h 14 CiA 2008 All rights reserved
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 11 19 1851 h 2B3 h 4000 02B3 h 11 20 1852 h 2B4 h 4000 02B4 h 11 21 1853 h 2B5 h 4000 02B5 h 11 22 to 31 1854 h to 185D h 2B6 h to 2BF h 4000 02B6 h to 4000 02BF h 12 2 1840 h 322 h 4000 0322 h 12 3 1841 h 323 h 4000 0323 h 12 4 1842 h 324 h 4000 0324 h 12 5 1843 h 325 h 4000 0325 h 12 6 1844 h 326 h 4000 0326 h 12 7 1845 h 327 h 4000 0327 h 12 8 1846 h 328 h 4000 0328 h 12 9 1847 h 329 h 4000 0329 h 12 10 1848 h 32A h 4000 032A h 12 11 1849 h 32B h 4000 032B h 12 12 184A h 32C h 4000 032C h 12 13 184B h 32D h 4000 032D h 12 14 184C h 32E h 4000 032E h 12 15 184D h 32F h 4000 032F h 12 16 184E h 330 h 4000 0330 h 12 17 184F h 331 h 4000 0331 h 12 18 1850 h 332 h 4000 0332 h 12 19 1851 h 333 h 4000 0333 h 12 20 1852 h 334 h 4000 0334 h 12 21 1853 h 335 h 4000 0335 h 12 22 to 31 1854 h to 185D h 336 h to 33F h 4000 0336 h to 4000 033F h 13 2 1840 h 3A2 h 4000 03A2 h 13 3 1841 h 3A3 h 4000 03A3 h 13 4 1842 h 3A4 h 4000 03A4 h 13 5 1843 h 3A5 h 4000 03A5 h 13 6 1844 h 3A6 h 4000 03A6 h 13 7 1845 h 3A7 h 4000 03A7 h 13 8 1846 h 3A8 h 4000 03A8 h 13 9 1847 h 3A9 h 4000 03A9 h 13 10 1848 h 3AA h 4000 03AA h 13 11 1849 h 3AB h 4000 03AB h 13 12 184A h 3AC h 4000 03AC h 13 13 184B h 3AD h 4000 03AD h 13 14 184C h 3AE h 4000 03AE h 13 15 184D h 3AF h 4000 03AF h 13 16 184E h 3B0 h 4000 03B0 h CiA 2008 All rights reserved 15
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 13 17 184F h 3B1 h 4000 03B1 h 13 18 1850 h 3B2 h 4000 03B2 h 13 19 1851 h 3B3 h 4000 03B3 h 13 20 1852 h 3B4 h 4000 03B4 h 13 21 1853 h 3B5 h 4000 03B5 h 13 22 to 31 1854 h to 185D h 3B6 h to 3BF h 4000 03B6 h to 4000 03BF h 14 2 1840 h 422 h 4000 0422 h 14 3 1841 h 423 h 4000 0423 h 14 4 1842 h 424 h 4000 0424 h 14 5 1843 h 425 h 4000 0425 h 14 6 1844 h 426 h 4000 0426 h 14 7 1845 h 427 h 4000 0427 h 14 8 1846 h 428 h 4000 0428 h 14 9 1847 h 429 h 4000 0429 h 14 10 1848 h 42A h 4000 042A h 14 11 1849 h 42B h 4000 042B h 14 12 184A h 42C h 4000 042C h 14 13 184B h 42D h 4000 042D h 14 14 184C h 42E h 4000 042E h 14 15 184D h 42F h 4000 042F h 14 16 184E h 430 h 4000 0430 h 14 17 184F h 431 h 4000 0431 h 14 18 1850 h 432 h 4000 0432 h 14 19 1851 h 433 h 4000 0433 h 14 20 1852 h 434 h 4000 0434 h 14 21 1853 h 435 h 4000 0435 h 14 22 to 31 1854 h to 185D h 436 h to 43F h 4000 0436 h to 4000 043F h 15 2 1840 h 4A2 h 4000 04A2 h 15 3 1841 h 4A3 h 4000 04A3 h 15 4 1842 h 4A4 h 4000 04A4 h 15 5 1843 h 4A5 h 4000 04A5 h 15 6 1844 h 4A6 h 4000 04A6 h 15 7 1845 h 4A7 h 4000 04A7 h 15 8 1846 h 4A8 h 4000 04A8 h 15 9 1847 h 4A9 h 4000 04A9 h 15 10 1848 h 4AA h 4000 04AA h 15 11 1849 h 4AB h 4000 04AB h 15 12 184A h 4AC h 4000 04AC h 15 13 184B h 4AD h 4000 04AD h 15 14 184C h 4AE h 4000 04AE h 16 CiA 2008 All rights reserved
Node-ID Index 18XX h 01 h (TPDO COB-ID) Resulted COB-ID 15 15 184D h 4AF h 4000 04AF h 15 16 184E h 4B0 h 4000 04B0 h 15 17 184F h 4B1 h 4000 04B1 h 15 18 1850 h 4B2 h 4000 04B2 h 15 19 1851 h 4B3 h 4000 04B3 h 15 20 1852 h 4B4 h 4000 04B4 h 15 21 1853 h 4B5 h 4000 04B5 h 15 22 to 31 1854 h to 185D h 4B6 h to 4BF h 4000 04B6 h to 4000 04BF h 16 2 1840 h 522 h 4000 0522 h 16 3 1841 h 523 h 4000 0523 h 16 4 1842 h 524 h 4000 0524 h 16 5 1843 h 525 h 4000 0525 h 16 6 1844 h 526 h 4000 0526 h 16 7 1845 h 527 h 4000 0527 h 16 8 1846 h 528 h 4000 0528 h 16 9 1847 h 529 h 4000 0529 h 16 10 1848 h 52A h 4000 052A h 16 11 1849 h 52B h 4000 052B h 16 12 184A h 52C h 4000 052C h 16 13 184B h 52D h 4000 052D h 16 14 184C h 52E h 4000 052E h 16 15 184D h 52F h 4000 052F h 16 16 184E h 530 h 4000 0530 h 16 17 184F h 531 h 4000 0531 h 16 18 1850 h 532 h 4000 0532 h 16 19 1851 h 533 h 4000 0533 h 16 20 1852 h 534 h 4000 0534 h 16 21 1853 h 535 h 4000 0535 h 16 22 to 31 1854 h to 185D h 536 h to 53F h 4000 0536 h to 4000 053F 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 10000 (= 1 s) 0 (no timer) 4.4.3 PDO mapping parameters In the following the PDO mapping parameters and attributes are specified. CiA 2008 All rights reserved 17
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 6007 00 08 h Ignition switch status 1A01 h 00 h 03 h 01 h 6010 00 18 h Car flap status 02 h 6005 00 08 h Switch illumination level status 03 h 601A 00 10 h Wiper system status 1A02 h 00 h 01 h 01 h 6033 00 08 h Tester present 1A03 h 00 h 03 h 01 h 6027 00 10 h Occupant classification status 02 h 6028 00 10 h Buckle switch status 03 h 6009 00 08 h Central locking system status 1A04 h 00 h 04 h 01 h 600B 00 18 h Window status 02 h 600D 00 10 h Door status 03 h 601D 00 08 h Turn Indicator reset status 04 h 6030 00 08 h Day/night detection 1A05 h 00 h 02 h 01 h 6019 01 18 h Seat adjustment status (sub-index 01 h: driver) 02 h 6019 02 18 h Seat adjustment status (sub-index 01 h: passenger) 1A06 h 00 h 01 h 01 h 6032 00 10 h Accident detection 1A07 h to 1A0F h Reserved 1A10 h 00 h 03 h 01 h 6050 00 10 h Actual engine revolutions 02 h 6053 00 10 h Wheel rpm 03 h 6055 00 18 h Wheel pulse counter 1A11 h 00 h 01 h 01 h 6051 00 08 h Engine status 1A12 h 00 h 05 h 01 h 6040 00 20 h Car light status 02 h 6047 00 08 h Anti theft warning system status 03 h 604A 00 08 h Horn status 04 h 6049 00 08 h Mirror anti-dazzle position 05 h 6031 00 08 h Environment light intensity 1A13 h to 1A1F h Reserved 1A40 h 00 h 01 h 01 h 6150 00 08 h Radio hand-free status 18 CiA 2008 All rights reserved
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 6141 00 20 h Blue light flasher status 01 h 60FA 00 08 h Driver ID status 01 h 606C 00 08 h Emergency fresh-air system status 01 h 6069 00 08 h Fire extinguishing system status 01 h 60B0 01 20 h GPS current position (sub-index 01 h: latitude) 02 h 60B0 02 20 h GPS current position (sub-index 02 h: longitude) 01 h 6110 00 10 h Taxi alarm system status 01 h 60E0 00 08 h Printer status 02 h 60E1 00 10 h Printer errors 01 h 6131 01 20 h Light status roof bar (sub-index 01 h) 02 h 6131 02 20 h Light status roof bar (sub-index 02 h) 01 h 6131 03 20 h Light status roof bar (sub-index 03 h) 02 h 6131 04 20 h Light status roof bar (sub-index 04 h) 01 h 6131 05 20 h Light status roof bar (sub-index 05 h) 01 h 613B 01 20 h Sound status roof bar (sub-index 01 h) 02 h 613B 02 20 h Sound status roof bar (sub-index 02 h) 01 h 6101 00 20 h Tariff display lamp failures 1 02 h 6104 00 20 h Tariff display lamps status 1 01 h 6103 00 20 h Tariff display inputs status 01 h 6078 00 10 h Discrete inputs status 01 h 60D8 00 08 h Taximeter status 01 h 6080 00 08 h Number pad status 02 h 6082 00 08 h Number pad user interaction 03 h 6085 00 08 h Function keys status 04 h 6087 00 08 h Function keys user interaction 05 h 608A 00 08 h Control keys status 06 h 608C 00 08 h Control keys user interaction 07 h 6097 00 08 h Display status 1 CiA 2008 All rights reserved 19
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 00 08 h Display status 2 01 h 6090 00 08 h Steering wheel switch pad status 02 h 6092 00 08 h Steering wheel switch pad user interaction 03 h 6093 00 08 h Emergency key status 04 h 6095 00 08 h Emergency key user interaction 01 h 6115 00 08 h Radio status 02 h 6117 00 08 h Radio device status 01 h 6070 00 08 h Radio power supply status 02 h 6073 00 08 h Periphery power supply status 20 CiA 2008 All rights reserved
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. 10 8 7 6 5 4 3 0 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
10 7 6 5 4 0 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