Setup Periodic Sampling
This document describes how to configure the ESCx driver for periodic status message transmission.
warning
Message - Configure Driver Sampling
info
- Message is unicast with SID = 24
- All messages use big-endian format
| Payload byte | Bit | Description |
|---|---|---|
| 0 | 0x08 | |
| 1 | 0 | Motor 3 |
| 1 | 1 | Motor 4 |
| 1 | 2-3 | Reserved |
| 1 | 4 | Driver State 2 |
| 1 | 5-7 | Reserved |
| 2 | 0:1 | Reserved |
| 2 | 2 | Driver State 1 |
| 2 | 3 | Range and Reference |
| 2 | 4 | Supply 1 |
| 2 | 6 | Motor 1 |
| 2 | 7 | Motor 2 |
| 3-4 | [uint16] | Transmission period [ms] |
| 5-6 | [uint16] | Initial delay [ms] before first transmission. Set to 0 to disable transmission. |
Different sampling periods can be configured for each status message type by setting them individually.
Status Message Contents
| Message Type | Parameters |
|---|---|
| Driver State 1 | /driver/state, /driver/mode, /driver/temp, /driver/limit, /driver/error |
| Driver State 2 | /driver/cmd, /driver/totallimit |
| Range and Reference | Voltage range, Current range, /driver/uref, /driver/iref |
| Supply 1 | /driver/supply/currentf, /driver/supply/voltage (relative units), Total charge [mAh] |
| Motor 1 | /driver/motor/currentf, /driver/motor/voltage (relative units), /driver/energy |
| Motor 2 | /driver/power, motor angle, /driver/motor/rpmf, /driver/motor/odo (relative units) |
| Motor 3 | /driver/currentq, /driver/currentd + current references |
| Motor 4 | Rthermistor, /driver/motor/mres, Actual motor torque, Maximum possible motor torque |