Policumbent CAN Bus Documentation - IDs

Acronyms&co

ID: sender identification, 11bits, used also for priority
DLC: data length code, 4bits, specifies the length in bytes of the payload
PL: payload, 0 to 8 bytes maximum
DT: data type
RTR: remote transmission request

IDs

    type   from
0b  00   | 0000 00000

Encoding

Message type

00: debug / command
01: error
10: primary data (e.g.: on-screen data)
11: secondary data / other

From (Device/Specific)

0001: Gearbox
- 00001: Greta (Cerberus gearbox receiver)
- 00010: gearbox
0010: Raspberry Pi/Bob data sending
- 00001: SRM power
- 00010: SRM pedals' RPM
- 00011: hall sensor speed
- 00100: hall sensor displacement
- 00110: heart-rate
0011: whereami (GNSS)
- 00000: parallel speed /distance
- 00010: raw speed / distance
- 00100: coordinates
- 01000: position uncertainty
0100: DumBMS-1
0101: DumBMS-2 (if needed)

Current IDs

GretaError: Greta receiver error (Cerberus), id: 0x221
GbError: Gearbox error message, id: 0x222
Dumbms1Error: DumBMS-1 error message, id: 0x280
Dumbms2Error: DumBMS-2 error message, id: 0x2A0
GretaData: Greta receiver data (Cerberus), id: 0x421
GbData: Gearbox data message, id: 0x422
BobSrmPower: Bob SRM Power, id: 0x441
BobSrmCadence: Bob SRM Cadence, id: 0x442
BobHsSpeed: Bob Hall Sensor Speed, id: 0x443
BobHsDisplacement: Bob Hall Sensor Displacement, id: 0x444
BobHR: Bob Heart Rate, id: 0x446
whereamiData: whereami parallel speed and distance: id: 0x460
whereamiRawData: whereami raw speed and distance: id: 0x462
whereamiCoords: whereami GNSS coordinates, id: 0x464
whereamiPosUncert: whereami GNSS position uncertainty, id: 0x468
Dumbms1Data: DumBMS-1 Data, id: 0x480
Dumbms2Data: DumBMS-2 Data, id: 0x4A0