Danfoss PVED-CL User guide
MAKING MODERN LIVING POSSIBLE
Technical Information
Steering
PVED-CL Communication
Protocol, version 1.38
powersolutions.danfoss.com
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Revision history Table of revisions
Date Changed Rev
July 2014 Danfoss layout. BA
07 September, 2010 New standard backpage. AD
10 February, 2010 Two new positions 11176,77 in the table - minor change. AC
08 February, 2010 Position 11152 in the table - minor change. AB
28 January, 2010 First edition. For PVED-CL software release version 1.38 AA
2 11079551 • Rev BA • July 2014
Technical Information
PVED-CL Communication Protocol, version 1.38 Technical Information
Contents
Introduction
Purpose of the document .............................................................................................................................................................5
Conventions ...................................................................................................................................................................................... 5
Reference documents.....................................................................................................................................................................5
Definitions and abbreviations......................................................................................................................................................5
Communications
J1939/ISOBUS compliance............................................................................................................................................................6
Network Management Protocol (NMP)...............................................................................................................................6
Identification.................................................................................................................................................................................6
Application layer......................................................................................................................................................................... 6
Diagnostics....................................................................................................................................................................................6
Proprietary messages ............................................................................................................................................................... 7
11bit ID messages.......................................................................................................................................................................8
Proprietary protocol........................................................................................................................................................................ 9
General............................................................................................................................................................................................9
Communication with sensors and steering devices.......................................................................................................9
Configuration............................................................................................................................................................................... 9
Secondary configuration device......................................................................................................................................... 10
Status.............................................................................................................................................................................................10
Control..........................................................................................................................................................................................10
Guidance......................................................................................................................................................................................11
Diagnostics..................................................................................................................................................................................13
Communication with sensors and steering devices
Steering wheel absolute angle and speed........................................................................................................................... 14
High priority steering device position....................................................................................................................................14
Low priority steering device position.....................................................................................................................................14
Primary steered wheel angle/position...................................................................................................................................15
Redundant steered wheel angle/position............................................................................................................................15
High priority external set-point controller............................................................................................................................15
Vehicle speed.................................................................................................................................................................................. 15
Configuration
GetParameter ................................................................................................................................................................................. 17
GetParameterResponse...............................................................................................................................................................17
SetParameter...................................................................................................................................................................................17
SetParameterResponse................................................................................................................................................................18
RestoreDefaults.............................................................................................................................................................................. 18
RestoreDefaultsResponse...........................................................................................................................................................19
CommitData.....................................................................................................................................................................................19
CommitDataResponse ................................................................................................................................................................ 20
EnterCalibrationMode..................................................................................................................................................................20
Status
GetCurrentMode............................................................................................................................................................................ 22
GetCurrentModeResponse.........................................................................................................................................................22
StartStopStatus...............................................................................................................................................................................22
Status..................................................................................................................................................................................................23
StartStopOperationStatus...........................................................................................................................................................24
OperationStatus ............................................................................................................................................................................ 25
TimeReport.......................................................................................................................................................................................26
Control
SetSpoolPosition ...........................................................................................................................................................................27
SetFlow ............................................................................................................................................................................................. 27
StartValveAutoCalibration..........................................................................................................................................................28
ValveAutoCalibrationStatus.......................................................................................................................................................29
SelectProgram.................................................................................................................................................................................30
SelectProgramResponse............................................................................................................................................................. 31
DisableSteeringDevice.................................................................................................................................................................31
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Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Contents
DisableSteeringDevice Response.............................................................................................................................................32
Guidance
GuidanceSystemCommand....................................................................................................................................................... 33
GuidanceMachineStatus............................................................................................................................................................. 33
Diagnostics (proprietary)
GetErrorEntry...................................................................................................................................................................................35
GetErrorEntryResponse ...............................................................................................................................................................35
ClearErrorEntries.............................................................................................................................................................................36
Commit Error Code........................................................................................................................................................................37
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Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Introduction
Purpose of the document
This document has been created in order to present the communication protocol implemented in PVEDCL – a controller in the Electro-hydraulic Power Steering system. The document describes the CAN
messages which enables the PVED-CL and relevant sensor to be connected to a J1939 network.
Conventions
As suggested in J1939 protocol documentation, the little-endian layout applies to all multi-byte
•
numerical values, any exception requires an explicit note.
Unless otherwise mentioned, all signed numerical values are encoded in two’s complement format.
•
The CAN Data field byte numbers start from 1.
Reference documents
Refering to literature:
Reference Title/author
[PVED] Controller for Electro-Hydraulic Steering PVED, User Manual, 11079550.
[J1939] SAE J1939 Top Level
[J1939-21] SAE J1939 Data Link Layer
[J1939-71] SAE J1939 Application Layer
[J1939-73] SAE J1939 Diagnostic Layer
[J1939-81] SAE J1939 Network Management
Definitions and abbreviations
Definitions and abbreviations
Term Description
DTC Diagnostic Trouble Code
EHPS Electro-Hydraulic Power Steering
MMI Man-Machine Interface
XID Extended Message Identifier
PVED-CL Proportional Valve Digital – Closed Loop – here the valve controller
SPN Suspect Parameter Number
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Technical Information
Communications
J1939/ISOBUS compliance
PVED-CL Communication Protocol, version 1.38 Technical Information
Network Management Protocol (NMP)
To make PVED-CL able to work in CAN J1939 networks, the following parts of NMP have been
implemented:
Address Claimed
•
Request for Address Claimed response
•
PVED-CL claims it address on power-on, after any won address arbitration and when requested to do so.
However, please note that because of some platform and software architecture constraints, PVED-CL may
claim its address even when it’s not needed. This is triggered by a RequestParameterGroup message –
no matter which node has sent it and which one the message is addressed to – as illustrated on figure
below.
Identification
There are 2 items which identify PVED-CL:
Source Address – available in all 29bit ID messages sent by PVED-CL
•
NAME – broadcast while claiming the address
•
Apart from this, the protocol supports the following proprietary identification:
PVED Serial Number available as a read-only parameter at index 65001
•
Sales Order Number at index 65002
•
Software Version Number at index 65003
•
Parameter Definition File at index 65004
•
SoftwareID (pgn65242) and ComponentID (pgn65259) defined by [J1939-71] are not available.
Application layer
Some steering functionality requires the Wheel Based Vehicle Speed signal (spn84) available in
pgn65265 – for more detailed information see Vehicle speed on page 15. The standardized guidance
messages are available in pgn44288 (Guidance System Command) and pgn44032 (Guidance Machine
Status). Further details see GuidanceSystemCommand on page 33.
PVED-CL supports Request PG message, but recognizes only requests for Address Claimed (pgn60928),
DM1 (pgn65226), DM2 (pgn65227) and DM3 (pgn65228). All other requests, if addressed explicitly to
PVED-CL, are answered with NACK (pgn59392).
Please note the following limitations:
Only 4 ACK/NACK messages can be buffered for transmission. Other requests will be ignored
•
If Request PG messages are sent too fast (with an interval less than 20 ms), some messages may be
•
lost.
Diagnostics
PVED-CL supports the following items defined by the J1939 diagnostic protocol [J1939-73]:
DM1 – Active Diagnostic Trouble Codes
•
DM2 – Previously Active Diagnostic Trouble Codes
•
DM3 – Diagnostic Data Clear/Reset for Previously Active DTCs
•
A request for DM3 results in resetting the Occurrence Counts for Previously Active DTCs.
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No
No
No
Yes
No
No
START
Request PG?
Request to
global destination
or PVED-CL?
Request for
Address Claimed?
Process the request
Timer marked
as active?
Yes
Timer`s value
exceeds limit?
Yes
Signal that Address
Claimed message
has to be sent out
Mark timer inactive
STOP
Timer marked
as active?
Yes
Timer’s value
exceeds limit?
Reset timer`s value
Mark timer active
Yes
Yes
Yes
Yes
Yes
Yes
No
Technical Information
Communications
PVED-CL Communication Protocol, version 1.38 Technical Information
Reception of request parameter group message
Due to software architectural limitations, the following deviations apply:
If DM1 message (expected to be sent every 1s) is a long message and a long upon-the-request
•
DM1/DM2 is being sent out, the transmission of the cyclic message will be skipped
If DM2 is a long message – more than one CAN message is needed – it will always be transmitted to
•
the global destination (preceded with the Broadcast Announce Message)
Proprietary error codes are available for deep diagnostics. Further details can be found in Diagnostics
(proprietary) on page 35.
Proprietary messages
Both proprietary A and B messages are in use. PDU1 proprietary messages (pgn61184) are used for
configuration and control commands as well as GetCurrentMode and GetCurrentModeResponse
messages, whereas PDU2 format is used for broadcast status messages.
PVED-CL uses a separate CAN buffer for receiving data from each node it can communicate with. This
means there’s no dependency between messages with pgn61184 sent from different nodes.
As three different status messages can be broadcast, three proprietary PDU2 parameter group numbers
are needed.
These numbers are as follows:
(65280 + offset_base)
•
(65280 + offset_base + 1)
•
(65280 + offset_base + 2)
•
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Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Communications
where the offset_base is any value within the range [0…253] and can be selected with the configuration
tool. It’s OEM’s responsibility to make sure that offset_base is not programmed to a value that results in
pgns other nodes may use for different purposes.
Due to a relatively high number of exchanged messages, it’s recommended to implement a separate CAN
bus for the EHPS system only.
11bit ID messages
Most of the communication between PVED-CL and sensors/steering devices is performed with 11bit ID
messages. This makes the sensors simpler and allows them to be used in networks with other protocols.
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Technical Information
Communications
Proprietary protocol
PVED-CL Communication Protocol, version 1.38 Technical Information
General
Because J1939 documents do not define a standard communication protocol for systems like EHPS, a
proprietary one has been defined on top of the existing common mechanisms described in previous
section. The proprietary protocol covers issues related to the communication with sensors, configuration,
status information, etc. Detailed information is available in the following sections.
The following general rules apply:
the time delay between messages marked as “when needed” shall not be less than 100 ms
•
PVED-CL shall respond within 200 ms, with exception for CommitDataResponse – 5000 ms
•
a response timeout shall be 500 ms (does not apply to CommitDataResponse message)
•
a not allowed command is ignored what results in no response sent back. Timeout policy shall apply
•
as a proprietary protocol is in use, default message priority shall be set to 6
•
PVED-CL’s can receive messages from selected nodes only. The source addresses of the vehicle speed
sensor, the MMI controller, the high priority external set-point controller as well as the configuration tool
and PVED-CL itself are configurable.
The default factory programmed values
Node
PVED-CL
High priority external set-point controller
Vehicle speed sensor
MMI controller
Configuration/diagnostic tool
Default Source Address
19
28
251
252
253
Communication with sensors and steering devices
In general, most of this type communication is performed with 11bit ID messages. More details about
message formats can be found in chapter Communication with sensors and steering devices on page 9.
A sensor is expected to periodically broadcast the data. A lack of data from the mapped sensor (with
exception for high priority set-point controller) causes PVED-CL to fail silent or enter the reduced mode,
depending on the configuration data. The timeouts are as follows:
The timeouts
Sensor or Steering Device:
Steering wheel sensor
High priority steering device
Low priority steering device
Primary steered wheel angle/position sensor
Redundant steered wheel angle/position sensor
Vehicle speed sensor
Timeout [ms]
100
100
100
60
60
160
Configuration
PVED-CL’s configuration memory contain parameters which identify the system components and control
the device’s behaviour. These parameters can be set up with a configuration tool.
The following operations are available:
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PVED-CL Communication Protocol, version 1.38 Technical Information
retrieving a parameter value
•
setting a parameter value
•
committing data to non-volatile memory
•
entering the calibration mode
•
restoring factory defaults
•
Secondary configuration device
Beside the configuration tool, the high priority external set-point controller has an access to the
parameter data, too. However, this device’s rights are limited to only reading the configuration settings.
Status
The information about control and sensor variables as well as PVED-CL’s current time and mode can be
found in periodically broadcast status messages. For further details see chapter Status on page 22.
Control
Control messages have been implemented to make the operator able to enable/disable steering devices
dynamically. This is especially useful when e.g. a joystick is mounted on the armrest and can be
unintentionally activated while getting on/off the machine. Disabling a steering device prevents the
controller from using the device set-points for steering. Default power-on state can be configured with
proper parameters stored in non-volatile memory.
The figure below shows the steering device disabling/enabling procedure. State transitions are
receptions of disable steering device commands and/or message timeouts which are set to 200 ms. For
further details see Control on page 27.
The numbers in octagons show where a response is sent back (DisableSteeringDeviceResponse
message):
1. Response data: enabling armed
2. Response data: device enabled
3. Response data: device disabling armed
4. Response data: device disabled
The current state of the device will be reported back if a command does not follow what’s on the figure.
Note that there are independent state machines implemented for each steering device which can be
disabled.
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Disabling
armed
Device
disabled
Enabling
armed
Device
enabled
Command data:
enable device
Command data:
arm disabling
(Command data !-
disable device)
or
(disabling timeout)
(Command data !-
enable device)
or
(enabling timeout)
Command data:
arm enabling
Command data:
disable device
4
4
3
2
2
1
Technical Information
Communications
PVED-CL Communication Protocol, version 1.38 Technical Information
Device enable/disable state transitions
Guidance
The high priority external set-point controller does not communicate with the PVED-CL the same way as
other steering devices do. The set-point controller is expected to provide PVED-CL with ISOBUS curvature
commands. This approach needs a special group of messages described in Guidance on page 33 and
the state machine shown on the figure Guidance Engage and Disengage State Machine below. Please note
that the state machine is executed only when PVED-CL is in the operational mode, or reduced mode and
the high priority external set-point controller is mapped.
11079551 • Rev BA • July 2014 11
(not A) and B
1
not (A or B)
not (A or B)
not (A or B)
not (A or B)
not (A or B)
A
A
A
A
A
E
E
(not A) and B
(not A) and B
(not A) and B and C
(not A) and B and C
(not A) and B and D
and F
2 3
6
5
4
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Communications
Guidance engage and disengage state machine
Please note that no active transaction means no state change happens.
State definitions
1
2
3
4
5
6
Initialization
High priority set-point controller disabled (device disable functionality available in PVED-CL). If other
steering device is selected, PVED-CL follows set-points from this device
PVED-CL requests the high priority set-point controller for a message reset. It waits for at least one
GuidanceSystemCommand message not intended for steering
PVED-CL waits for curvature requests intended for steering
PVED-CL follows curvature requests
PVED-CL follows set-points from other steering device
Conditions
A
B
C
D
E
F
High priority set-point controller disabled (device disable functionality available in PVED-CL)
No other steering device selected or set-points (from other steering device) below threshold
New curvature request received, but not intended for steering
New curvature request received, intended for steering
Timeout – no new curvature request has been received for 200 ms
Steering wheel disengage ability check has been passed or is disabled
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