esd Protocol for CAN Modules - esd electronics, Inc.

3 - 8
Commands and Parameters
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
Function Command Sub command Not used Module no. Parameter 1 Parameter 2
Request: $01 $00...$03
$01 module no. Always
allocate $00
Selected
module no.
new mod no. -
Value $02 status $01..$FF cstat -
Set: $81
= active
module no.
CTxId
$0000...$07FF
active mod
$00 store parameter -
no.
$03 bitrate bust 0 bust 1
$04 watchdog Id
WDLife
$05 watchdog time TimeFactor
$00...$FF
WTxId
$0000...$07FF
WDtime
$0000...$FFFF
Table 3.2.1: Bytes of the commands 'store parameter, module no., bitrate and watchdog'
Setting the Commands and Parameters (Command $81):
Command... The command $81 leads to the setting of parameters or to the activation of
the commands.
The command $01 leads to the reply of the actual parameters.
Sub command... The sub command selects the desired parameter interchange or the command
to be executed.
Parameter1,
Parameter2 Following sub commands are implemented:
Sub command Function
$00 Storing the actual parameter
$01 Setting a new module no.
$02 Setting the CAN-status byte
$03 Setting a new bitrate
$04 Setting the watchdog Tx identifier
$05 Setting the watchdog time
Table 3.2.2: Function of the sub commands
esd Protocol for CAN Modules Rev. 3.2