Contents
Get requests are used by other ECUs in the network to retrieve information from the OpenIMU300RI. All Get requests are formed as a Request message as specified earlier. The format and content of the Request message has next format:
Extended header:
Request PayloadPF : 234,
PS : 255,
DLC : 3,
Priority: 6,
PGN : 60159.
Byte | Description |
0 | N/A |
1 | PF of requested parameter |
2 | PS of requested parameter |
In table below provided list of the parameters which can be requested from ECU, including their PF, PS and payload length of response messages
List of ECU parameters available for RequestsParameter | PF (dec) |
PS (dec) (See note) |
Payload Length (bytes) |
Software Version | 254 | 218 | 5 |
ECU ID | 253 | 197 | 8 |
Packet Rate | 255 | 85 | 2 |
Packet Type | 255 | 86 | 3 |
Digital Cutoff Frequency | 255 | 87 | 3 |
Orientation | 255 | 88 | 3 |
Lever Arm(TBD) | 255 | 95 | 8 |
Note
- Provided PS values for all but the Get Software Version and Get ECU ID can be changed by the "Set Bank of PS Numbers for Bank1" command. The given values are the default values.
- In responses values of PF and PS field in extended headers have the same PF+PS values as requested.
The following table describe the payloads for responses to Get Requests
Software Version Response PayloadByte | Description |
0 | Major Version Number |
1 | Minor Version Number |
2 | Patch Number |
3 | Stage Number |
4 | Build Number |
|
|
bits 0 bit 1:3 bit 4:7 bits 8:14 bits 15 bits 16:23 bits 24:28 bits 29:31 bits 32:42 bits 43:63 |
Arbitrary Address Industry Group Vehicle System Instance System Bits Reserved Function Bits Function Instance ECU Bits Manufacturer code ID bits |
Byte | Description |
0 | Source Address |
1 | Output Data Rate |
Byte | Description |
0 | Source Address |
1 | Packet Types Bitmask (LSB) |
2 | Packet Types Bitmask (MSB) |
Byte | Description |
0 | Source Address |
1 | Acceleration Cutoff |
2 | Angular Rate Cutoff |
Byte | Description |
0 | Source Address |
1 | Orientation Value (MSB) |
2 | Orientation Value (LSB) |
Byte | Description |
0 | Source Address |
1 | reserved |
2 | Wheel Distance Value (LSB), mm |
3 | Wheel Distance Value (MSB), mm |
4 | Lever Arm Bx Value (LSB), mm |
5 | Lever Arm Bx Value (MSB), mm |
6 | Lever Arm By Value (LSB), mm |
7 | Lever Arm By Value (MSB), mm |
Note
- For Orientation, Cutoff Frequencies Packet Type and Packet Rate responses values of parameters will be the same as in the set commands for these parameters.