A2C-SG2-M12
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BS2:
Specifies the number of time quanta in Bit Segment 2. This parameter can be a value of
0x01 = 1 time quantum
0x02 = 2 time quantums
…
0x08 = 8 time quantums
PRES_MSB:
Specifies the MSB prescale value
PRES_LSB:
Specifies the LSB prescale value
7.3.2
Command: Get custom baud rate
To get the current baud rate
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xC3
Any value
SJW
BS1
BS2
PRES_MSB
PRES_LSB
DLC = 0x01 (values above 1 are also valid, but Data bytes are not used)
Reply
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xC3
Value sent
SJW
BS1
BS2
PRES_MSB
PRES_LSB
DLC = 0x02
The reply format follows the same format as seen in 7.3.1
7.4
CAN Filters
The sensor will only respond to values which have passed through its CAN message filters. This means that many similar sensors
can be attached to the same CAN network and by defining filters, only the sensor nodes which filter matches the CAN ID will
interpret the message.
There are two types of filters; standard filters which are unsigned 16bit integers and used for 11 bit identifiers, and extended filters
which are unsigned 32 bit integers and used for 29bit identifiers. There are 4 standard filters and 2 extended filters. The standard
filters only allow a message with the same ID as the filter value to pass through.
From the factory settings the filters are configured as follows:
Standard Filter 1 = 1000
Standard Filter 2 = 1001
Standard Filter 3 = 1002
Standard Filter 4 = 1003
Extended Filter 1 = 0
Extended Filter 2 = 0
7.4.1
Command: Set CAN Filters
To change the filters to other values send the following message:
Command
Sub
Command
Data[0]
Data[1]
Data[2]
Data[3]
0x69
FILT
MSB Std Filter 1&3
MSB Ext Filter 1&2
LSB Std Filter 1&3
MSB Std Filter 2&4
LSB Std Filter 2&4
LSB Ext Filter 1&2
DLC = 0x06 (values above 6 are also valid, but Data bytes are not used)
FILT: Filter Number
0x01 = Standard Filter 1&2
0x02 = Standard Filter 3&4
0x03 = Extended Filter 1
0x04 = Extended Filter 2
MSB Std Filter 1&3:
Most significant bit of standard filters 1 & 3. [0x00-0x07]
LSB Std Filter 1&3:
Least significant bit of standard filters 1 & 3. [0x00-0xFF]
MSB Std Filter 2&4:
Most significant bit of standard filters 2 & 4. [0x00-0x07]
LSB Std Filter 2&4:
Least significant bit of standard filters 2 & 4. [0x00-0xFF]
MSB Ext Filter 1&2:
Most significant bit of extended filter 1. [0x00-0x1F]
LSB Ext Filter 1&2:
Least significant bit of extended filter 1. [0x00-0xFF]