VEHICLE SAFETY CONTROLLER
© 2021, FORT Robotics. Company Confidential. Do not distribute.
935-0003 Rev C
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7.3.5.
Message Control Message (To VSC)
The Message Control message to the VSC allows the user to configure which messages are output from
the VSC, and how often. The enabled field determines whether or not the message is transmitted.
And the interval is defined as the number of milliseconds between transmissions of the message. All of
these settings are persistent in EEPROM, so they only need to be configured once by the user.
NOTE: It
is not recommended to disable the heartbeat or joystick messages from the VSC
.
Byte Offset
Type
Size
Description
Value
0
uint16
2
Header
0x1001
2
uint8
1
Message Type
0x23
3
uint8
1
Message Length
0x04
4
uint8
1
Message Type
Which VSC message type to modify
5
uint8
1
Enabled
Whether or not the message is
transmitted.
6
uint16
2
Interval
Time between transmissions in
milliseconds (20 -> UINT16_MAX)
8
uint16
2
16-Bit Checksum
See Checksum Reference
Table22: Packet Protocol Heartbeat Message (To VSC)
7.3.6.
User Feedback Set Message (To VSC)
The User Feedback message to the VSC allows the user to update values that can be displayed on the
SRC. Note, even though this message uses a 32-bit into to transmit data, the SRC can only display 6
characters of information (it is capable of displaying all values in the range of a 16-bit integer).
An
ything out of range will result in a “XXXXXX” to be displayed.
Byte Offset
Type
Size
Description
Value
0
uint16
2
Header
0x1001
2
uint8
1
Message Type
0x30
3
uint8
1
Message Length
0x05
4
uint8
1
User Feedback Key
0-99
5
int32
4
User Feedback Value
7
uint16
2
16-Bit Checksum
See Checksum Reference
Table 23: Packet Protocol User Feedback Message
The following keys are currently defined by the system.
Key
Name
Description
1
–
9
User Values
These 9 keys are allocated to custom user values that can be displayed on
the LCD screen. These values should be limited to 16-bit values.
10
Left Vibratory
Motor Control
Setting this value to 1 will drive the vibratory motor on the left side of the
SRC for a small period of time (750ms).
11
Right Vibratory
Motor Control
Setting this value to 1 will drive the vibratory motor on the right side of the
SRC for a small period of time (750ms).
12
Vibratory Motor
Control
Setting this value to 1 will drive both of the vibratory motors of the SRC for a
small period of time (750ms).
80
Inactivity Pause
Controls the time before the SRC goes into Pause Mode because of an
Inactivity Timeout. The time before going into Pause Mode is the
Inacti 1 in minutes. Valid Values: 0 - 10
