User manual

62 P/N 54A0028-2 012017© 2017 LeddarTech Inc. Printed in Canada. All rights reserved.
Table 49: Answers
Offset
Length
Description
0
1
Sub-function code: 0x05
5.5. CAN Bus Interface
The CAN bus interface uses two default message IDs that can be modified by the
user: 1856 (0x740) and 1872 (0x750).
Four message IDs are available:
Table 50: CAN message IDs
Message ID
Direction
Data Type
0x740
Rx
Request from a host
0x750
Tx
Answer to a host request
0x751
Tx
Number of detection messages
0x752 and over
Tx
Detection messages
1856 (0x740) (Rx base ID)
These are 8-byte length messages for command requests that the module monitors:
the first byte (Byte 0) describes the main function and the rest of the message bytes
are used as arguments. Undescribed bytes are reserved and must be set to 0.
The module answer messages are described in section 1872 (0x750) (Tx base ID).