Danfoss PVED-CL Technical Information page 12

Technical Information
Communications
12
PVED-CL Communication Protocol, version 1.38 Technical Information
Guidance engage and disengage state machine
1
not (A or B )
(not A) and B
A
A
2
(not A) and B
(not A) and B and C
A
A
Please note that no active transaction means no state change happens.
State definitions
Initialization
1
High priority set-point controller disabled (device disable functionality available in PVED-CL). If other
2
steering device is selected, PVED-CL follows set-points from this device
PVED-CL requests the high priority set-point controller for a message reset. It waits for at least one
3
GuidanceSystemCommand message not intended for steering
PVED-CL waits for curvature requests intended for steering
4
PVED-CL follows curvature requests
5
PVED-CL follows set-points from other steering device
6
Conditions
High priority set-point controller disabled (device disable functionality available in PVED-CL)
A
No other steering device selected or set-points (from other steering device) below threshold
B
New curvature request received, but not intended for steering
C
New curvature request received, intended for steering
D
Timeout – no new curvature request has been received for 200 ms
E
Steering wheel disengage ability check has been passed or is disabled
F
11079551 • Rev BA • July 2014
A
not (A or B )
(not A) and B
3
not (A or B )
not (A or B )
E
not (A or B )
E
(not A) and B and C
4
(not A) and B and D
and F
6
5