Mantracan - Mantracourt DSC User Manual

MantraCAN

MantraCAN is Mantracourt's proprietary CAN protocol. It allows customizable streaming of data that can exist on
most CAN networks (eg CANopen or J1939).
However, the only interaction the DSC/DLC will have with these CAN networks is via customizable start and stop
streaming messages. It will not be possible to read or write any parameters or action commands with a non
MantraCAN network. Therefore all setup should be carried out with the toolkit as detailed above.
MantraCAN Communication Protocol
This chapter gives details of communication protocols and bus connections.
Each device has a singe base ID to enable configuration and is factory set to 1. All data sent to the device is sent
to this ID. All data returned from the device is on the base ID + 1.
The ID can be changed via standard parameters.
Communications defaults are 500K bit rate with 11 bit identifier (CAN 2.0a)
Basic Command Structure
To read, write and issue commands the following format is used:
CAN ID
11 or 29 bit
ID
The ID of the device. set by NODEIDL and NODEIDH. The size of the ID is set by IDSIZE
Descriptor
The Descriptor is used to indicate the type of message, a message can be one of the following types:-
• Write which writes a new value into a parameter, Write is also used to perform an action command such as
RST, in which case no data is sent.
• Read is used to read back the value of a parameter.
• Response is always sent by the slave on receipt of a valid message. The response always returns the command
number byte sent by the master.
• A NAK is sent if the Command index is not recognised or if the data sent is invalid.
Type Descriptor Value
Read
Write
Response
NAK
Command Number
Refer to the table below for command numbers.
Data
Data is ALWAYS in the format of a floating point number to the IEEE 854-1987 standard. When requesting
parameter values do not use data. Also do not use data when issuing a command.
Read
To read a parameter send message to appropriate ID with a Request descriptor, data will be ignored so can
optionally be left off.
Mantracourt Electronics Limited
Descriptor
1 Byte
1
2
6
21
CAN Data
Command Number
1 Byte
79
Data
4 Bytes
DSC/DLC User Manual