Functional Safety Communications Protocol: Sae J1939-76; Vehicle Application Layer: Sae J1939-71 - Danfoss PLUS+1 JS1-H User And Safety Manual

User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Steer by Wire Joystick
12 | © Danfoss | December 2022
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MCU A1: 51
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MCU A2: 52
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MCU B1: 53
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MCU B2: 54

Functional safety communications protocol: SAE J1939-76

Safety header for SAE J1939-71 is used with the following format:
Start Length Name
position
1.1 1 bit Inverted SDM data page (always 1)
1.2 1 bit Inverted SDM extended data page (always 1)
1.3 1 bit Reserved (set to 1)
1.4 5 bits SDG sequence number
2 1 byte Inverted joystick address
3 1 byte Inverted PDU specific value of joystick message
4 1 byte Inverted SDM PDU format value of joystick message
5-8 4 bytes Data CRC of all 8 byte of joystick message (polynomial 0x6398392D)

Vehicle application layer: SAE J1939-71

BJM1 messages is used to transmit on CAN bus using the following message ID data:
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Data length: 8 bytes
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Extended data page: 0
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Data page: 0
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PDU format: 253
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PSU specific: 214 PGN supporting information:
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Default priority: 3
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Parameter group number: 64982 (0x00FDD6)
BJM1 SPN data format:
Start Length Name
position
1.1 2 bits
Joystick X-Axis Neutral Position Status
0x00: Not in Neutral Position
0x01: In neutral Position
0x02: Error Indicator
0x03: Not Available
1.3 2 bits
Joystick X-Axis Lever Left Negative Position Status
0x00: Not on negative side of Neutral
0x01: On negative side of Neutral
0x02: Error Indicator
0x03: Not Available
1.5 2 bits
Joystick X-Axis Right Positive Position Status
0x00: Not on positive side of Neutral
0x01: On positive side of Neutral
0x02: Error Indicator
0x03: Not Available
1.7-2 10 bits
Joystick X-Axis Position
0-1000: Joystick position in 0.1%
1022: Error Indicator
SPN
2675
2670
2665
2660
AX436683569858en-000101