Can addresses and associated firmware
From Wiki for RobotCub and Friends
Contents |
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Can Networks
The can bus network are four, ids range from 0 to 3.
- 0 head network, device pcan
- 1 left arm network, device pcan
- 2 right arm network, device pcan
- 3 legs network, device pcan
On iCub 1.1 the situation is a bit different.
- 0 head network, device pcan
- 1 left arm network, device pcan
- 2 right arm network, device pcan
- 3 legs network, device pcan
- left hand: device ecan, variable id
- right hand: device ecan, variable id
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Boards communicating on CAN and associated firmware
We here describe all the boards communicated on each of the four CAN bus lines (see Quad-CAN bus interface) connected to the PC104
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CAN 0
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Head v1.0
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 0B0 | -> | 0 (pcan) | 1 | 4DC.1.11.out.S |
| 0B1 | -> | 0 (pcan) | 3 | 4DC.1.15.out.S |
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Head v1.1
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 0B0 | -> | 0 (pcan) | 1 | 4DC.1.11.out.S |
| 0B1 | -> | 0 (pcan) | 3 | 4DC.1.15.out.S |
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Torso v1.0
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 0B3 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
| 0B4 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
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Torso v1.1
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 0B3 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
| 0B4 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
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CAN 1
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Left arm (v1.0)
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 1B0 | -> | 1 (pcan) | 1 | 2BLL.1.50.out.S |
| 1B1 | -> | 1 (pcan) | 2 | 2BLL.1.53.out.S |
| 1B2 | -> | 1 (pcan) | 3 | 4DC.1.19.out.S |
| 1B3 | -> | 1 (pcan) | 5 | 4DC.1.18.out.S |
| 1B4 | -> | 1 (pcan) | 7 | 4DC.1.20.out.S |
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Left arm (v1.1)
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 1B0 | -> | 1 (pcan) | 1 | 2BLL.1.50.out.S |
| 1B1 | -> | 1 (pcan) | 2 | 2BLL.1.53.out.S |
| 1B2 | -> | 1 (pcan) | 3 | 4DC.1.19.out.S |
| Strain | -> | 1 (pcan) | 13 | strain.hex |
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 1B3 | -> | 1 (ecan) | 5 | 4DC.1.18.out.S |
| 1B4 | -> | 1 (ecan) | 7 | 4DC.1.20.out.S |
| MAIS | -> | 1 (ecan) | 14 | mais.hex |
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CAN 2
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Right arm (v1.0)
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 1B0 | -> | 2 (pcan) | 1 | 2BLL.1.50.out.S |
| 1B1 | -> | 2 (pcan) | 2 | 2BLL.1.53.out.S |
| 1B2 | -> | 2 (pcan) | 3 | 4DC.1.19.out.S |
| 1B3 | -> | 2 (pcan) | 5 | 4DC.1.18.out.S |
| 1B4 | -> | 2 (pcan) | 7 | 4DC.1.20.out.S |
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Right arm (v1.1)
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 2B0 | -> | 2 (pcan) | 1 | 2BLL.1.50.out.S |
| 2B1 | -> | 2 (pcan) | 2 | 2BLL.1.53.out.S |
| 2B2 | -> | 2 (pcan) | 3 | 4DC.1.19.out.S |
| Strain | -> | 2 (pcan) | 13 | strain.hex |
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 2B3 | -> | 2 (ecan) | 5 | 4DC.1.18.out.S |
| 2B4 | -> | 2 (ecan) | 7 | 4DC.1.20.out.S |
| MAIS | -> | 2 (ecan) | 14 | mais.hex |
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CAN 3
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legs
| boardLabel | canDeviceNum | boardId | firmware | |
|---|---|---|---|---|
| 3B5 | -> | 3 (pcan) | 5 | 2BLL.1.51.out.S |
| 3B6 | -> | 3 (pcan) | 6 | 2BLL.1.51.out.S |
| 3B7 | -> | 3 (pcan) | 7 | 2BLL.1.51.out.S |
| 3B8 | -> | 3 (pcan) | 8 | 2BLL.1.51.out.S |
| 3B9 | -> | 3 (pcan) | 9 | 2BLL.1.51.out.S |
| 3B10 | -> | 3 (pcan) | 10 | 2BLL.1.51.out.S |
| Strain (left_leg) | -> | 2 (pcan) | 13 | strain.hex |
| Strain (right_leg) | -> | 2 (pcan) | 14 | strain.hex |
