From b9e11c4565fe28b1062e9288bdb334dd1222162d Mon Sep 17 00:00:00 2001 From: janschu99 <105646877+janschu99@users.noreply.github.com> Date: Tue, 18 Mar 2025 14:57:08 +0100 Subject: [PATCH 1/3] Fix horn frames in candump script --- candump.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/candump.sh b/candump.sh index f5e6935..36069c8 100755 --- a/candump.sh +++ b/candump.sh @@ -45,8 +45,8 @@ stdbuf -o0 candump -tz can0 |stdbuf -o0 sed -E 's/can0//g;s/ \(/\(/g;s/\) /\) /0C000.02/{s/ -* / Right_indicat /g}; /0C000.03/{s/ -* / Hazards_indic /g}; /0C000.04/{s/ -* / Lights_toggle /g}; -/0C040100/{s/ -* / Horn_on______ /g}; -/0C040101/{s/ -* / Horn_off_____ /g}; +/0C040.00/{s/ -* / Horn_on______ /g}; +/0C040.01/{s/ -* / Horn_off_____ /g}; /_____065.* 90/{s/ -* / Seat_mve_inf2 /g}; ' From fee0edb1b7a02c811add8094ffdddfa21441cd17 Mon Sep 17 00:00:00 2001 From: janschu99 <105646877+janschu99@users.noreply.github.com> Date: Tue, 18 Mar 2025 15:01:53 +0100 Subject: [PATCH 2/3] Add canlog 10 seconds recording of idle R-Net chair Sunrise Medical Jive M2 --- canlog1.txt | 1577 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1577 insertions(+) create mode 100755 canlog1.txt diff --git a/canlog1.txt b/canlog1.txt new file mode 100755 index 0000000..07d9612 --- /dev/null +++ b/canlog1.txt @@ -0,0 +1,1577 @@ + (000.000000) can0 02000100 [2] 00 00 + (000.000969) can0 03C30F0F [7] 87 87 87 87 87 87 87 + (000.009856) can0 02000100 [2] 00 00 + (000.019860) can0 02000100 [2] 00 00 + (000.020457) can0 0C140400 [1] 13 + (000.023879) can0 00E [8] 70 80 13 98 00 00 00 00 + (000.029844) can0 02000100 [2] 00 00 + (000.039851) can0 02000100 [2] 00 00 + (000.049885) can0 02000100 [2] 00 00 + (000.059805) can0 02000100 [2] 00 00 + (000.069713) can0 02000100 [2] 00 00 + (000.070341) can0 0C140400 [1] 54 + (000.074450) can0 00E [8] 70 80 13 98 00 00 00 00 + (000.079864) can0 02000100 [2] 00 00 + (000.089874) can0 02000100 [2] 00 00 + (000.093659) can0 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140C0001 [2] 00 00 + (009.709933) can0 02000100 [2] 00 00 + (009.719942) can0 02000100 [2] 00 00 + (009.723909) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.729934) can0 02000100 [2] 00 00 + (009.739935) can0 02000100 [2] 00 00 + (009.749991) can0 02000100 [2] 00 00 + (009.759969) can0 02000100 [2] 00 00 + (009.769961) can0 02000100 [2] 00 00 + (009.774520) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.779939) can0 02000100 [2] 00 00 + (009.789943) can0 02000100 [2] 00 00 + (009.800086) can0 02000100 [2] 00 00 + (009.801078) can0 03C30F0F [7] 87 87 87 87 87 87 87 + (009.802220) can0 1C300004 [8] 79 08 5D 00 2C 00 00 00 + (009.809934) can0 02000100 [2] 00 00 + (009.819935) can0 02000100 [2] 00 00 + (009.823910) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.829936) can0 02000100 [2] 00 00 + (009.839936) can0 02000100 [2] 00 00 + (009.849993) can0 02000100 [2] 00 00 + (009.859913) can0 02000100 [2] 00 00 + (009.869976) can0 02000100 [2] 00 00 + (009.874522) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.879971) can0 02000100 [2] 00 00 + (009.889838) can0 02000100 [2] 00 00 + (009.890860) can0 0C140400 [1] 10 + (009.900086) can0 02000100 [2] 00 00 + (009.901079) can0 03C30F0F [7] 87 87 87 87 87 87 87 + (009.909940) can0 02000100 [2] 00 00 + (009.911136) can0 14300000 [2] 00 00 + (009.919912) can0 02000100 [2] 00 00 + (009.923918) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.929936) can0 02000100 [2] 00 00 + (009.939936) can0 02000100 [2] 00 00 + (009.941074) can0 0C140400 [1] 51 + (009.949986) can0 02000100 [2] 00 00 + (009.951129) can0 140C0001 [2] 00 00 + (009.959931) can0 02000100 [2] 00 00 + (009.969940) can0 02000100 [2] 00 00 + (009.974515) can0 00E [8] 70 80 13 98 00 00 00 00 + (009.979965) can0 02000100 [2] 00 00 From 7ec713e15f906da9a938866e1f2e33b805469feb Mon Sep 17 00:00:00 2001 From: janschu99 <105646877+janschu99@users.noreply.github.com> Date: Thu, 26 Mar 2026 11:52:46 +0100 Subject: [PATCH 3/3] Update README.md Correcting and clarifying notes about fault-tolerant CAN --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 97e8427..c5b2809 100755 --- a/README.md +++ b/README.md @@ -93,6 +93,6 @@ Python 3 is required. Using different hardware ========================================= CAN is a widely used communication protocol, so there are many different controllers available you could use instead of the Raspberry Pi setup described above. However, there are a few important points to consider: -- R-Net apparently uses low-speed fault-tolerant CAN as defined in ISO 11898-3, which means that it is able to continue normal operation even if one of the two data lines is disconnected. However, this is incompatible with high-speed CAN as defined in ISO 11898-2, so make sure to use a CAN transceiver that supports the fault-tolerant physical layer, otherwise no communication will be possible. Typical fault-tolerant CAN transceivers are the MCP2551 (which is used on the PiCAN2) and the TJA1055. A NXP A1050/C also works. -- Make sure that there is no termination resistor active on the board you are using (you can usually disconnect these using a jumper). +- R-Net uses low-speed fault-tolerant CAN as defined in ISO 11898-3, which means that it is able to continue normal operation even if one of the two data lines is disconnected or short-circuited. Not many CAN transceivers support this. Official R-Net modules seem to use the TJA1054, so this (or its successor, the TJA1055) is probably the safest option. As long as the bus is not in fault-tolerant mode (i.e. no "Bad Cable" warning shown), some other transceivers (such as the MCP2551 on the PiCAN2) also seem to work, but not all do. +- If you do not use a "proper" fault-tolerant transceiver, make sure that there is no termination resistor active on the board you are using (you can usually disconnect these using a jumper). - The wheelchair is powered by its own batteries, which are a large, floating power supply. It is usually not earth-grounded. Keep this in mind when somehow connecting the wheelchair to the power grid (for example via a USB cable to a desktop computer), as there may be large voltage differences resulting in short current spikes the moment you make the connection. Use proper isolation for all connections (including power and ground) to avoid damaging your hardware.