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Uli SDK

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Drive Train Driver

13.Drive Train Driver

The Drive Train Driver service commands transmission and transfer case of the mobility system.

Require: core:AccessControl
Inherit from: core:Management

13.1 Service Behavior

13.1.1 State Diagram


  Figure 12 Drive Train Driver State Diagram

13.1.2 State Actions


State Actions
core:Management.READY
  • Execute requested transmission and transfer case commands
DEFAULT
  • Report current transmission and transfer case

13.1.3 Internal Events


Event Parameters Purpose
ieReceiveMessage Message received

13.1.4 Transitions


Transition Trigger Condition Action
A Query Transmission State Query Transfer Case State Process message
B Set Transmission State Set Transfer Case State Process message
C Management exits READY state Reset commanding Transmission and Transfer Case to safe states.

13.2 Protocol

13.2.1 Incoming Message Set


# ID Message
1 H:0x00000001
L: 0x00000222 		Set Transmission State
2 H:0x00000001
L: 0x00000223 		Query Transmission State
3 H:0x00000001
L: 0x00000225 		Set Transfer Case State
4 H:0x00000001
L: 0x00000226 		Query Transfer Case State

13.2.2 Outgoing Message Set


# ID Message
1 H:0x00000001
L: 0x00000224 		Report Transmission State
2 H:0x00000001
L: 0x00000224 		Report Transfer Case State

13.3 Parameters

  1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.

  2. DATATIMEOUT double, timeout in seconds for not receiving transmission state or transfer case updates, default=0.5.

13.4 Data

Get:

  1. location=transmissionstate, type=TransmissionStateRec
  2. location=transfercasestate, type=TransferCaseStateRec