Unexplained intermittent CAN / 2CAN Jaguar problems at GSR

[jhersh]

Originally Posted by drakesword

Its my understanding that this has been modified for safety (which is understandable) to require the "trusted" heartbeat. Does anyone know the interval that the heartbeat must be receive in order to keep it alive? and Does anyone know the actually rate in which the heartbeat is being sent?

Either a heartbeat or a trusted set output command must be received by a Jag within 100ms of the last one to keep the Jag running. Every 15ms, the cRIO checks if the user has sent a trusted set output command within 75ms of the last heartbeat or trusted set output command. If not, it sends a heartbeat. This means that the cRIO will send a heartbeat to keep the Jag running somewhere between 75ms and 90ms (if needed).