# CAN Bus Communications

Send steering command to the TI2 on address 0X249

```
BO_ 585 EPS_LKAS: 8 XXX
 SG_ LKAS_REQUEST : 7|16@0+ (1,0) [0|65535] "" XXX
 SG_ CTR : 51|4@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
```

Recieve Feedback from the TI2 on addresses  0X249, 0X74B, 0X74C

```
BO_ 587 MAIN_FEEDBACK: 8 XXX
 SG_ HALL_0_INPUT : 7|16@0- (1,0) [0|65535] "" XXX
 SG_ CPU_0_VIOL : 23|8@0+ (1,0) [0|15] "" XXX
 SG_ CPU_1_VIOL : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ CPU_2_VIOL : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ CPU_3_VIOL : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ CPU_0_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CPU_1_STATE : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CPU_3_STATE : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ CPU_2_STATE : 63|4@0+ (1,0) [0|15] "" XXX
```

```
BO_ 1867 TI_SENSOR_INPUTS: 8 XXX
 SG_ HALL_1 : 7|16@0- (-1,0) [0|65535] "" XXX
 SG_ HALL_2 : 23|16@0- (-1,0) [0|65535] "" XXX
 SG_ HALL_3 : 39|16@0- (1,0) [0|65535] "" XXX
 SG_ CTR : 63|8@0+ (1,0) [0|255] "" XXX
```

```
BO_ 1868 TI_SENSOR_OUTPUTS: 8 XXX
 SG_ HALL_0 : 7|16@0- (1,0) [0|65535] "" XXX
 SG_ HALL_1 : 23|16@0- (-1,0) [0|65535] "" XXX
 SG_ HALL_2 : 39|16@0- (-1,0) [0|65535] "" XXX
 SG_ HALL_3 : 55|16@0- (1,0) [0|65535] "" XXX
```
