What PGN sends Work Status to AOG from Machine

[qball_ky]

I’m writing code for machine control (sprayer section control) without AutoSteer. It is working well in simulator. Now I want to implement a physical Work switch to control painting.

What PGN do I use to to update AOG of the switch status?

[theGtknerd]

PGN 0x7FFD found in

PGN.md

Even though the docs are wrong and say 0x7EFD

[qball_ky]

Thanks for the reply.

From PGN.MD the PGN 0x7EFD is listed as “From Autosteer” with its dataLoad as
Byte 5& Byte6 ActualSteerAngle * 100
Byte 7& Byte8 IMU Heading Hi/Lo
Byte 9&Byte10 IMU RollHi/Lo
Byte 11 Switch
Byte 12 PWMDisplay

I take it that I can send this rather than receive it, and the SWITCH is the work switch (1 On, 0 Off)?

Since I’m not using data from bytes other than 11, what should I fill those bytes with?

[theGtknerd]

@qball_ky

what should I fill those bytes with

0

On byte 11,

0 = all off
1 = autosteer on
2 = work on
3 = autosteer and work on

[qball_ky]

I appreciate all help, however so far no success on using code to to control Work/Steer switch status.

• I’ve written code to send (by UDP) both PGNs 7EFD & 7FFD (separately not together), every 1000ms.
• I’m using the same code logic that is working for other PGNs, so I pretty sure the packets are being sent.
• The UDP monitor is not showing any 253 PGNs, so I think AGIO is ignoring them. Maybe its not listening for inbound 253s, or maybe my packet is not formatted right (I’m pretty sure it is).

-------------------------Function sending PGN253 packet -----------------------------------
void sendPgn253() {
if(debug253){Serial.printf(“Inside sendPgn253\n”);}
uint8_t udpPkt[5+8+1] = { 0x80, 0x81, 0x7E, 0x7D, 0x08, /*byte 0-4 hdr, hdr, Src, PGN, Len, */
0x00, 0x00, 0x00, 0x00, /*byte 5-8 */
0x00, 0x00, 0x02, 0x00, /*byte 9, 10, 11, 12–for 11 (0=all off, 1=autosteer on, 2 = work on, 3= both on) */
0x00 }; /*CRC 13 */
udpPkt[13] = chk(udpPkt, sizeof(udpPkt));
udpSend(udpNmea, udpPkt, sizeof(udpPkt), bcIP, PORT_NMEA);
last253=millis();
}
---------------- To be sure I understand what I’m trying to do --------------------------------

[qball_ky]

Correction
When sending PGN 7E FD (7E 253) the UDP Monitor does see it

But it does not change on screen icon.

[Pat]

Maybe you must send to correct CRC.

Also there is a PGN234 somewhere (not documented apparently) to specifically control the sections states.

Check this one

Misc%2FSectionControlAOG%2FSectionControlAOG.ino

EA is the one I think.

[qball_ky]

OK. It seems be be working now.

Using PGN 7F EA, (32746), or 7F 234

Byte0 of Data Load, values used, (0x01 = Work Switch On) (0x02 = Work Switch Off)

I found the “Possible values” for byte0 to have different meaning than documented here. The rest of the bytes apply though.

FROM–> PGN 234: Section Status Feedback

Direction : ESP32 → AgOpenGPS Purpose: Reports the actual status of sections (manual overrides, master switch) Rate: 100ms (10 Hz)

Packet Structure

0x80 0x81 0x7F 0xEA 0x08 [8 bytes of data] [CHK]

└─┬──┘ └─┬──┘ └┬┘

│ │ │

PGN 234 │ Length

│

Data Length = 8

Data Payload (8 bytes)

Byte	Field	Description
0	Status	Module presence and master switch status
1	Auto mask for sections 1-8	Sections in AUTO mode (available for AgOpenGPS control)
2	Auto mask for sections 9-16	Extended AUTO mask for additional sections (0x00 for 4-section setup)
3	Section Count	Number of sections (4)
4	Force-ON mask 1-8	Sections forced ON regardless of AOG command (rarely used, typically 0x00)
5	Force-OFF mask 1-8	Sections manually forced OFF
6	Force-ON mask 9-16	Extended force-ON for additional sections (0x00 for 4-section setup)
7	Force-OFF mask 9-16	Extended force-OFF for additional sections (0x00 for 4-section setup)

Note : Bytes 2, 4, 6, and 7 support systems with more than 8 sections and force-ON functionality. For typical 4-section implementations, these bytes are 0x00.

Byte 0: Status Flags

Bit	Meaning	Value
0	Module Present	1 = Module is connected
1	Master Switch	1 = Master OFF (all sections disabled)
2-7	Reserved	Not used
Possible Values:

• 0x01 = Module present, master switch ON (normal operation)
• 0x03 = Module present, master switch OFF (all sections disabled)

[qball_ky]

I trust all of AOG’s PGNs are fully documented somewhere. Including meaning of values for each byte.

However I have not found it yet.

The PGN I found, that works for me, is not in the official PGN.MD document.

If anybody has a source for more complete PGN documentation I would appreciate knowing where.

THANKS to all who helped. All responses contributed to me getting this far.