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### DIWA CAN messages

Structure of a 29-bit CAN identifier:

Structure | Bits | Example |
|  | ERC1: CAN-ID 18F00010h |
Priority | 3-bit | 110 |
R1 (reserved bit) | 1-bit | 0 |
DP (data packet) | 1-bit | 0 |
PDU format | 8-bit | 11110000 |
PDU-specific | 8-bit | 00000000 |
Source address (sender address) | 8-bit | 00010000 |

CAN sender addresses of Voith controllers:

- Retarder: 10h (16d)
- Transmission: 03h (3d)

CAN sender addresses of vehicle controllers used:

- Brake system: 0Bh (11dec)
- Cruise control 11h (17dec)
- Engine: 0h (0dec)
- Shift console primary: 5h (5dec)
- Management computer: 27h (39dec)

CAN (Controller Area Network) in accordance with SAE J1939 CAN (Controller Area Network) operating principle