Control lever parameter field configuration method and system based on CAN bus

Abstract

The invention discloses a control lever parameter field configuration method and system based on a CAN bus, and belongs to the technical field of control lever parameter field configuration, and the control lever parameter field configuration method comprises the following steps: parameter receiving and analysis, parameter updating and temporary effectiveness, operation feedback, parameter storage, power-down protection and power-on loading. According to the field configuration method and system for the joystick CAN bus parameters, a user can safely and conveniently change communication parameters by himself without returning to a factory, it is ensured that the changed parameters are not lost after power failure, the user can firstly test whether new parameters are valid or not by adopting a two-step mechanism of temporarily taking effect and confirming storage, and then the user can conveniently and rapidly configure the joystick CAN bus parameters. The risk that the system cannot communicate due to misoperation is avoided, and meanwhile operation feedback is provided to enhance man-machine interaction and reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of joystick parameter on-site configuration, in particular to a joystick parameter on-site configuration method and system based on CAN bus. BACKGROUND

[0002] In the industry control, engineering machinery, agricultural machinery, shipbuilding and other industries, as an important human-computer interaction input device, the joystick is generally communicated by CAN bus. The CAN bus communication parameters of the joystick, such as baud rate, sending ID, frame type-standard frame / extended frame, receiving ID, etc., are all pre-set by the manufacturer according to the initial needs of the customer and fixed in the memory when the joystick is shipped.

[0003] For example, a patent with publication number CN120871724A discloses a dynamic midpoint and boundary self-calibration method and system for a joystick, including S1: power on the device and select the mode; S2: dead zone calibration; S3: threshold setting; S4: data storage; S5: exit and application. When working, the physical manipulation quantity is converted into an original electric signal by the joystick sensing unit, and then the original electric signal is received by the signal processing module and signal conditioning is performed. The analog signal is converted into a digital signal that can be processed by the microprocessor. The main control unit executes all logical judgments. The user issues instructions through the user configuration interface and directly inputs them into the main control unit. The main control unit and the non-volatile memory perform bidirectional data interaction to achieve permanent saving and calling of the dead zone parameters. After the main control unit processes all information, the final control instruction output is generated to drive the actuator.

[0004] A patent with publication number CN119882921A discloses a data processing system and method for a joystick. The data processing system for the joystick includes a handle input module, an analog-to-digital conversion module, a data processing module, and a communication interface module. The operation signal of the operator is converted into an analog signal by the handle input module, and the analog signal is output as a digital signal by the analog-to-digital conversion module. The data processing module performs sliding window de-pole averaging filter processing on the digital signal to obtain an actual signal without interference signals. Then, the actual signal is amplified or attenuated by piecewise linear mapping to adapt to different application requirements. Finally, the communication interface module outputs the final smooth signal. While maintaining the original characteristics of the operation signal, the noise interference is effectively reduced, the accuracy and stability of the joystick are significantly improved, the computational complexity is reduced, the data processing speed is improved, the parameter configuration is flexible, and the joystick can be reliably and efficiently applied in various precision control occasions. However, the existing joystick has poor parameter adjustment flexibility and cannot adapt to temporary requirements. When the user needs to change the communication parameters of the joystick due to equipment replacement, system upgrade, or temporary adjustment of working conditions, the existing joystick cannot be modified by the user on site, and the user must return the joystick to the original factory or use a special burning tool to modify the parameters. This process is time-consuming and labor-intensive, resulting in extended equipment downtime, high logistics and labor costs, and greatly affecting the user's work efficiency and experience. Moreover, the parameter modification process is a black box operation for the user, and the user cannot know whether the parameter modification instruction is successfully received and executed in real time, which reduces the reliability of the operation and the user information.

[0005] In view of the above problems, it is urgent to make innovative design on the basis of the original joystick parameter on-site configuration method. SUMMARY

[0006] The present application aims to provide a CAN bus-based joystick parameter on-site configuration method and system to solve the problems of poor parameter adjustment flexibility of the existing joystick, inability to adapt to temporary requirements, high maintenance cost, long cycle, and lack of user interaction and confirmation mechanism.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solution: a CAN bus-based joystick parameter on-site configuration method, which comprises the following steps: Parameter receiving and analysis: the joystick main controller listens to and receives parameter configuration instruction frames from the upper computer configuration tool in real time through the CAN bus transceiver. The instruction frame contains target parameter information to be modified. The main controller (MCU) analyzes the received instruction frame and extracts the target parameter.

[0008] Parameter updating and temporary effect, MCU writes the target parameters obtained by parsing into its internal RAM, overwriting the original running parameters, and immediately configures the CAN controller based on the new parameters, so that the new parameters take effect immediately, realizing temporary parameter change test.

[0009] Operation feedback, MCU generates a feedback instruction frame containing operation result status information, and sends it back to the host computer through the CAN bus, informing the user whether the parameter change operation is successful.

[0010] Parameter storage, when the user confirms that the new parameters work normally, the host computer sends a specific parameter storage instruction, and after the MCU receives the instruction, it writes the valid parameters currently stored in the RAM into the non-volatile memory for permanent storage.

[0011] Power failure protection and power-on loading, when the joystick system is powered off and then powered on again, the initialization program of MCU automatically reads the previously saved parameter configuration from the non-volatile memory, loads it into RAM and configures the CAN controller, ensuring that the configuration parameters are not affected after power failure and remain effective.

[0012] Preferably, the host computer configuration tool is the operation end for users to configure parameters, including dedicated software running on PC and programs embedded in handheld programmers; the host computer configuration tool is connected to the entire CAN bus network through a USB-CAN adapter and a CAN interface card, and it generates and sends parameter configuration instruction frames and parameter storage instruction frames, while receiving and displaying feedback information from the joystick.

[0013] Preferably, the CAN bus network is the communication trunk connecting nodes in the joystick system, including the host computer and the joystick, and configuration instructions and feedback information are transmitted through the CAN bus network.

[0014] Preferably, the host computer initiates parameter change to form temporary effect test mechanism and confirmation storage solidification mechanism; temporary effect test mechanism, after the user sends new parameters, the system does not immediately save them permanently, but writes them into RAM to make them temporarily effective, and the user can test the joystick to observe whether the target device responds normally according to the new protocol; confirmation storage solidification mechanism, after the user tests and confirms that the new parameters work completely normally, the user sends a storage instruction, and the MCU receives the instruction to transfer the parameters in RAM to EEPROM.

[0015] Preferably, the CAN bus network communication is based on a standard frame structure, and the standard frame key fields are: an arbitration segment, containing an identifier (ID) and a remote transmission request bit RTR, the ID of the instruction frame is generated by the upper computer according to a preset rule, and the ID of the feedback frame is determined by the joystick according to its configuration; a control segment, containing a data length code DLC, indicating the number of bytes contained in the data segment; and a data segment, carrying actual communication data, with a length of 0-8 bytes.

[0016] Preferably, the parameter configuration instruction frame is used to send new parameter values from the upper computer to the joystick, and the parameter configuration instruction frame key fields are: an arbitration segment, the ID of the instruction frame is a pre-agreed configuration instruction address to which the joystick will respond; and a data segment of 8 bytes, specifically including: Byte 0-command word CMD, defining the operation type; Byte 1-parameter type TYPE, specifying the parameter to be modified; and Bytes 2-5-parameter value VALUE, a 4-byte space for storing the specific value of the new parameter.

[0017] Preferably, the parameter type is specifically: 0x01=Baudrate; 0x02=Tx ID; 0x03=Frame Type; and 0x04=Rx ID.

[0018] Preferably, the feedback instruction frame is used to report the results of parameter modification and storage operation from the joystick to the upper computer, and the feedback instruction frame key fields are: an arbitration segment, the ID of the feedback instruction frame is the Tx ID of the joystick, and the upper computer listens to the ID to receive the feedback; and a data segment of 8 bytes, specifically including: Byte 0-command word CMD, the response type; Byte 1-original instruction type TYPE, echoing the parameter type received in the instruction frame, so that the upper computer can perceive which instruction is responded; Byte 2-status word STATUS, the core indication of the operation result; and Bytes 3-7-reserved bits RES: unused bytes, filled with 0x00.

[0019] Preferably, the status word specifically includes: 0x00=Success; 0x01=Error: CRC / Format; 0x02=Error: Unsupported CMD; and 0x03=Error: Invalid Value.

[0020] A joystick parameter field configuration system based on a CAN bus, for the joystick parameter field configuration method based on a CAN bus described above, the joystick parameter field configuration system comprising: The main controller, as a control core, is used for executing multiple steps of the joystick parameter on-site configuration method, including parameter receiving and analysis, parameter updating and temporary effect, operation feedback, parameter storage and power-off protection and power-on loading.

[0021] The joystick module internally comprises a CAN bus interface circuit, a random access memory, a non-volatile memory, a man-machine interaction module and an upper computer configuration module, the joystick module internally built-in sensor collects mechanical load resistance data, and the load and parameter matching algorithm of the main controller is combined to realize accurate adaptation of the centering force parameter and keep accurate centering of the joystick.

[0022] The CAN bus interface circuit comprises a CAN controller and a CAN transceiver and is used for communicating with an external CAN network, receiving and transmitting instruction frames, realizing remote parameter configuration and state monitoring.

[0023] The random access memory is used for temporarily storing and running the current effective parameter, ensuring that the system can quickly respond to various operations and changes and guaranteeing the real-time performance and smoothness of the system operation.

[0024] The non-volatile memory is used for permanently storing the parameter confirmed by the user, realizing power-off protection, having large storage capacity, fast reading and writing speed and high reliability and meeting the long-term storage demand of the system on the parameter.

[0025] The man-machine interaction module comprises an LED indicator lamp and a buzzer and is used for locally providing operation state prompt and letting the user know the working state of the system in time to perform corresponding operation and adjustment.

[0026] The upper computer configuration module is used for generating and sending parameter configuration instruction frames and parameter storage instruction frames and receiving and displaying feedback information from the joystick.

[0027] Compared with the prior art, the present application has the following beneficial effects: The present application has very high convenience and flexibility, the user can change the CAN parameter of the joystick at any time according to the demand on site, without returning to the factory or relying on professional personnel, greatly saving time and economic cost.

[0028] The operation is safe and reliable, the mechanism of temporary effect and confirmed storage is adopted, the user can test whether the new parameter is effective first, and permanently save after confirming that it is correct, avoiding the risk that the system cannot communicate due to misoperation.

[0029] The real-time feedback mechanism has clear success or failure information feedback for each operation, enhances the man-machine interaction, and improves the operation confidence of the user and the reliability of the system.

[0030] Data persistence, the parameter is stored by using the non-volatile memory, ensuring that the configuration information will not be lost after power-off and restart, and once setting, long-term validity.

[0031] The method has strong universality, does not depend on specific model of the joystick or MCU, has good portability, and can be widely applied to various industrial control devices based on CAN bus. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The flow chart of the joystick parameter on-site configuration of the present application.

[0033] Figure 2 The block diagram of the overall structure of the present application.

[0034] Figure 3 The schematic diagram of the joystick module of the present application.

[0035] Figure 4 The schematic diagram of the feedback instruction frame data structure of the present application.

[0036] Figure 5 The schematic diagram of the CAN standard frame general format of the present application.

[0037] Figure 6 The schematic diagram of the parameter configuration instruction frame structure of the present application.

[0038] Figure 7 The flow chart of the method of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0040] The embodiment of the application provides a kind of based on CAN bus's joystick parameter field configuration method, its core is that joystick main controller (MCU) is received by CAN bus transceiver real-time monitoring and comes from the parameter configuration instruction frame of host computer configuration tool, instruction frame includes the target parameter information to be modified, main controller is parsed to the instruction frame received by MCU, extracts target parameter;MCU is written into its internal random access memory by the target parameter of parsing, covers the original operating parameter, and immediately configures CAN controller based on new parameter, so that new parameter is effective immediately, realizes temporary parameter change test;MCU generates a feedback instruction frame including operation result state information, is sent back to host computer by CAN bus, tells user whether this parameter change operation succeeds;When user confirms that new parameter works normally, a specific parameter storage instruction is sent by host computer, after the instruction is received by MCU, the effective parameter currently stored in RAM is written into nonvolatile memory and is permanently saved;When joystick system is powered off and is powered on again, the initialization program of MCU is automatically read from the parameter configuration of nonvolatile memory previously saved, is loaded into RAM and configures CAN controller, guarantee that configuration parameter is not affected after power failure, and continue to be effective.

[0041] Embodiment one, in order to better understand the above technical solution, the above technical solution will be described in detail in the description of the drawings and specific implementation mode, reference Figures 1-7 According to the joystick parameter field configuration method based on CAN bus shown in the embodiment of the application, the joystick parameter field configuration method comprises the following steps: S1, parameter receiving and analysis, joystick main controller is received by CAN bus transceiver real-time monitoring and comes from the parameter configuration instruction frame of host computer configuration tool, instruction frame includes the target parameter information to be modified, main controller is parsed to the instruction frame received by MCU, extracts target parameter.

[0042] It should be noted that the instruction frame follows a custom CAN communication protocol, and the frame format includes a frame ID (used to identify the joystick device address, supporting multiple device configuration at the same time), a data length code (DLC), a target parameter field (including parameter type identification, parameter value, and check code), and a frame tail check bit. After the MCU receives the instruction frame, it performs three-layer verification: first, frame format verification, verifying whether the DLC matches the actual data length; second, CRC verification, verifying the data transmission integrity through a preset algorithm to avoid data distortion caused by bus interference; third, parameter legality verification, comparing the built-in parameter threshold range (such as joystick dead zone threshold 0-100, sensitivity coefficient 0.1-5.0) to determine whether the target parameter is valid; after verification, the MCU analyzes the parameter type (such as dead zone setting, maximum stroke limit, response speed coefficient, etc.) and the corresponding parameter value, providing accurate data support for subsequent update processes; if the verification fails, it directly enters the operation feedback link and returns an error code to the user.

[0043] In this embodiment, the host computer configuration tool is the operation end for users to configure parameters, including a special software running on a PC and a program embedded in a handheld programmer; the host computer configuration tool is connected to the entire CAN bus network through a USB-CAN adapter and a CAN interface card, and it generates and sends parameter configuration instruction frames and parameter storage instruction frames, while receiving and displaying feedback information from the joystick.

[0044] In this embodiment, the CAN bus network is the communication trunk connecting the nodes in the joystick system, including the host computer and the joystick, and the configuration instructions and feedback information are transmitted through the CAN bus network.

[0045] It should be noted that the host computer configuration tool is the core entrance for users to interact with the joystick system, and the design core is flexible adaptation and functional closed loop, covering the use needs of different field operation scenes. Its form is divided into two types of core carriers: one is a special configuration software running on PC, which has advanced functions such as visual operation interface, parameter library management, configuration history record, fault diagnosis log, etc. Users can intuitively adjust the key parameters of the joystick such as sensitivity threshold, stroke range, response delay, CAN communication baud rate, data frame format, etc. through drag and drop, drop-down selection, etc. The built-in parameter verification module of the software will verify the rationality of the input value in real time (such as pop-up prompt when exceeding the hardware allowed range), while supporting the import / export of parameter configuration files, which is convenient for batch unified configuration of multiple joysticks; the other is a lightweight program embedded in a handheld programmer, designed for field operation scenes without PC (such as industrial equipment debugging, outdoor mechanical maintenance), with simple operation logic and portable hardware form. The handheld terminal is equipped with a small touch screen or physical buttons, supporting quick modification, immediate testing and permanent saving of core parameters. Its built-in battery power supply mode can meet the long-time outdoor operation needs and adapt to on-site configuration in complex working conditions.

[0046] S2, parameter update and temporary effect, MCU writes the target parameters obtained by parsing into its internal random access memory, overwrites the original running parameters, and immediately configures the CAN controller based on the new parameters, so that the new parameters take effect immediately, realizing temporary parameter change test.

[0047] It should be noted that the CAN bus network as the nerve center of the whole system undertakes all the transmission tasks of instructions and data between the host computer and the joystick, and its technical characteristics and network architecture directly determine the real-time and stability of the configuration system; the bus network adopts a multi-master communication mode, and the host computer and the joystick are both bus nodes without master-slave dependency relationship. Any node can actively send data to ensure the rapid issuance of parameter configuration instructions and the immediate uploading of feedback information. Compared with traditional serial communication, the transmission rate of CAN bus can reach 1 Mbps (communication distance ≤ 40 m). Even in the scene of multiple nodes communicating at the same time, data conflicts can be avoided through non-destructive bus arbitration mechanism to ensure the real-time of instruction transmission and meet the test needs of the joystick parameter modification taking effect immediately.

[0048] On the hardware architecture, the CAN bus network is composed of two differential signal lines CAN_H and CAN_L, which match the bus impedance with a terminal resistance (usually 120Ω) to reduce signal reflection interference. Meanwhile, the differential transmission mode makes it have strong anti-electromagnetic interference ability, which can resist electromagnetic noise generated by motor start-stop and high-voltage equipment operation in industrial sites, ensuring the accuracy of data transmission in complex industrial environments. The network supports up to 110 node access, enabling simultaneous communication between multiple joysticks and the host computer, suitable for centralized configuration and management of large equipment clusters (such as multi-axis control systems of automated production lines). In addition, the error detection and automatic retransmission mechanism of CAN bus further improves communication reliability: when bit errors, CRC errors, or other abnormalities occur during transmission, the sending node will automatically stop sending and reattempt transmission. If multiple attempts fail, a fault alarm will be triggered, and the host computer configuration tool will display the communication fault status in real-time, allowing users to quickly locate problems (such as bus disconnection or node failure).

[0049] In this embodiment, the host computer initiates parameter changes to form a temporary effective test mechanism and a confirmation storage solidification mechanism. After the user sends new parameters, the system does not immediately save them permanently but writes them into RAM for temporary effect. The user can test the joystick and observe whether the target device responds normally according to the new protocol. After the user confirms that the new parameters work completely normally, they send a storage instruction, and the MCU transfers the parameters in RAM to EEPROM upon receiving the instruction.

[0050] The temporary effective test mechanism has the advantage of allowing users to resend correct instructions to overwrite the incorrect values in RAM if the parameter settings are incorrect (such as mismatched baud rate leading to communication interruption), avoiding the risk of "bricking" due to incorrect operation and providing significant safety and fault tolerance. The confirmation storage solidification mechanism has the advantage of realizing permanent parameter storage and power failure protection, ensuring the persistence of the configuration when the device restarts.

[0051] It should be noted that the parameter update and temporary effective link supports users to make multiple temporary parameter adjustments and tests on site: for example, in the engineering machinery operating environment, the operator can quickly modify the sensitivity parameters of the joystick through the host computer, directly operate the joystick to verify the adjustment effect without restarting the device, until the optimal parameters that adapt to the current operating environment are found. The temporary effective mechanism not only meets the flexibility requirements of on-site debugging but also avoids long-term system abnormalities caused by incorrect operation, providing a safe buffer for parameter verification.

[0052] It should be noted that, at the parameter storage level, the system adopts a dual storage architecture of RAM + non-volatile memory (Flash / EEPROM): RAM is used for temporarily storing the current running parameters, supporting high-speed read-write and real-time modification, meeting the flexibility requirements of parameter testing; the non-volatile memory is used for permanently storing the effective parameters confirmed by the user, and its erase-write life can reach more than 100,000 times, and the data storage time is more than 10 years, ensuring that the parameters are not lost after power failure; when the user sends a parameter storage instruction through the upper computer, the MCU will start the memory write process, first perform CRC check on the current parameters in the RAM, confirm the data integrity, and then write the parameters into the non-volatile memory according to the steps of sector erasing-data writing-verification, avoiding data damage caused by power failure or interference during storage; when the system is powered on and initialized, the MCU will preferentially read the parameter configuration from the non-volatile memory, and if the reading is successful, it will be loaded into the RAM and configured to the CAN controller; if the reading fails (such as memory damage), the default parameters are automatically loaded to ensure the normal operation of the basic functions of the joystick system and improve the fault tolerance of the system.

[0053] S3, operation feedback, the MCU generates a feedback instruction frame containing operation result state information, and sends it back to the upper computer through the CAN bus, informing the user whether the parameter change operation is successful.

[0054] It should be noted that after the parameter update is completed, the MCU generates a feedback instruction frame according to the operation result, and the frame content includes the operation status code, the current effective key parameter snapshot and the device state identifier. The feedback instruction frame is transmitted back to the upper computer through the CAN bus. After the upper computer configuration tool receives it, it visually displays the operation result to the user in the form of a pop-up prompt, a state indicating light color change, and a parameter list highlight, while recording the operation log (including operation time, device number, parameter change record) for subsequent tracing and problem troubleshooting. The feedback mechanism forms a closed loop of "upper computer sending instruction-joystick executing operation-upper computer receiving result", ensuring that the user can master the status of each parameter adjustment in real time, and avoiding repeated operation or configuration omission caused by information asymmetry.

[0055] In the present embodiment, the CAN bus network communication is based on a standard frame structure, and the key fields of the standard frame are: arbitration segment, containing identifier (ID) and remote transmission request bit RTR, the ID of the instruction frame is generated by the upper computer according to the preset rules, and the ID of the feedback frame is determined by the joystick according to its configuration; control segment, containing data length code DLC, indicating the number of bytes contained in the data segment; data segment, carrying the actual communication data, with a length of 0-8 bytes.

[0056] In the embodiment, the parameter configuration instruction frame is used to send new parameter values from the host computer to the joystick, and the key fields of the parameter configuration instruction frame are: arbitration section, the ID of the instruction frame is a pre-agreed configuration instruction address to which the joystick will respond; the data section is 8 bytes, and specifically includes: Byte 0-command word CMD, defining the operation type; Byte 1-parameter type TYPE, specifying the parameter to be modified; Byte 2-5-parameter value VALUE, 4 bytes of space, used to store the specific value of the new parameter; and the parameter type is specifically: 0x01=Baudrate; 0x02=Tx ID; 0x03=FrameType; 0x04=Rx ID.

[0057] In the embodiment, the feedback instruction frame is used to report the results of parameter modification and storage operation from the joystick to the host computer, and the key fields of the feedback instruction frame are: arbitration section, the ID of the feedback instruction frame is the Tx ID of the joystick, and the host computer listens to the ID to receive the feedback; the data section is 8 bytes, and specifically includes: Byte 0-command word CMD, response type; Byte 1-original instruction type TYPE, echoing the parameter type in the received instruction frame, so that the host computer can perceive which instruction is responded; Byte 2-status word STATUS, core indication of the operation result; Byte 3-7-reserved bits RES: unused bytes, filled with 0x00; and the status word specifically includes: 0x00=Success; 0x01=Error: CRC / Format; 0x02=Error: Unsupported CMD; 0x03=Error: Invalid Value.

[0058] It should be noted that the above data structure design embodies the reliability and interactivity of the application, and the specific advantages are: explicitness, each field has clear division of labor, avoiding instruction ambiguity; scalability, through the “command word” and “parameter type” fields, the future configurable parameter types (such as data update rate and output mode) can be easily added without changing the basic protocol framework; strong feedback, the “status word” in the feedback frame provides clear operation results, which is the key to realizing “information feedback for each change”, greatly improving user experience and system maintainability.

[0059] In specific implementation, the feedback instruction frame is a key carrier for the joystick to deliver parameter operation results to the host computer, and the field design thereof needs to achieve three goals of clear operation results, clear instruction traceability and traceable error causes, helping users to quickly judge the configuration state and locate problems, and the specific implementation is as follows: Arbitration segment ID: The node identification of the feedback information and the upper computer listening logic, the arbitration segment ID of the feedback instruction frame is the exclusive sending ID of the joystick. This ID can be modified through the parameter configuration instruction (TYPE=0x02) during system initialization, ensuring that the feedback information of each joystick is unique. The upper computer receives the feedback frames of different joysticks in real time by listening to the ID list: for example, the upper computer presets the listening ID list as 0x0A1-0x0AA (corresponding to 10 joysticks). When a feedback frame with ID=0x0A3 is received, it can be directly determined as the operation result of the No. 3 joystick, without the need for additional analysis of the node identification information in the data segment, improving the information processing efficiency; in a multi-node communication scenario, the upper computer can record the feedback information through the ID and timestamp: for example, when configuring 10 joysticks in batches, the upper computer issues instructions in sequence and records the ID and instruction issue time of each joystick. When a feedback frame is received, the corresponding instruction record is matched through the ID, and the feedback time is combined to judge whether the configuration is timed out. If no feedback is received within 500 ms, it is determined as a communication failure, realizing efficient monitoring of batch operation.

[0060] Data segment: The structured presentation of operation results is adapted to error handling. The 8-byte structured layout of the data segment needs to cover three core information: response type, instruction trace, and result status. The design of the status code needs to correspond to the actual fault scenario, helping users quickly locate the problem cause. Byte 0-Command word CMD: As the identifier of the response type, the value of CMD corresponds to the CMD of the parameter configuration instruction frame one by one, realizing accurate trace of instructions and feedback. For example, if the host computer issues an instruction frame with CMD=0x01 (temporary parameter modification), the joystick feedback has a fixed CMD of 0x81 (set the highest bit based on the original CMD), indicating that the feedback is a response to the temporary parameter modification instruction. If the host computer issues an instruction frame with CMD=0x02 (permanent parameter saving), the joystick feedback has a fixed CMD of 0x82, ensuring that the host computer can quickly distinguish the feedback results of different operations. This design allows the host computer to quickly match the corresponding issued instruction through CMD when processing multiple operation instructions simultaneously, avoiding confusion of feedback information. Byte 1-Original instruction type TYPE: As the index of instruction trace, TYPE directly echoes the value of TYPE in the parameter configuration instruction frame, helping the host computer to determine the parameter type corresponding to the feedback. For example, if TYPE=0x01 in the feedback frame, the host computer can determine that the feedback is a response to the baud rate modification instruction. If TYPE=0x02, it corresponds to the response of the send ID modification instruction. When a configuration failure occurs, users can quickly locate which type of parameter configuration has a problem without checking all parameters one by one. Byte 2-Status word STATUS: As the core indication of operation results, the value of STATUS covers all possible operation results that the system may encounter, and each value corresponds to a clear processing logic: STATUS=0x00 (success): Indicates that the parameter configuration or storage operation has been completed, and the parameter has taken effect (temporary modification is written to RAM, and permanent saving is written to non-volatile memory). The host computer can display configuration success through the interface and prompt the user to perform the next operation (such as testing parameter effect). STATUS=0x01 (error: CRC / format error): Indicates that the instruction frame received by the joystick has CRC check failure (such as byte loss during data transmission) or format error (such as DLC≠8, illegal value of CMD), at which time the joystick does not execute any parameter modification operation. The host computer needs to reissue the instruction and check the bus communication state (such as whether there is electromagnetic interference or bus disconnection). STATUS=0x02 (error: unsupported command): Indicates that the value of CMD in the instruction frame is not within the system support range (such as CMD=0x05, the system only supports 0x01-0x03). At this time, the joystick refuses to execute the operation, and the host computer needs to check whether the instruction configuration is correct to ensure that CMD conforms to the system agreement.STATUS=0x03 (Error: parameter value invalid): indicates that the parameter value in the instruction frame is beyond the range allowed by the hardware or does not meet the parameter type requirements (such as the parameter value is a non-standard baud rate when TYPE=0x01, or the parameter value is a 29-bit extended frame ID when TYPE=0x02), at which point the joystick rejects the parameter write, and the host computer needs to prompt the user to modify the parameter value to ensure compliance with the hardware specifications; Byte3-7-Reserved Bit RES: as a reserved space for functional expansion, currently filled with 0x00, in the future, information can be added according to system needs: such as adding parameter current value feedback (Byte3-6 stores the current parameter value, and Byte7 stores the parameter unit identifier), or adding fault code details (Byte3-4 stores the specific fault subcode, such as STATUS=0x03, Byte3=0x01 indicates that the parameter value exceeds the upper limit, and Byte3=0x02 indicates that the parameter value is below the lower limit), further improving the practicality of feedback information.

[0061] CAN bus frame structure and the design of instruction frame and feedback frame need to be deeply adapted to the overall needs of the joystick parameter configuration system, both to ensure the reliability and real-time performance of communication, and to reserve space for functional expansion, which is specifically embodied in: Communication reliability guarantee: field verification and error handling mechanism, through multi-layer verification to ensure the accuracy of data transmission: first, CRC verification at the CAN bus hardware level (each frame has a 15-bit CRC code), which can detect bit errors, byte loss and other problems in the transmission process; second, implicit verification of the data segment of the instruction frame (such as the matching verification of parameter value and parameter type), which can prevent illegal parameter writing; third, the status code mechanism of the feedback frame, which can directly feedback the verification result to the user; the multi-layer verification mechanism forms a closed loop of transmission-analysis-feedback, greatly reducing the parameter configuration failure caused by communication errors.

[0062] Real-time performance guarantee: frame structure simplification and analysis efficiency optimization, the design of 11-bit ID standard frame can shorten the arbitration time, and the fixed length of 8-byte data segment can reduce the complexity of analysis logic, the joystick MCU only needs to extract information by byte offset when analyzing the instruction frame, the whole process takes less than 10 microseconds, ensuring that the parameter modification can take effect within milliseconds, meeting the needs of immediate testing; at the same time, the non-destructive arbitration mechanism of CAN bus can ensure that the parameter configuration instruction is transmitted preferentially in multi-node communication, avoiding the delay of the instruction caused by bus congestion.

[0063] Functionality expansion guarantee: reserved fields and flexible configuration, reserved bits in frame structure (feedback frame Byte3-7) and configurable ID (joystick sending ID, receiving ID), provide space for system functionality expansion: for example, when adding new parameter backup / resume function in the future, the reserved bits can be reused to store backup identification; when adding new joystick nodes, new sending IDs can be allocated through parameter configuration instructions, without modifying the core logic of the host computer software; this design allows the system to be flexibly upgraded according to business needs, extending the life cycle.

[0064] S4, parameter storage, when the user confirms that the new parameters work normally, the host computer sends a specific parameter storage instruction, and the MCU receives the instruction and writes the effective parameters currently stored in the RAM into the non-volatile memory for permanent storage.

[0065] In specific implementation, when the user verifies that the new parameters work normally through actual operation (such as joystick response accuracy meeting the standard, no stuttering or false touch phenomenon), the "parameter save" button of the host computer configuration tool is used to send a specific parameter storage instruction, the frame ID is the device address + preset storage instruction identifier, the MCU receives the instruction, first verifies the integrity of the current effective parameters in the RAM, and then starts the write process of the non-volatile memory.

[0066] It should be noted that the write process adopts a block storage strategy: the parameters are divided into multiple data blocks according to functional modules (such as basic configuration parameters, response characteristic parameters, and safety protection parameters), each data block is attached with an independent check code, and is written into the specified address of the non-volatile memory in sequence. After writing is completed, the MCU reads the stored data for read-back verification, and returns a "storage success" status code to the host computer after confirming that the data is written correctly; if the read-back verification fails, a retry mechanism is automatically triggered, up to 3 times, and if it still fails, an error message is returned, ensuring the reliability of permanent parameter storage.

[0067] S5, power failure protection and power-on loading, when the joystick system is powered off and then powered on again, the initialization program of the MCU automatically reads the previously saved parameter configuration from the non-volatile memory, loads it into the RAM, and configures the CAN controller, ensuring that the configuration parameters are not affected after power failure and remain effective.

[0068] In specific implementation, when the joystick system is powered off, the power failure retention feature of the non-volatile memory ensures that the stored parameters are not lost, and when the system is powered on again, the MCU starts the initialization program, which prioritizes the parameter loading process: first, initialize the communication interface of the CAN bus transceiver and the non-volatile memory, then read the parameter data of each functional module from the non-volatile memory according to the preset address mapping table, and perform block-by-block verification (check code comparison) to ensure that the data has not been tampered with or damaged.

[0069] It should be noted that after the check passes, the MCU loads the parameter data into the parameter running area of the RAM, synchronously configures the CAN controller and the actuator of the joystick (such as the signal acquisition module of the potentiometer and the Hall sensor), and completes the parameter initialization of the entire system. The entire loading process is completed in the power-on self-test stage of the MCU, and the time consumption is not more than 100 milliseconds, ensuring that the joystick can work normally according to the historical configuration after power-on without the need for users to perform parameter setting again, thereby guaranteeing the continuity and stability of the equipment operation.

[0070] The joystick body components are as follows: CAN interface circuit: This is the bridge connecting the joystick and the physical CAN bus, which is internally subdivided into: CAN controller (usually integrated in the MCU), responsible for handling CAN protocols such as frame organization, verification, arbitration, etc.; CAN transceiver, which converts the logic level signals output by the CAN controller into differential signals for transmission on the bus, and vice versa.

[0071] Main controller (MCU): The brain of the system, responsible for executing core logic, parsing received instructions, updating parameters in RAM, generating feedback information, and executing stored commands, etc.

[0072] Random access memory (RAM): used for temporarily storing currently running parameters. After receiving new parameters, the MCU first overwrites the old parameters in this location and immediately takes effect, allowing users to test.

[0073] Non-volatile memory (EEPROM / Flash): used for permanently storing user-confirmed parameters. Its characteristic is that data is not lost after power failure, ensuring that the last set parameters can be loaded when powered on next time.

[0074] (Optional) Sensor: represents the original functional module of the joystick (such as angle sensor, button, etc.), and the data generated will be sent out according to the configured CAN parameters.

[0075] The data flow process is divided into two directions: downlink (parameter configuration) and uplink (feedback). Both paths need to go through multiple links of "host computer -> CAN bus -> joystick internal components" or "joystick internal components -> CAN bus -> host computer", and the function connection of each link directly determines the real-time and accuracy of data transmission. The data flow process is as follows: The core goal of the downlink data flow is to accurately deliver the parameter configuration instruction frame generated by the host computer to the joystick MCU and trigger the parameter modification operation. The entire process needs to go through 5 key links, each of which needs to complete a specific format conversion or protocol processing.

[0076] Downlink (configuration): host computer -> CAN bus -> CAN transceiver -> CAN controller -> MCU (parse and process).

[0077] The host computer configuration tool generates parameter configuration instruction frame data according to user operation. The host computer converts the instruction frame data from the USB protocol to the CAN bus protocol through a USB-CAN adapter or a CAN interface card. The differential signal is transmitted in the CAN bus. The differential transmission characteristics of the bus resist electromagnetic interference. At the same time, the signal reflection is reduced through the terminal resistor, ensuring that the signal remains intact after long-distance transmission. After the CAN transceiver of the joystick receives the bus differential signal, it is converted into a logic level and transmitted to the CAN controller inside the MCU. After the CAN controller detects that the frame ID matches the preset receiving ID, it completes the CRC check and frame analysis, extracts the data segment information, and notifies the MCU kernel through an interrupt signal. The MCU kernel responds to the interrupt, reads the data segment information transmitted by the CAN controller, and completes instruction analysis, parameter verification, RAM writing, and CAN controller configuration according to the preset logic.

[0078] The core goal of the uplink data flow is to generate feedback instruction frames from the parameter operation results (success / failure) of the joystick and accurately transmit them to the host computer for intuitive display. The entire process is reverse symmetric to the downlink path and also requires going through the five key links.

[0079] Uplink (feedback): MCU (generate) → CAN controller → CAN transceiver → CAN bus → host computer (display).

[0080] The MCU assembles the feedback instruction frame data segment according to the parameter processing result. The MCU transmits the feedback data segment to the CAN controller. The controller assembles a complete frame according to the CAN standard frame structure. The feedback frame differential signal is transmitted in the bus. Since the feedback frame ID has a lower priority than the configuration instruction frame ID, when the bus simultaneously exists configuration instructions and feedback frames, the configuration instructions will be transmitted first, ensuring the real-time nature of parameter modification is not affected by feedback. The USB-CAN adapter connected to the host computer receives the feedback frame differential signal in the bus. The internal transceiver converts it into a logic level. The CAN frame structure is analyzed by the adapter chip, and the arbitration segment ID and data segment information are extracted. The data is then encapsulated into a USB data packet through the USB protocol and sent to the PC or handheld programmer. The host computer configuration tool receives the USB data packet, analyzes the ID and data segment information of the feedback frame, matches the corresponding joystick according to the ID, and displays the prompt information "Joystick No. 1 - Baud Rate Modification - Success" in the interface according to the CMD, TYPE, and STATUS of the data segment. At the same time, the operation log is recorded to facilitate the user to trace the configuration history. If the STATUS is an error value, a pop-up window will display the error reason and prompt the user to reconfigure, completing the entire uplink feedback process.

[0081] In embodiment two, the application provides a joystick parameter field configuration system based on a CAN bus. The joystick parameter field configuration system comprises: The main controller, as the control core, is used to execute the multiple steps of the joystick parameter on-site configuration method, including parameter receiving and analysis, parameter updating and temporary effectuation, operation feedback, parameter storage, and power-off protection and power-on loading.

[0082] The joystick module internally includes a CAN bus interface circuit, a random access memory, a non-volatile memory, a human-computer interaction module, and an upper computer configuration module. The joystick module built-in sensor collects mechanical load resistance data, and combines the load and parameter matching algorithm of the main controller to realize precise adaptation of the centering force parameter and maintain precise centering of the joystick.

[0083] The CAN bus interface circuit includes a CAN controller and a CAN transceiver, which are used to communicate with the external CAN network, receive and send instruction frames, and realize remote parameter configuration and state monitoring.

[0084] The random access memory is used to temporarily store and run the currently effective parameters, ensuring that the system can quickly respond to various operations and changes and guarantee the real-time and smoothness of system operation.

[0085] The non-volatile memory is used to permanently store the parameters confirmed by the user, realize power-off protection, has large storage capacity, fast read-write speed, and high reliability, and meets the long-term storage demand of the system for parameters.

[0086] The human-computer interaction module includes an LED indicator light and a buzzer, which are used to provide operation state prompts locally, allowing the user to timely understand the working state of the system and make corresponding operations and adjustments.

[0087] Taking the joystick of an engineering machine as an example, the specific implementation process is as follows: (1) The user connects the handheld configurator (upper computer) to the CAN bus of the vehicle.

[0088] (2) The user selects the parameters to be modified on the configurator, for example, modifies the baud rate from 250 kbps to 500 kbps, and then clicks “Send”.

[0089] (3) After receiving the instruction, the MCU of the joystick immediately changes the baud rate register value to 500 kbps. At this time, the joystick communicates with the bus at the new rate. Meanwhile, the MCU sends a feedback frame “Baud rate change successful”, and the configurator screen displays “Success”.

[0090] (4) After observing that the system communicates normally, the user clicks “Save settings” on the configurator.

[0091] (5) After receiving the storage instruction, the MCU writes the value 500 kbps from the RAM to the EEPROM and sends a feedback frame “Parameter saved” again.

[0092] (6) Turn off the power supply of the whole machine, and after re-powering, the MCU reads the 500kbps setting from the EEPROM and automatically configures the CAN controller. The joystick continues to work normally at a rate of 500kbps.

[0093] The host computer configuration module is used to generate and send parameter configuration instruction frames and parameter storage instruction frames, and to receive and display feedback information from the joystick.

[0094] The implementation process of the engineering machinery scene is send-into effect-verification-save-power-on load, which embodies the scientific debugging logic of verification first and then solidification. Users can test the actual effect of system communication and operation response after the temporary effect of parameters, and confirm the correctness before permanent storage, avoiding device failure caused by solidification of incorrect parameters. The automatic loading function after power-off and restart ensures the long-term stability of the parameters, without the need for users to repeat the configuration, improving the convenience of device operation and maintenance.

[0095] The joystick parameter configuration needs to be accurately matched with the size of the mechanical load. If the on-center force parameter of the joystick is too small after on-site adjustment, and the actual load resistance is large, such as the steering mechanism of heavy machinery, it will cause the joystick to fail to automatically return to the center. If the on-center force parameter is too large, it will increase the operating strength of the operator, and long-term use will accelerate the wear of mechanical parts. Therefore, a load state detection unit, a parameter verification unit and a closed-loop feedback calibration unit are added in the joystick module to avoid the problem of mismatch between the on-center force parameter of the joystick and the mechanical load.

[0096] The load state detection unit can collect real-time resistance data of the mechanical load, providing an objective basis for parameter configuration and avoiding blind setting of the on-center force parameter. The load state detection unit includes a torque sensor or a pressure sensor deployed in the joystick module. The sensor is deployed at the return spring linkage or shaft of the joystick to detect the mechanical load resistance, such as the friction and load inertia resistance of the steering mechanism of heavy machinery, in real time during the return process of the joystick. The sensor data is transmitted to the main controller through the CAN bus interface circuit, with a sampling frequency not less than 100Hz to ensure the real-time nature of the load data. In addition, a load characteristic database is divided in the non-volatile memory to store load resistance thresholds in different working conditions, such as the empty load resistance threshold, the rated load resistance threshold and the maximum load resistance threshold, which can be preset by the host computer or calibrated on site.

[0097] The parameter checking unit includes a load and parameter matching algorithm embedded in the main controller, which automatically checks whether the centering force parameter is suitable for the current load in the parameter configuration stage, avoiding unreasonable parameter configuration. Before configuration, the host computer initiates a parameter configuration instruction, and the main controller triggers a load self-checking process first, controls the joystick to complete 1-2 times of full stroke centering action, collects real-time load resistance value through the sensor, and compares it with the load threshold value in the memory to determine the current load level. The host computer configuration module automatically generates a recommended value of the centering force parameter according to the load level uploaded by the main controller. For example, high centering force parameters are recommended under heavy load conditions, and low centering force parameters are recommended under light load conditions. The operator can fine-tune based on the recommended value instead of setting from zero. During configuration, double threshold value checking is performed. When the lower limit is checked, the minimum value of the centering force parameter is greater than or equal to the current load resistance value x 1.1. If the configured parameter is lower than the value, the main controller determines that the centering force is insufficient and cannot overcome the load resistance, refuses to write the parameter into RAM, and sends an alarm that the parameter is too low and cannot be centered through the human-computer interaction module. When the upper limit is checked, the maximum value of the centering force parameter is less than or equal to the rated bearing force of the joystick mechanical structure x 0.8. If the configured parameter is too high, the main controller determines that the centering force is overloaded and the parts are prone to wear, and also refuses to configure and sends a parameter too high and part risk alarm. After configuration, temporary effect test and confirmation are performed. The parameters that pass the check are written into RAM for temporary effect, but the centering action test must be performed. The main controller controls the joystick to complete 3 times of continuous centering action, detects the positioning accuracy and centering time of each centering through the sensor, and sends a test qualified feedback to the host computer after the test is passed. The operator is allowed to send a parameter storage instruction to solidify the parameter into the non-volatile memory. If the test fails, the temporary parameter in RAM is automatically cleared, the original parameter is restored, and a load mismatch is prompted for reconfiguration.

[0098] The closed-loop feedback calibration unit is based on a dynamic calibration mechanism during joystick operation, which avoids the loss of parameter adaptability with load changes. When the joystick is operating normally, the main controller continuously collects the positioning accuracy and centering time data of the centering action. If the positioning accuracy error is greater than 3% or the centering time is greater than the threshold value for 5 consecutive times, it is determined that the current centering force parameter does not match the load. An early warning is issued through the human-computer interaction module, and abnormal information is pushed to the host computer to remind the operator to recalibrate the parameter.

[0099] For the scene that needs to frequently switch the load, an automatic adaptation mode is added in the system, which needs to be manually started through the host computer configuration module. After starting, the main controller will collect the load resistance data of the torque and pressure sensor at a frequency not less than 100 Hz. When the average value of the continuous 5 groups of sampling data deviates from the adaptive resistance value corresponding to the current back force parameter by more than ± 15%, the parameter fine tuning process is automatically triggered. If the load resistance data is stable within ± 5%, the current parameter is maintained to avoid system jitter caused by frequent adjustment. The main controller automatically fine tunes the back force parameter within the preset safety parameter interval according to the real-time load resistance change, without human intervention. For example, when the load resistance suddenly increases, the back force parameter is automatically increased to above the lower threshold to ensure the normal function of the back force.

[0100] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments or make equivalent replacements for part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for on-site configuration of joystick parameters based on a CAN bus, characterized in that, The on-site configuration method for the joystick parameters includes the following steps: Parameter reception and parsing: The joystick main controller listens for and receives parameter configuration command frames from the host computer configuration tool in real time through the CAN bus transceiver. The command frame contains the target parameter information to be modified. The main controller, i.e. the MCU, parses the received command frame and extracts the target parameters. For parameter updates and temporary effects, the MCU writes the parsed target parameters into its internal random access memory, overwriting the original operating parameters, and immediately configures the CAN controller based on the new parameters, making the new parameters effective immediately, thus realizing temporary parameter change testing. Operation feedback: The MCU generates a feedback instruction frame containing operation result status information and sends it back to the host computer via the CAN bus to inform the user whether the parameter change operation was successful. Parameter storage: After the user confirms that the new parameters are working properly, a specific parameter storage instruction is sent through the host computer. After the MCU receives the instruction, it writes the valid parameters currently stored in RAM into non-volatile memory for permanent storage. Power-off protection and power-on loading: When the joystick system is powered off and then powered on again, the MCU's initialization program automatically reads the previously saved parameter configuration from the non-volatile memory, loads it into the RAM, and configures the CAN controller, ensuring that the configuration parameters are not affected after power failure and remain valid.

2. The method for on-site configuration of joystick parameters based on CAN bus according to claim 1, characterized in that: The host computer configuration tool is the user's terminal for configuring parameters, including dedicated software running on a PC and a program embedded in the handheld programmer; The host computer configuration tool connects to the entire CAN bus network via a USB-CAN adapter and a CAN interface card. It generates and sends parameter configuration command frames and parameter storage command frames, while receiving and displaying feedback information from the joystick.

3. The method for on-site configuration of joystick parameters based on CAN bus according to claim 2, characterized in that: The CAN bus network is the communication trunk line connecting all nodes in the joystick system. The nodes include the host computer and the joystick. Configuration commands and feedback information are transmitted through the CAN bus network.

4. The method for on-site configuration of joystick parameters based on CAN bus according to claim 1, characterized in that: The host computer initiates parameter changes to form a temporary effective testing mechanism and a confirmation storage and solidification mechanism; The temporary effect testing mechanism means that after the user sends new parameters, the system does not immediately save them permanently, but writes them into RAM to make them temporarily effective. The user can test the joystick and observe whether the target device responds normally according to the new protocol. After confirming the storage and persistence mechanism and the user's test confirms that the new parameters are working completely normally, a storage command is sent. Upon receiving the command, the MCU transfers the parameters from RAM to EEPROM.

5. The method for on-site configuration of joystick parameters based on CAN bus according to claim 1, characterized in that: The CAN bus network communication is based on a standard frame structure, and the key fields of the standard frame are: The arbitration segment contains the identifier ID and the remote transmission request bit RTR. The ID of the instruction frame is generated by the host computer according to preset rules, and the ID of the feedback frame is determined by the joystick according to its configuration. The control section contains the Data Length Code (DLC), which specifies the number of bytes contained in the data segment. The data segment carries the actual communication data and has a length of 0-8 bytes.

6. The method for on-site configuration of joystick parameters based on CAN bus according to claim 1, characterized in that: The parameter configuration command frame is used to send new parameter values ​​from the host computer to the joystick. The key fields of the parameter configuration command frame are: In the arbitration segment, the ID of the command frame is a pre-agreed configuration command address that the joystick will respond to; The data segment is 8 bytes long and includes: Byte 0 - Command word CMD, defines the operation type; Byte 1 - Parameter type TYPE, specifying the parameter to be modified; Byte 2-5 - Parameter value VALUE, 4 bytes of space, used to store the specific value of the new parameter.

7. The method for on-site configuration of joystick parameters based on CAN bus according to claim 6, characterized in that: The parameter type is specifically: 0x01 = Baud rate; 0x02 = Send ID; 0x03 = Frame type; 0x04 = Receive ID.

8. The method for on-site configuration of joystick parameters based on CAN bus according to claim 1, characterized in that: The feedback instruction frame is used to report the results of parameter modification and storage operations from the joystick to the host computer. The key fields of the feedback instruction frame are: In the arbitration segment, the ID of the feedback command frame is the joystick's transmission ID, and the host computer listens for the received feedback ID. The data segment is 8 bytes long and includes: Byte 0 - Command word CMD, response type; Byte 1 - Original instruction type TYPE, echoes the parameter type in the received instruction frame, and the host computer senses which instruction received the response; Byte 2 - Status word STATUS, the core indicator of the operation result; Byte 3-7 - Reserved bit RES: Unused bytes, padded with 0x00.

9. The method for on-site configuration of joystick parameters based on CAN bus according to claim 8, characterized in that: The status word specifically includes: 0x00 = Success; 0x01 = Error: CRC, format error; 0x02 = Error: Unsupported command; 0x03 = Error: Invalid parameter value.

10. A CAN bus-based joystick parameter field configuration system, used to execute the CAN bus-based joystick parameter field configuration method as described in any one of claims 1 to 9, characterized in that, The joystick parameter field configuration system includes: The main controller, as the control core, is used to execute multiple steps of the on-site configuration method for joystick parameters, including parameter reception and parsing, parameter updating and temporary activation, operation feedback, parameter storage, power failure protection and power-on loading; The joystick module includes a CAN bus interface circuit, random access memory, non-volatile memory, human-machine interaction module and host computer configuration module. The joystick module has built-in sensors to collect mechanical load resistance data, and combines it with the load and parameter matching calculation of the main controller to achieve precise adaptation of the return force parameters and maintain the joystick's precise return to center. The CAN bus interface circuit, including the CAN controller and CAN transceiver, is used to communicate with an external CAN network, send and receive command frames, and realize remote parameter configuration and status monitoring. Random access memory is used to temporarily store and run currently valid parameters, ensuring that the system can quickly respond to various operations and changes, and guaranteeing the real-time performance and smoothness of the system operation; Non-volatile memory is used to permanently store user-confirmed parameters, providing power-off protection. It has a large storage capacity, fast read / write speed, and high reliability, meeting the system's requirements for long-term parameter storage. The human-computer interaction module, including LED indicators and a buzzer, is used to provide local operation status prompts, allowing users to understand the system's working status in a timely manner and perform corresponding operations and adjustments. The host computer configuration module is used to generate and send parameter configuration command frames and parameter storage command frames, and to receive and display feedback information from the joystick.

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