e-Shock GYROCAH, Instructions Manual

Page: 4 / 9

ADVANCED SPECIFICATIONS
The following specifications are available on specific request for profession usage of the
system.
CAN Data transfer
– Available on request:

Baudrate: 1 MBaud

Identifier length: 11 bit

OUTPUT CAN Mailbox ID: (for details contact info@e-shock.it
)
o
ID 41Fh: Roll Angle
o
ID 2F0h: Accelerations
o
ID 2F0h and ID 2F4h: Angular rates
ID 41Fh - Bit Layout and signal description
Byte 0 Roll Angle
Bit7 RA15 RA14 RA13 RA12 RA11 RA10 RA9 RA8
Byte 1 Roll Angle
Bit15 RA7 RA6 RA5 RA4 RA3 RA2 RA1 RA0
Byte 2 Speed Read
Bit7 SR15 SR14 SR13 SR12 SR11 SR10 SR9 SR8
Byte 3 Speed Read
Bit15 SR7 SR6 SR5 SR4 SR3 SR2 SR1 SR0
NOTE: Speed Read has to be equal to the speed signal sent on ID 200h
Byte 4 Pitch Angle
Bit7 PA15 PA14 PA13 PA12 PA11 PA10 PA9 PA8
Byte 5 Pitch Angle
Bit15 PA7 PA6 PA5 PA4 PA3 PA2 PA1 PA0

INPUT CAN Mailbox ID 200h

CAN Circuitry, Differential Resistor: 120

(for details contact info@e-shock.it
)

CAN Circuitry, Resistor to VDD and GND: 4.7 k


Refresh rate: 10 ms

Contact info@e-shock.it for information about bit description and signal layout