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HG1120 Installation and Interface Manual
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aerospace.honeywell.com/HG1120
13
CAN 2A/2B Protocol
The baud rate for all CAN messages will be 1Mbits/sec.
The software will place each entry of the Control and Inertial message onto the CAN Bus with the
LS byte first and LS 16-bit word first.
Messages will be in sequence {(C1 C2 C3 I1 I2 I3) (C1 C2 C3) (C1 C2 C3) (C1 C2 C3) (C1 C2 C3)
(C1 C2 C3)} – following the format of 5 consecutive control messages (C1 C2 C3), interleaved
with one inertial message (C1 C2 C3 I1 I2 I3).
Table 15. CAN Control Message 1 Format
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
n/a
Arbitration ID
n/a
n/a
11 bit = 0x0121
29 bit = 0x04924921
1
Angular Rate X
2
2
-20
* 600
rad/sec/LSB
2
Angular Rate Y
2
2
-20
* 600
rad/sec/LSB
3
Angular Rate Z
2
2
-20
* 600
rad/sec/LSB
4
Main Status Word
2
N/A
See Table 4
Table 16. CAN Control Message 2 Format
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
n/a
Arbitration ID
n/a
n/a
11 bit = 0x0122
29 bit = 0x04924922
1
Linear Acceleration X
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
2
Linear Acceleration Y
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
3
Linear Acceleration Z
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
4
Detailed Multiplexed Status Word
2
N/A
See Table 5
Table 17. CAN Control Message 3 Format
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
n/a
Arbitration ID
n/a
n/a
11 bit = 0x126
29 bit = 0x04924926
1
Mag Field X
2
0.438404
Milli-gauss/LSB
2
Mag Field Y
2
0.438404
Milli-gauss/LSB
3
Mag Field Z
2
0.438404
Milli-gauss/LSB