VB20SL User Guide
Page 28 of 30
CAN Bus Data Format
Format
Motorola
ID*
Update Rate
Data Bytes
1
2
3
4
5
6
7
8
0x301
50ms
(1) Sats in view (2) Time since midnight UTC
(3) Position
– Latitude DDMM.MMMMM
0x302
50ms
(4) Position
– Longitude DDMMM.MMMMM
(5) Velocity. (Knots)
(6) Heading (Degrees)
0x303
50ms
(7) Altitude. WGS 84. (Metres)
(8) Vertical velocity. (M/S)
Unused
(9) Status
(10) Status
0x304
50ms
(11) Distance. (Metres)
(12) Longitudinal Accel. (G)
(13) Lateral Accel. (G)
0x305
50ms
(14) Distance travelled since VBOX reset (Metres)
(15) Trigger time
(16) Trigger Velocity (Knots)
0x306
50ms
Unused
(17) True Heading (Degrees)
(18) Slip Angle (degrees)
(19) Pitch Angle (Degrees)
0x307
50ms
(20) Lateral Velocity (Knots)
(21) Yaw Rate (Degrees/S)
Unused
Unused
* Default Identifiers. The identifier values can be changed using the configuration software.
(1) If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
(2) Time since midnight. This is a count of 10ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90
seconds).
(3) Position, Latitude * 100,000 (515924579 = 51 Degrees, 59.24579 Minutes North). Latitude highest bit indicates north/south hemisphere. 0=north, 1=south, Bit 7 in
Status is also set.
(4)Position, Longitude * 100,000 (5882246 = 0 Degrees, 58.82246 Minutes West). Longitude highest bit indicates east/west of Greenwich meridian. 0=west,1=east.
Bit 6 in Status is also set.
(5) Velocity, 0.01 knots per bit.
(6) Heading, 0.01
per bit.
(7) Altitude, 0.01 meters per bit, signed.
(8) Vertical Velocity, 0.01 m/s per bit, signed.
(9) Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3.
(10) Status is an 8 bit unsigned char. Bit 0 is always set, Bit 3=brake test started, Bit 4 = Brake trigger active, Bit 5 = DGPS active.
(11) Distance, 0.000078125 meters per bit, unsigned.
(12) Longitudinal Acceleration, 0.01G per bit, signed.
(13) Lateral Acceleration, 0.01G per bit, signed.
(14) Distance travelled in meters since VBOX reset.
(15) Time from Trigger event to Zero Km/h.
(16) Velocity at brake trigger point in Knots.
(17) True Heading of vehicle, 16-bit signed integer * 100.
(18) Slip Angle, 16-bit signed integer * 100.
(19) Pitch Angle, 16-bit signed integer * 100.
(20) Lateral Velocity, 16-bit signed integer * 100.
The VBOX CAN database is available in Vector Database (DBC File) format from
the Racelogic VBOX website.
