EVK-M9DR - User guide
UBX-21049360 - R01
Contents
Page 13 of 32
C1-Public
5
Configurable CAN interface
☞
This chapter only applies to the ADR operating mode and can be ignored for UDR.
The device has a configurable high-speed CAN (ISO 11898-2) interface. The on-board MCU converts
the configured CAN messages into UBX-ESF-MEAS messages which are sent to the receiver via I2C.
5.1
Valid configurations
The CAN interface supports the following configurations:
•
Single tick from VRP + direction
•
Wheel ticks from both rear direction
•
Speed from VRP + direction
•
Speed from both rear direction
See appendix B for example configurations.
5.2
Configuring the interface
Communication with the MCU can be established via UART. Connect the front connector pin
SEL_MCU_N to ground to enable the MCU communication.
The MCU UART runs at baud rate 115200.
The following messages are supported:
•
CONFIG GET
–
Reports the current CAN configuration.
o
Hex string: 0x43 0xa2 0x10 0x00 0x10 0x20
•
CONFIG CLEAR
–
Deletes the current CAN configuration.
o
Hex string: 0x43 0xa2 0x12 0x00 0x12 0x24
•
CONFIG SET
–
Sends a configuration for one data field.
o
Hex string: generate with the tool
Sending the commands to the MCU can be done through a terminal program. We recommend using
RealTerm. For more information, see [5].
5.3
C100 MSG
The C100 MSG browser-based tool (see Figure 3) generates C100 MCU configuration messages for
the configurable CAN feature. It can run entirely locally, without an internet connection.
Figure 3: C100 MSG tool
Summary of Contents for EVK-M9DR
Page 26: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 26 of 32 C1 Public ...
Page 27: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 27 of 32 C1 Public ...
Page 28: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 28 of 32 C1 Public ...
Page 29: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 29 of 32 C1 Public ...
Page 30: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 30 of 32 C1 Public ...
