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Manual R600V.DAH5 Multi-object (EN)
R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 25 of 36
Last Update: 01 Jan 2021
Exemplary Decoding of a CAN message frame
Exemplary decoding the “object” message (PGN 0xC000)
Based on a line from a CAN log (18100856, 18C0FF80, Rx, A0 20 02 AC 78 C3 7D 7F
Tab 14 Decoding a CAN SAE J1939 message frame
SO
F
11 bit CAN ID
SRR IDE
18 bit CAN ID
RTR 6
b
it
c
o
n
-
tro
l f
ie
ld
0…8 byte
data field
1
6
b
it
CR
C
2
b
it
ACK
7
b
it
EO
F
0x
18 C0 FF 80
[
1 1000 1100 0000 1111 1111 1000 0000]
2
(11+18bit = 29bit)
0x
A0 20 02
AC 78 C3
7D 7F
Tab 15 Example for decoding the CAN ID (29bit, PDU1 format)
3
b
it
p
ri
o
ri
ty
PRIO
1
b
it
re
s
e
rv
e
d
R
1
b
it
d
a
ta
p
a
g
e
DP
8 bit PDU format (<240) 8 bit PDU specific
(group extension) 8 bit source
address
0x
06
[110]
2
0x
00
[0]
2
0x
00
[0]
2
0x
C0
[1100 0000]
2
FF
0x
[1111 1111]
2
0x
80
[1000 0000]
2
PDU1 format Global destination address
PGN (parameter group number)
Tab 16 Example for decoding the 8 byte data field
0x A0 20 02 AC 78 C3 7D 7F
[ 10 10 00 00 0010 0000 0000 0010 1010 1100 0111 10 00 1100 001 1 0111 1101 0111 1111 ]
2
Multi-
plexor
(bit 1-2)
Sensor
status
(bit 3-4)
Object
status 2n
(bit 5)
Object
status
2n+1
(bit 6)
Object 2n
distance
(bit 7-20)
Object 2n+1
distance
(bit 21-34)
Object 2n
confidence
(bit 35-41)
Object 2n+1
confidence
(bit 42-48)
Object 2n
speed
(bit 49-56)
Object 2n+1
speed
(bit 57-64)
[ 00 ]
2
[ 00 ]
2
[0]
2
[1]
2
0x 08 82 0x 0A C0 0x 5E 0x 61 0x 7D 0x 7F
n=0 0 0 1 2’178mm mm 2’752 94 % 97 % -0.094m/s -0.031m/s
Notes: little endian format, bit 1 underlined; colours indicate correspondences