ADR4
Installation Manual
EMM_871_4956
Rev 2.8
EM Motorsport Ltd. CONFIDENTIAL PROPRIETARY. All right reserved
15/20
6
CAN Protocol
The ADR4 uses the CAN bus to:
-
receive data to be logged from the ECU
-
send/receive the GPS/inertial sensor information
-
send the logger/accident status
The CAN protocol used in ADR4 has been defined by the FIA in the 8872-2018 Standard, and
further modifications or amendments to the CAN protocol are not possible without FIA
permission.
6.1
Input packets
6.1.1
ECU to ADR4 (CAN ID 0x200)
Message ID:
0x200
Message rate:
f = 100Hz
Format:
Big Endian
Byte
Description
Scaling
Type
0-1
Engine Rotational Speed
rpm/bit
16-bit unsigned
2
Front Brake Pressure
bar/bit
8-bit unsigned
3
Rear Brake Pressure
bar/bit
8-bit unsigned
4-5
Lap Distance
1 m/bit
16-bit unsigned
6-7
Throttle actuator position
0.1 %/bit
16-bit signed
Message 1: ID 0x200, rate 100Hz
6.1.2
ECU to ADR4 (CAN ID 0x204)
Message ID:
0x204
Message rate:
f = 100Hz
Format:
Big Endian
Byte
Description
Scaling
Type
0-1
Vehicle speed
0.1 km/h/bit
16-bit unsigned
2-3
Steer angle
°/bit
16-bit signed
4-5
Throttle pedal position
0.1 %/bit
16-bit signed
Message 2: ID 0x204, rate 100Hz
6.1.3
ECU to ADR4 (CAN ID 0x680)
Message ID:
0x680
Message rate:
f = 10Hz
Format:
Big Endian
Byte
Description
Scaling
Type
0-3
GPS Latitude
1e7 degrees
32-bit signed
4-7
GPS Longitude
1e7 degrees
32-bit signed
Message 3: ID 0x680, rate 10Hz
