VB3i MANUAL
Page | 28
22 May 2014
CAN output
The VBOX3i has a CAN output which is present on the 5-way connector output; Data format: Motorola; Baud rate:
500Kb/s.
*Update rate depends on GPS update rate. 10ms Update rate shown corresponds to 100Hz GPS setting.
**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 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32bit signed integer, North being
positive.
(4) Position, Longitude * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32bit signed integer, West being
positive.
(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. Corrected to trigger point.
(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 last brake trigger event. 0.01 Seconds per bit.
(16) Velocity at brake trigger point in Knots.
(17) Velocity Quality, 0.01 km/h per bit.
(18) Position, Latitude 48bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
(19) Kalman filter status
(20) Position, Longitude 48bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
(21) Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message).
(22) Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message).
Format
Motorola
ID**
Data Bytes
1
2
3
4
5
6
7
8
0x301
(1) Sats in
view
(2) Time since midnight UTC
(3) Position – Latitude MMMM.MMMMM
0x302
(4) Position – Longitude MMMMM.MMMMM
(5) Velocity. (Knots)
(6) Heading. (Degrees)
0x303
(7) Altitude. WGS 84. (Metres)
(8) Vertical velocity. (M/S)
Unused
(9) Status
(10)
Status
0x304
(11) Distance. (Meters)
(12) Longitudinal Accel. (G)
(13) Lateral Accel. (G)
0x305
(14) Distance travelled since VBOX reset
(15) Trigger time
(16) Trigger Velocity
0x306
(17) Velocity Quality
Unused
Unused
Unused
0x307
Unused
Unused
Unused
Unused
0x308
(18) Position latitude
(19) Status
0x309
(20) Position longitude
Unused
0x322
(21) Trigger event UTC time – milliseconds (part1)
(22) Trigger event UTC time – nanoseconds (part2)
