EVK-M9DR - User guide
UBX-21049360 - R01
Appendix
Page 19 of 32
C1-Public
B.1.2
Single tick and direction
This configuration uses single-tick data and a separate direction signal. The configuration entries are
described in the tables below.
Startbit Length
Byte order
Value type
Factor
Offset
Min
Max
Unit
Source
32
16
big-endian
unsigned
1
0
0
65535
tick
combined
8
2
big-endian
unsigned
1
0
0
3
direction
direction
byte/bit
7
6
5
4
3
2
1
0
0
1
msb
lsb
2
3
msb
4
lsb
5
6
7
The following CONFIG SET messages are generated for this configuration:
•
tick
: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x20 0x10 0x00 0x00 0x00 0x00
0xff 0xff 0xe8 0x03 0x44 0x01 0xb1 0x68
•
dir
: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x08 0x02 0x00 0x00 0x00 0x00
0x03 0x00 0xe8 0x03 0x5f 0x01 0xab 0x01
B.2
Speed configurations
B.2.1
Two rear wheels and direction
This configuration uses speed from two rear wheels and a separate direction signal. The configuration
entries are described in the tables below.
Startbit Length
Byte order
Value type
Factor
Offset
Min
Max
Unit
Source
52
12
big-endian
unsigned
0.1
0
0
409.6
km/h
RR
56
12
big-endian
unsigned
0.1
0
0
409.6
km/h
RL
8
2
big-endian
unsigned
1
0
0
3
direction
direction
byte/bit
7
6
5
4
3
2
1
0
0
1
msb
lsb
2
3
4
5
msb
6
lsb
msb
7
lsb
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