u-blox EVK-M9DR, Руководство пользователя

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EVK-M9DR - User guide
UBX-21049360 - R01 Appendix Page 18 of 32
C1-Public
B CAN configuration examples
This appendix contains example CAN configurations. Each example uses the following settings for
the CAN bus:
• CAN bitrate: 500 kbps
• CAN message ID: 0x123
•
DLC: 8
• Cycle time: 0 ms
The example messages are compatible with firmware C100 v1.0.
B.1 Wheel tick configurations
B.1.1 Two rear-wheel ticks and direction
This configuration uses wheel ticks 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
40 16 big-endian unsigned 1 0 0 65535 tick RR
56 16 big-endian unsigned 1 0 0 65535 tick 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 msb
5 lsb
6 msb
7 lsb
The following CONFIG SET messages are generated for this configuration:
• RR : 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x28 0x10 0x00 0x00 0x00 0x00
0xff 0xff 0xe8 0x03 0x34 0x01 0xa9 0xa8
• RL : 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x38 0x10 0x00 0x00 0x00 0x00
0xff 0xff 0xe8 0x03 0x24 0x01 0xa9 0x48
• 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