C102-F9R - User guide
UBX-20029244 - R03
Configurable CAN interface
Page 11 of 32
C1-Public
The numbers in the list below refer to Figure 1:
•
1:
Select the blue buttons in the middle to generate messages.
•
2:
Fill these fields for CONFIG SET messages.
•
3:
The generated message is displayed in the text field at the bottom. It is automatically copied to
the clipboard.
•
4:
Use the decode button to parse the contents of a message pasted in the text field (3).
☞
Ensure that the version number of the tool matches the MCU firmware version. Compatibility
between versions is not guaranteed.
4.3.1
Configuration parameters
The following fields are required to generate a CONFIG SET message:
•
CAN bitrate
: bitrate of the CAN bus
•
CAN message ID
: ID of the message containing the wanted data
•
Data length code
: number of bytes in the CAN message
•
Cycle time
: time between consecutive messages
•
Unit
: the unit of measurement for the data
•
Source
: rear-left, rear-right wheel, etc.
•
Startbit
: index of the LSB of the value field within the CAN message
•
Length
: the bit-length of the value field
•
Endianness
: Big-endian (Motorola) or Little-endian (Intel)
•
Sign
: value is signed or unsigned
•
Factor
: scaling factor representing the value of one bit in the selected unit
•
Offset
: positive offset which shifts the zero point of the raw value
•
Min/Forward:
o
Wheel tick and speed – sets the minimum value. Values smaller than this are discarded.
o
Direction – represents the value indicating forward movement
•
Max/Backward:
o
Wheel tick and speed – sets the maximum value. Values greater than this are discarded.
o
Direction – represents the value indicating backward movement
4.4
Configuration process
Follow these steps to configure the CAN interface:
4.4.1
Connections
1.
Connect the pin MCU_UART_SEL to the GND pin. Ensure that the pin NEO_UART_SEL is
disconnected.
2.
Connect a PC to the MCU via RS-232 cable or the front connector UART pins.
4.4.2
RealTerm
1.
Select the port associated with the UART connection in the
Port
tab.
2.
Set baud rate to 115200.
3.
Apply changes by selecting the
Change
button. See the figure below.
Содержание C102-F9R
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