Ublox EVK-F9DR, Руководство пользователя

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EVK-F9DR - User guide
UBX-23007618 - R01 Configurable CAN interface Page 18 of 33
C1-Public
Figure 9: C100 MSG tool
The numbers in the list below refer to Figure 9:
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1: Select the blue buttons in the middle to generate messages.
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2: Fill these fields for CONFIG SET messages.
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3:
The generated message is displayed in the text field at the bottom. It is automatically copied to
the clipboard.
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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.
5.3.1 Configuration parameters
The following fields are required to generate a CONFIG SET message:
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CAN bitrate
: bitrate of the CAN bus
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CAN message ID : ID of the message containing the wanted data
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Data length code : number of bytes in the CAN message
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Cycle time : time between consecutive messages
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Unit : the unit of measurement for the data
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Source : rear-left, rear-right wheel, etc.
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Startbit : index of the LSB of the value field within the CAN message
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Length : the bit-length of the value field
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Endianness
: Big-endian (Motorola) or Little-endian (Intel)
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Sign : value is signed or unsigned
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Factor : scaling factor representing the value of one bit in the selected unit
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Offset
: positive offset which shifts the zero point of the raw value
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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
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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
5.4 Configuration process
Follow these steps to configure the CAN interface: