Ublox EVK-F9DR, Руководство пользователя

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EVK-F9DR - User guide
UBX-23007618 - R01 Appendix Page 23 of 33
C1-Public
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
The following CONFIG SET messages are generated for this configuration:
•
RR
: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x34 0x0c 0x00 0x00 0x00 0x00
0x00 0x10 0x64 0x00 0x39 0x01 0x41 0x58
•
RL : 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x38 0x0c 0x00 0x00 0x00 0x00
0x00 0x10 0x64 0x00 0x29 0x01 0x35 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.2.2 Single speed
This configuration uses a single-speed signal 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
24 8 little-endian unsigned 1 0 0 255 mph combined
8 2 little-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 lsb
4
5
6
7