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5
Configurable CAN interface
☞
This chapter only applies to the ADR operating mode and can be ignored for UDR.
The device has a configurable high-speed CAN (ISO 11898-2) interface. The on-board MCU converts
the configured CAN messages into UBX-ESF-MEAS messages which are sent to the receiver via I2C.
5.1 Valid configurations
The CAN interface supports the following configurations:
• Single tick from VRP + direction
• Wheel ticks from both rear wheels + direction
• Speed from VRP + direction
• Speed from both rear wheels + direction
See appendix B for example configurations.
5.2 Configuring the interface
Communication with the MCU can be established via UART. Connect the front connector pin
SEL_MCU_N to ground to enable the MCU communication.
The MCU UART runs at baud rate 115200.
The following messages are supported:
• CONFIG GET – Reports the current CAN configuration.
Hex string: 0x43 0xa2 0x10 0x00 0x10 0x20
o
• CONFIG CLEAR – Deletes the current CAN configuration.
Hex string: 0x43 0xa2 0x12 0x00 0x12 0x24
o
• CONFIG SET – Sends a configuration for one data field.
Hex string: generate with the tool
o
Sending the commands to the MCU can be done through a terminal program. We recommend using
RealTerm. For more information, see [5].
5.3 C100 MSG
The C100 MSG browser-based tool (see Figure 3) generates C100 MCU configuration messages for
the configurable CAN feature. It can run entirely locally, without an internet connection.
Figure 3: C100 MSG tool
UBX-21049360 - R01
C1-Public
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EVK-M9DR - User guide
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