Bcan Configuration Examples; Wheel Tick Configurations; Two Rear-Wheel Ticks And Direction - u-blox EVK-M9DR User Manual

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
40 16 big-endian
56 16 big-endian
8 2 big-endian
byte/bit 7
0
1
2
3
4 msb
5
6 msb
7
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
UBX-21049360 - R01
C1-Public
Value type Factor Offset
unsigned 1
unsigned 1
unsigned 1
6 5 4
Appendix
EVK-M9DR - User guide
Min Max
0 0 65535
0 0 65535
0 0 3
3 2
Unit Source
tick RR
tick RL
direction direction
1 0
msb lsb
lsb
lsb
Page 18 of 32