Single Tick And Direction; Speed Configurations; Two Rear Wheels And Direction - u-blox EVK-M9DR User Manual

B.1.2

Single tick and direction

This configuration uses single-tick data and a separate direction signal. The configuration entries are
described in the tables below.
Startbit Length Byte order
32 16 big-endian
8 2 big-endian
byte/bit 7
0
1
2
3 msb
4
5
6
7
The following CONFIG SET messages are generated for this configuration:
• tick: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x20 0x10 0x00 0x00 0x00 0x00
0xff 0xff 0xe8 0x03 0x44 0x01 0xb1 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 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
52 12 big-endian
56 12 big-endian
8 2 big-endian
byte/bit 7
0
1
2
3
4
5 msb
6
7
UBX-21049360 - R01
C1-Public
Value type Factor Offset
unsigned 1
unsigned 1
6 5 4
Value type Factor Offset
unsigned 0.1
unsigned 0.1
unsigned 1
6 5 4
Appendix
Min Max
0 0 65535
0 0
3 2
Min Max
0 0 409.6
0 0 409.6
0 0
3 2
lsb msb
EVK-M9DR - User guide
Unit Source
tick combined
3 direction direction
1 0
msb lsb
lsb
Unit Source
km/h RR
km/h RL
3 direction direction
1 0
msb lsb
lsb
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