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4
Configurable CAN interface
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.
4.1 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.
4.2 Configuring the interface
Communication with the MCU can be established via UART. Connect the front connector pin
MCU_UART_SEL 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.
o
Hex string: 0x43 0xa2 0x10 0x00 0x10 0x20
• CONFIG CLEAR – Deletes the current CAN configuration.
o
Hex string: 0x43 0xa2 0x12 0x00 0x12 0x24
• CONFIG SET – Sends a configuration for one data field.
o
Hex string: generate with the tool
Sending the commands to the MCU can be done through a terminal program. We recommend using
RealTerm. For more information, see [4].
4.3 C100 MSG
C100 MSG is a browser-based tool for generating C100 MCU configuration messages for the
configurable CAN feature. It can be run entirely locally, without an internet connection. Figure 1 shows
a screenshot of the tool.
Figure 1: C100 MSG tool
UBX-20029244 - R03
C1-Public
Configurable CAN interface
C102-F9R - User guide
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