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Appendix
A.1 CAN termination
The CAN bus is terminated by including the jumper circled in Figure 2. The jumper is included by
default. If the termination needs to be removed, open the enclosure and remove the jumper.
Figure 2: Jumper (circled)
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
UBX-20029244 - R03
C1-Public
Value type
Factor
Offset
unsigned
1
unsigned
1
unsigned
1
C102-F9R - User guide
Min
Max
0
0
65535
0
0
65535
0
0
3
Unit
Source
tick
RR
tick
RL
direction
direction
Page 14 of 32
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