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19 - VBOX 3i CAN-Ausgabe

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The VBOX3i has a CAN output which is present on the 5-way connector output; Data format: Motorola; Baud rate: 500 kbit/s.

Note: Channels highlighted in BLUE are present on Dual Antenna systems only.

 

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x301 (1) Satellites (2) Time_Since_Midnight _UTC (3) Position_Latitude
0x302 (4) Position_Longitude (5) Speed (kts) (6) Heading
0x303 (7) Altitude (8) Vertical_Velocity_ms Unused (9) Status (10) Status
0x304 (11) Trigger_Distance (12) Longitudinal_Accel (g) (13) Lateral_Accel (g)
0x305 (14) Distance  (15) Trigger_Time (16) Trigger_Speed (kts)
0x306 (17) Speed_Quality (18) True_Heading (19) Slip_Angle (20) Pitch_Angle
0x307 (21) Lateral_Velocity (km/h) (22) Yaw_Rate (23) Roll_Angle (24) Longitudinal_Velocity (km/h)
0x308 (25) Position_Latitude_48bit  (26) Kalman_Filter_Status
0x309 (27) Position_Longitude_48bit (28) Robot_Nav_Speed (kts)
0x313 (29) Slip_Angle_Front_Left (30) Slip_Angle_Front_Right (31) Slip_Angle_Rear_Left (32) Slip_Angle_Rear_Right
0x314 (33) Slip_Angle_COG (34) Robot_Nav_Satellites

(35) Robot_Nav_Time_Since_Midnight

(36) Robot_Nav_Heading
0x322 (37) Trigger event UTC time - milliseconds (part 1) (38) Trigger event UTC time – nanoseconds (part 2)
0x323 (39) Head_IMU (40) Roll_IMU (41) Pitch_IMU Unused
0x324 Unused (42) FW Version

*Update rate depends on GPS update rate. 10 ms Update rate shown corresponds to 100 Hz GPS setting.

**Default Identifiers. The identifier values can be changed using the configuration software.

 

  1. If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
  2. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
  3. Position, Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
  4. Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
  5. Velocity, 0.01 kts per bit.
  6. Heading, 0.01° per bit.
  7. Altitude above the WGS 84 ellipsoid, 0.01 m per bit, signed.
  8. Vertical Velocity, 0.01 m/s per bit, signed.
  9. Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3, Bit 3 = Logging Status.
  10. Status is an 8 bit unsigned char. Bit 0 is always set, Bit 2=brake test started, Bit 3 = Brake trigger active, Bit 4 = DGPS active, Bit 5 = Dual Lock.
  11. Distance, 0.000078125 m per bit, unsigned. Corrected to trigger point.
  12. Longitudinal Acceleration, 0.01 g per bit, signed.
  13. Lateral Acceleration, 0.01 g per bit, signed.
  14. Distance traveled since VBOX reset, 0.000078125 m per bit, unsigned.
  15. Time from last brake trigger event. 0.01 seconds per bit.
  16. Velocity at brake trigger point 0.01 kts per bit.
  17. Velocity Quality, 0.01 km/h per bit.
  18. True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
  19. Slip Angle, 16 bit signed integer 0.01° per bit.
  20. Pitch Angle, 16 bit signed integer 0.01° per bit..
  21. Lateral Velocity, 16 bit signed integer 0.01 kts per bit.
  22. Yaw Rate, 16 bit signed integer 0.01°/s per bit..
  23. Roll Angle, 16 bit signed integer 0.01° per bit.
  24. Longitudinal Velocity, 16 bit signed integer 0.01 kts per bit.
  25. Position, Latitude 48 bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
  26. Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
  27. Position, Longitude 48 bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
  28. Velocity, 0.01 knots per bit (not delayed when ADAS enabled).
  29. Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
  30. Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
  31. Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
  32. Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
  33. Slip Angle C of G, 16 bit signed integer 0.01° per bit.
  34. Robot Navigation Satellites.
  35. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
  36. True Heading2 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
  37. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message).
  38. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message).
  39. Heading derived from the Kalman Filter.

  40. Roll Angle derived from Kalman Filter.

  41. Pitch Angle derived from Kalman Filter.

  42. VBOX FW version, 32 bit unsigned.
    *can be split into Major (8 bit), Minor (8 bit) and build number (16 bit).

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16:11, 6 Apr 2017

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