FixPosition Vision-RTK 2 - Input Output Messages; Wheelspeed Input; Nov-B_Rawdmi

CHAPTER 7
Input Output Messages
7.1. Wheelspeed Input
7.1.1. NOV-B_RAWDMI
For streaming wheelspeed information via the UART serial port or TCP port, the message
format called NOV_B-RAWDMI is introduced by Fixposition, the message format should
be as follows:
Offset Type Value Description
0 uint8_t 0xaa Sync byte 1
1 uint8_t 0x44 Sync byte 2
2 uint8_t 0x13 Sync byte 3
3 uint8_t 20 Payload length
4 uint16_t 2269 Message ID
6 uint16_t 0 Week number
8 int32_t 0
Header
Time of the week [ms]
12 int32_t dmi1 Wheelspeed value 1, for RC or FR wheel
16 int32_t dmi2 Wheelspeed value 2, for FL wheel
20 int32_t dmi3 Wheelspeed value 3, for RR wheel
24 int32_t dmi4 Wheelspeed value 4, for RL wheel
28 int32_t mask
Payload
Wheelspeed value mask
32 uint32_t cksum Checksum
CRC2 checksum (seed 0x00000000,
polynomial 0xEDB88320)
Table 7.1.: NOV-B_RAWDMI message format
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