FixPosition Vision-RTK 2 - Fixposition CAN Frame Definition

CHAPTER B
Fixposition CAN Frame Definition
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CAN frame definition
General parameters for the message CAN bitrate [Hz] any CAN FD bitrate [Hz] n/a CAN frame format SFF CAN ID 0x146 Mode broadcast Broadcast rate [Hz] 50 Hz Poll message n/a
CAN payload bytes
0 1 2 3 4 5 6 7
Intel bit numbering 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 23 22 21 20 19 18 17 16 31 30 29 28 27 26 25 24 39 38 37 36 35 34 33 32 47 46 45 44 43 42 41 40 55 54 53 52 51 50 49 48 63 62 61 60 59 58 57 56
Motorola bit numbering (sane) 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Motorola LSB bit numbering (weird) 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 23 22 21 20 19 18 17 16 31 30 29 28 27 26 25 24 39 38 37 36 35 34 33 32 47 46 45 44 43 42 41 40 55 54 53 52 51 50 49 48 63 62 61 60 59 58 57 56
Bit in byte
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
FR (or RC)
int16_t (signed, little-endian) 0.001m/s, 0xffffff = invalid 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
FL
int16_t (signed, little-endian) 0.001m/s, 0xffffff = invalid 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
RR
int16_t (signed, little-endian) 0.001m/s, 0xffffff = invalid 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
RL
int16_t (signed, little-endian) 0.001m/s, 0xffffff = invalid 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
Example
FR = 1.234 m/s --> value = 1234 = 0x04d2 0 0 0 0 0 1 0 0 1 1 0 1 0 0 1 0 FL = -1.234 m/s --> value = -1234 = 0xfb2e 1 1 1 1 1 0 1 1 0 0 1 0 1 1 1 0 RR = n/a --> value = 0xfffff 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 RL = n/a --> value = 0xfffff 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 CAN frame payload 0x04 0xd2 0xfb 0x2e 0xff 0xff 0xff 0xff
Figure B.1.: Fixposition CAN frame definition
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