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Oxford Technical Solutions
CAN messages and signals
In the default configuration the CAN bus uses identifiers 500h to 5FFh for RT status
information; 600h to 60Fh for navigation information; 610h to 613h for RT-ANA
messages and 620h to 623h for the additional slip points.
Using the configuration software it is possible to change the default message identifiers.
Only one status message is output per cycle (100 Hz or 250 Hz output rate) you do not
get each status message at the specified rate.
All values from the RT are encoded in little-endian format (Intel-style).
Termination resistor
The CAN bus output does not include a termination resistor. It is essential to include a
120 Ω resistor at each end of your CAN bus—otherwise the CAN bus will not work.
CAN-DB file
NAVconfig can output a CAN DBC file that contains all the measurements the RT is
configured to output. See the CAN option in NAVconfig (page 70).
CAN bus messages
Table 40 lists all the messages the RT outputs on the CAN bus and the identifiers that
are used for each message. The signals in each message are listed in the tables that follow.
Table 40. CAN bus messages
Default
identifier
(hex)
Message name Data contents See table
1536 (600h) DateTime Date and time Table 41
1537 (601h) LatitudeLongitude Latitude and longitude Table 42
1538 (602h) Altitude Altitude Table 43
1539 (603h) Velocity OxTS NED frame velocity Table 44
1540 (604h) VelocityLevel OxTS horizontal frame velocity Table 45
1541 (605h) AccelVehicle OxTS output frame IMU acceleration Table 46
1542 (606h) AccelLevel OxTS horizontal frame IMU acceleration Table 47
1543 (607h) HeadingPitchRoll OxTS orientation Table 48
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