EVK-F9DR - User guide
UBX-23007618 - R01 Configurable CAN interface Page 17 of 33
C1-Public
5 Configurable CAN interface
☞ This chapter only applies to the ADR operating mode and can be ignored for UDR.
The device has a configurable high-speed CAN (ISO 11898-2) interface. The on-board MCU converts
the configured CAN messages into UBX-ESF-MEAS messages which are sent to the receiver via I2C.
5.1 Valid configurations
The CAN interface supports the following configurations:
• Single tick from VRP + direction
• Wheel ticks from both rear wheels + direction
• Speed from VRP + direction
• Speed from both rear wheels + direction
See appendix B for example configurations.
5.2 Configuring the interface
Communication with the MCU can be established via UART. Connect the front connector pin
SEL_MCU_N to ground to enable the MCU communication.
The MCU UART runs at baud rate of 115200.
The following messages are supported:
• CONFIG GET – Reports the current CAN configuration.
o Hex string: 0x43 0xa2 0x10 0x00 0x10 0x20
• CONFIG CLEAR – Deletes the current CAN configuration.
o Hex string: 0x43 0xa2 0x12 0x00 0x12 0x24
• CONFIG SET – Sends a configuration for one data field.
o Hex string: generate with the tool
Sending the commands to the MCU can be done through a terminal program. We recommend using
RealTerm [8].
5.3 Configuration message tool
The C100 MSG browser-based tool (Figure 9) generates C100 MCU configuration messages for the
configurable CAN feature. The tool can be downloaded from the u-blox website [9]. It can run entirely
locally without an internet connection.
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