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DataFormats / CANDataFormat

CAN Data Format

CAN data can be output at user selectable bit rates of 125k/250k/500k or 1Mbit. The output values can be transmitted at up to 100Hz. The address used by the CAN system can either by a Race Technology format 29 bit address, in which case the actual address used will be shown in the configuration software, or a user defined 11 or 29 bit address. The format of the output messages is as follows:

RT CAN Message Specification

For all messages, bit zero of the validity byte refers to the first data (not accuracy) packet, bit 1 to the next data packet, etc. When the bit is 1, the data is valid, when the bit is zero, the data is invalid. Since the last 5 bits of the address are made up of the unit id, this will need to be added to the addresses shown. The default unit ID is 2. A .dbc file containing all signals is available on request.

Inertial messages (group 128)

RT_Accel: 128, 0 (0x800020+ unit id)

    ----
    Byte 0: Validity 
    Byte 1: Accuracy
    Bytes 2-3: Accel Longitudinal (g)
    Bytes 4-5: Accel Lateral (g)
    Bytes 6-7: Accel Vertical (g)
    ----
    Accel resolution is g/1000.

RT_Gyro_Rates: 128, 1 (0x800120+ unit id)

    ----
    Byte 0: Validity
    Byte 1: Accuracy
    Bytes 2-3: Yaw rate (degrees/s)
    Bytes 4-5: Pitch rate (degrees/s)
    Bytes 6-7: Roll rate (degrees/s)
    ----
    Rate resolutions are degrees/s/100.