CAN J1939 Data Messages¶
The following Data messages are implemented in the example applications. The user can modify provided messages or add messages as needed. The rate of data messages can be configured by SET commands.
| Data Packet | PF (dec) | PS (dec) |
|
Data Length (bytes) | Purpose |
Slope Sensor
Information
Type 2
|
240 | 41 | 61481 | 8 | Provide high accuracy
pitch & roll rates
|
Angular Rate
Sensor Data
|
240 | 42 | 61482 | 8 | Provide moderate accuracy
pitch, roll and yaw rates
|
Acceleration
Sensor Data
|
240 | 45 | 61485 | 8 | Provide moderate accuracy
X, Y, and Z axes acceleration
|
Magnetometer
Sensor Data
|
255 | 106 | 65386 | 8 | Provide readings from magnetic
sensor for X, Y, and Z axes
|
Slope Sensor Information - Type 2 (SSI2) Data Packet
The following table describes the SSI2 Data Packet Payload:
| Bytes | Field Name | Range | Resolution | Offset |
| 0:2 | Pitch | -250 to +252 deg | 1/32768 deg/bit | -250 deg |
| 3:5 | Roll | -250 to +252 deg | 1/32768 deg/bit | -250 deg |
| 6:7 | FoM,Latency | Ignore | Ignore | Ignore |
Note
SSI2 Data Packet is applicable for VG-AHRS or INS Applications only.
Angular Rate Data Packet
The following table describes the Angular Rate Data Packet:
| Byte Number | Parameter | Range | Resolution | Offset |
| 0:1 | Angular Rate X | -250 to +252 deg/s | 1/128 deg/second/bit | -250 deg |
| 2:3 | Angular Rate Y | -250 to +252 deg/s | 1/128 deg/second/bit | -250 deg |
| 4:5 | Angular Rate Z | -250 to +252 deg/s | 1/128 deg/second/bit | -250 deg |
| FoM,Latency | FoM,Latency | Ignore | Ignore | Ignore |
Acceleration Data Packet
The following table describes the Acceleration Data Packet:
Byte
Number
|
Parameter | Range | Resolution | Offset |
| 0:1 | Acceleration X | -320 to 320/55 m/s**2 | 0.01 m/s**2/bit | -320 m/s**2 |
| 2:3 | Acceleration Y | -320 to 320/55 m/s**2 | 0.01 m/s**2/bit | -320 m/s**2 |
| 4:5 | Acceleration Z | -320 to 320/55 m/s**2 | 0.01 m/s**2/bit | -320 m/s**2 |
| 6:7 | FoM,Latency | Ignore | Ignore | Ignore |
Magnetometer Data Packet
The following table describes the Magnetometer Data Packet:
Byte
Number
|
Parameter
|
Range | Resolution | Offset |
| 0:1 | Magnetic Field X | -8 to 8 Gauss | 4000 LSB/G | -8 Gauss |
| 2:3 | Magnetic Field Y | -8 to 8 Gauss | 4000 LSB/G | -8 Gauss |
| 4:5 | Magnetic Field Z | -8 to 8 Gauss | 4000 LSB/G | -8 Gauss |
| 6:7 | FoM,Latency | Ignore | Ignore | Ignore |
Note
As with all multiple byte fields, the LSB of each of the Data Packet fields is transmitted first.