Skip to main content
RACELOGIC Support Centre

VB3i CAN Output

flag-de.png

The VBOX 3i has a CAN output which is present on the 5-way connector output.

Note: Channels highlighted in BLUE are present on Dual Antenna systems only.

The CAN outputs for ADAS Modes are available below:

Motorola Format

Data format: Motorola
Baud rate: 500 kbit/s

Channel definitions are available here.
 

ID* Data Bytes
1 2 3 4 5 6 7 8
0x301 (1) Satellites (2) Time_Since_Midnight _UTC (3) Position_Latitude
0x302 (4) Position_Longitude (5) Speed (kts) (6) Heading (°)
0x303 (7) Altitude (m) (8) Vertical_Velocity (ms) Unused (9) Status_1 (10) Status_2
0x304 (11) Trigger_Distance (m) (12) Longitudinal_Acceleration (g) (13) Lateral_Acceleration (g)
0x305 (14) Distance (m) (15) Trigger_Time (16) Trigger_Speed (kts)
0x306 (17) Speed_Quality (km/h) (18) True_Heading (°) (19) Slip_Angle (°) (20) Pitch_Angle (°)
0x307 (21) Lateral_Velocity (km/h) (22) Yaw_Rate (°/s) (23) Roll_Angle (°) (24) Longitudinal_Velocity (km/h)
 
0x308
 
(25) Position_Latitude_48bit
 
Pre FW 2.5(26) Kalman_Filter
_Status
Post FW 2.5: 
(26) Position_
Quality
Post FW 2.5
(27) Solution_
Type
0x309 (28) Position_Longitude_48bit (29) Speed_Robot_Nav (kts)
0x313 (30) Slip_Angle_Front_Left (°) (31) Slip_Angle_Front_Right (°) (32) Slip_Angle_Rear_Left (°) (33) Slip_Angle_Rear_Right (°)
0x314 (34) Slip_Angle_COG (°) (35) Sats_Robot_Nav (36) Time_Since_Midnight_Robot_Nav Pre FW 2.6: (37) True_Head2 (°)
Post FW 2.6: (37) RobotHead_Robot_Nav (°)
0x322 (38) Trigger_Event_UTC_Part_1 (39) Trigger_Event_UTC_Part_2
0x323** (40) Heading_IMU (°) (41) Roll_Ang_IMU (°) (42) Pitch_Ang_IMU (°) Pre FW 2.5Unused
Post FW 2.5(43) Status_KF
0x324 (44) Dant_Mode (45) MP_Type_Number Unused (46) FW_Version
0x329 (47) X_Position (48) Y_Position
0x32A (49) RobotHead_Vehico (°) (50) Speed_Vehico (km/h) (51) Position_
Quality_Vehico
(52) Solution_
Type_Vehico
Unused
0x32B (53) GPSDayH (54) GPSDayL (55) Diff_Age Unused (56) Serial_Number (57) VBOX_Type Unused

*Default Identifiers. The identifier values can be changed using the configuration software.
**When IMU integration is enabled via VBOX Manager, ID 0x323 will not be selected to transmit.
***Update rate depends on GPS update rate. 10 ms Update rate shown corresponds to 100 Hz GPS setting.

 

  1. If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
  2. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
  3. Position, Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
  4. Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
  5. Velocity, 0.01 kts per bit.
  6. Heading, 0.01° per bit.
  7. Altitude above mean sea level based on the WGS 84 model of the earth, 0.01 m per bit, signed.
  8. Vertical Velocity, 0.01 m/s per bit, signed.
  9. Status. 8 bit unsigned char. Bit 0 = VBOX Lite, Bit 1 = Open or Closed CAN Bus (1=open), 2 = VBOX3, Bit 3 = Logging Status.
  10. Status is an 8 bit unsigned char. Bit 0 = Always set, Bit 2 = Brake test started, Bit 3 = Brake trigger active, Bit 4 = DGPS active, Bit 5 = Dual Lock.
  11. Distance, 0.000078125 m per bit, unsigned. Corrected to trigger point.
  12. Longitudinal Acceleration, 0.01 g per bit, signed.
  13. Lateral Acceleration, 0.01 g per bit, signed.
  14. Distance travelled since VBOX reset, 0.000078125 m per bit, unsigned.
  15. Time from last brake trigger event, 0.01 seconds per bit.
  16. Velocity at brake trigger point, 0.01 kts per bit, interpolated between samples.
  17. Velocity Quality, 0.01 km/h per bit.
  18. True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
  19. Slip Angle, 16 bit signed integer 0.01° per bit.
  20. Pitch Angle, 16 bit signed integer 0.01° per bit.
  21. Lateral Velocity, 16 bit signed integer 0.01 km/h per bit.
  22. Yaw Rate, 16 bit signed integer 0.01°/s per bit.
  23. Roll Angle, 16 bit signed integer 0.01° per bit.
  24. Longitudinal Velocity, 16 bit signed integer 0.01 km/h per bit.
  25. Position, Latitude 48 bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
  26. Pre FW 2.5Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
    Post FW 2.5: Position Quality, 8 bit unsigned integer.
  27. Post FW 2.5Solution Type, 8 bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed, 5 = Fixed position, 6 = IMU Coast.
  28. Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
  29. Velocity, 16 bit signed integer 0.01 kts per bit (not delayed when ADAS mode enabled).
  30. Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
  31. Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
  32. Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
  33. Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
  34. Slip Angle COG, 16 bit signed integer 0.01° per bit.
  35. Robot Navigation Satellites.
  36. Time since midnight. This is a count of 10 ms intervals since midnight GPS. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
  37. Pre FW 2.6True Heading2, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
    Post FW 2.6Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
  38. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message), unsigned.
  39. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message), unsigned.
  40. Heading derived from the Kalman Filter (activated when IMU integration is enabled).
  41. Roll Angle derived from Kalman Filter (activated when IMU integration is enabled).
  42. Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled).
  43. Post FW 2.5Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
  44. Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
  45. Motion pack type number, outputted as 6 (used by ABD robot systems).
  46. VBOX FW version, 32 bit unsigned.
    *can be split into Major (8 bit), Minor (8 bit) and build number (16 bit).
  47. X position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is north. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
  48. Y position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is north. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
  49. Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot systems).
  50. Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
  51. Position quality, 8 bit (used by Vehico robot systems).
  52. Solution type, 8 bit (used by Vehico robot systems).
  53. GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
  54. GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
  55. Differential Age - unsigned char, (s) differential age (0xFF = invalid).
  56. Serial Number - 20 bit, VBOX serial number.
  57. VBOX Type - VB3i = 1, VB3iS = 2, VB3iS2 = 3.

Intel Format

These channels are for use with Stahle robot systems.

Data format: Intel
Baud rate: 500 kbit/s

Channel definitions are available here.
 

ID* Data Bytes
1 2 3 4 5 6 7 8
0x066 (1) Errors Unused
0x06B (2) IMU_roll_rate (°/s) (3) IMU_pitch_rate (°/s) (4) IMU_yaw_rate (°/s) Unused
0x075 (5) Long_acc (g) (6) Lat_acc (g) (7) IMU_Z_accel (g) Unused
0x083 (8) Inverse_path_radius (9) Slip_angle Unused
0x095 (10) Roll_imu (11) Pitch_imu (12) Robot_head (13) Heading
0x09C (14) Time_since_midnight_utc Unused
0x09F (15) Latitude (16) Longitude
0x0AF (17) X_velocity (18) Y_velocity Unused

 *Default Identifiers. The identifier values can be changed using the configuration software.
 

  1. Bitmask, always set to a value of zero.
  2. Roll rate, 16 bit signed integer 0.01°/s per bit.
  3. Pitch rate, 16 bit signed integer 0.01°/s per bit.
  4. Yaw rate, 16 bit signed integer 0.01°/s per bit.
  5. Longitudinal Acceleration, 16 bit signed integer 0.0004 g per bit.
  6. Lateral Acceleration, 16 bit signed integer 0.0004 g per bit.
  7. Z Acceleration, 16 bit signed integer 0.0004 g per bit.
  8. Inverse Path Radius, 16 bit signed integer 0.01°/s per bit. Inverse Path Radius = 1/(Speed (m/s)/yaw rate (rad/s)).
  9. Slip Angle, 16 bit signed integer 0.01° per bit.
  10. Roll Angle derived from Kalman Filter (activated when IMU integration is enabled), 16 bit signed integer 0.01° per bit. 
  11. Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled), 16 bit signed integer 0.01° per bit. 
  12. Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
  13. Heading, 16 bit unsigned integer 0.01° per bit.
  14. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
  15. Position, Latitude in degrees. This is a true 32 bit signed integer, North being positive,, 1e^-7 per bit.
  16. Position, Position, Longitude in degrees. This is a true 32 bit signed integer, East being positive, 1e^-7 per bit.
  17. X Velocity (car frame), 16 bit signed integer 0.005 m/s per bit. X Velocity = Speed(m/s) * Cos(slip angle).
  18. Y Velocity (car frame), 16 bit signed integer 0.005 m/s per bit. X Velocity = Speed(m/s) * Cos(slip angle).
  • Was this article helpful?