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ADAS CAN Output for VBOX 3i FW v3.0 Units

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Remote VBOX CAN Output - Subject VBOX

Frames available to output on Subject with at least 1 Remote VBOX Target added.

 

Available CAN output frames
ID* 1 2 3 4 5 6 7 8
0x30A (1) Range tg1 (2) T2Csv-tg1 (3) T2Ctg-tg1
0x30B (4) LngRsv tg1 (5) LatRsv-tg1
0x30C (6) LongRref tg1 (7) LatRref tg1
0x30D (8) LngRtg tg1 (9) LatRtg tg1 
0x30E (10) Lngdiff tg1 (11) Latdiff tg1
0x30F (12) T2C2sv tg1 (13) LngSsv tg1 (14) Accel tg1 (15) Spd tg1
0x310 (16) LatSsv tg1 (17) RelSpd tg1 (18) Angle tg1 (19) SepTim tg1
0x311 (20) LkTime tg1 (21) Yawdif tg1 (22) YawRat tg1 (23) YawRat Sv
0x312 (24) Status sv (25) Status tg1 (26-28) Pnttg1 sv (29) Pnttg1 sv (30) Pntsv tg1 (31) Status tg2** (32) Status 
tg3***		 Unused
0x315 (33) X-pos tg1 (34) Y-pos tg1
0x316 (35) Range tg2** (36) T2Csv tg2** (37) T2Ctg tg2**
0x325 (38) LngRsv tg2** (39) LatRsv tg2**
0x326 (40) LongRref tg2** (41) LatRref tg2**
0x327 (42) LngRtg tg2** (43) LatRtg tg2**
0x328 (44) Lngdiff tg2** (45) Latdiff tg2**
0x32C (46) T2C2sv tg2** (47) LngSsv tg2** (48) Accel tg2** (49) Spd tg2**
0x32D (50) LatSsv tg2** (51) RelSpd tg2** (52) Angle tg2** (53) SepTim tg2**
0x32E (54) LkTime tg2** (55) Yawdif tg2** (56) YawRat tg2** (57) Pnttg2 sv** (58) Pntsv tg2**
0x32F (59) X-Pos tg2** (60) Y-pos tg2**
0x330 (61) Range tg3*** (62) T2Csv tg3*** (63) T2Ctg tg3***
0x331 (64) LngRsv tg3*** (65) LatRsv tg3***
0x332 (66) LongRref tg3*** (67) LatRref tg3***
0x333 (68) LngRtg tg3*** (69) LatRtg tg3***
0x334 (70) Lngdiff tg3*** (71) Latdiff tg3***
0x335 (72) T2C2sv tg3*** (73) LngSsv tg3***  (74) Accel tg3*** (75) Spd tg3***
0x336 (76) LatSsv tg3*** (77) RelSpd tg3*** (78) Angle tg3*** (79) SepTim tg3***
0x337 (80) LkTime tg3*** (81) Yawdif tg3*** (82) YawRat tg3*** (83) Pnttg3 sv*** (84) Pntsv tg3***
0x338 (85) X-Pos tg3*** (86) Y-Pos tg3***

 

*Default Identifiers. The identifier values can be changed using the configuration software.
**2nd Remote VBOX Target added
***3rd Remote VBOX Target added

  1. Range-tg1 (m), 32-bit IEEE Float.
  2. T2Csv-tg1 (s), 16-bit signed integer, 0.01 seconds per bit.
  3. T2Ctg-tg1 (s), 16-bit signed integer, 0.01 seconds per bit.
  4. LngRsv-tg1 (m), 32-bit IEEE Float.
  5. LatRsv-tg1 (m), 32-bit IEEE Float.
  6. LongRref-tg1 (m), 32-bit IEEE Float.
  7. LatRref-tg1 (m), 32-bit IEEE Float.
  8. LngRtg-tg1 (m), 32-bit IEEE Float.
  9. LatRtg-tg1 (m), 32-bit IEEE Float.
  10. Lngdiff-tg1 (minutes), 32-bit IEEE Float.
  11. Latdiff-tg1 (minutes), 32-bit IEEE Float.
  12. T2C2sv-tg1 (s), 16-bit signed integer, 0.01 seconds per bit.
  13. LngSsv-tg1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  14. Accel-tg1 (m/s2), 16-bit signed integer, 0.01 metres per second per second per bit.
  15. Spd-tg1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  16. LatSsv-tg1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  17. RelSpd-tg1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  18. Angle-tg1 (°), 16-bit signed integer, 0.01 degrees per bit.
  19. SepTim-tg1 (s), 16-bit signed integer, 0.01 seconds per bit.
  20. LkTime-tg1, 16-bit unsigned integer, count of 10 ms counts since midnight.
  21. Yawdif-tg1 (°), 16-bit signed integer, 0.01 degrees per bit.
  22. YawRat-tg1 (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  23. YawRat-sv (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  24. Status-sv; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  25. Status-tg1; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  26. TargetType-tg1, 2-bit unsigned integer; 0=none, 1=Remote Target, 2=Static Target.
  27. TargetType-tg2, 2-bit unsigned integer; 0=none, 1=Remote Target, 2=Static Target.
  28. TargetType-tg3, 2-bit unsigned integer; 0=none, 1=Remote Target, 2=Static Target.
  29. Pnttg1-sv, 8-bit unsigned integer.
  30. Pntsv-tg1; 8-bit unsigned integer.
  31. Status-tg2; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  32. Status-tg3; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  33. X_Pos-tg1 (m), 32-bit IEEE Float.
  34. Y_Pos-tg1 (m), 32-bit IEEE Float.
  35. Range-tg2 (m), 32-bit IEEE Float.
  36. T2Csv-tg2 (s), 16-bit signed integer, 0.01 seconds per bit.
  37. T2Ctg-tg2 (s), 16-bit signed integer, 0.01 seconds per bit.
  38. LngRsv-tg2 (m), 32-bit IEEE Float.
  39. LatRsv-tg2 (m), 32-bit IEEE Float.
  40. LongRref-tg2 (m), 32-bit IEEE Float.
  41. LatRref-tg2 (m), 32-bit IEEE Float.
  42. LngRtg-tg2 (m), 32-bit IEEE Float.
  43. LatRtg-tg2 (m), 32-bit IEEE Float.
  44. Lngdiff-tg2 (minutes), 32-bit IEEE Float.
  45. Latdiff-tg2 (minutes), 32-bit IEEE Float.
  46. T2C2sv-tg2 (s), 16-bit signed integer, 0.01 seconds per bit.
  47. LngSsv-tg2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  48. Accel-tg2 (m/s2), 16-bit signed integer, 0.01 metres per second per second per bit.
  49. Spd-tg2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  50. LatSsv-tg2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  51. RelSpd-tg2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  52. Angle-tg2 (°), 16-bit signed integer, 0.01 degrees per bit.
  53. SepTim-tg2 (s), 16-bit signed integer, 0.01 seconds per bit.
  54. LkTime-tg2, 16-bit unsigned integer, count of 10 ms counts since midnight.
  55. Yawdif-tg2 (°), 16-bit signed integer, 0.01 degrees per bit.
  56. YawRat-tg2 (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  57. Pnttg2-sv, 8-bit unsigned integer.
  58. Pntsv-tg2; 8-bit unsigned integer
  59. X_Pos-tg2 (m), 32-bit IEEE Float.
  60. Y_Pos-tg2 (m), 32-bit IEEE Float.
  61. Range-tg3 (m), 32-bit IEEE Float.
  62. T2Csv-tg3 (s), 16-bit signed integer, 0.01 seconds per bit.
  63. T2Ctg-tg3 (s), 16-bit signed integer, 0.01 seconds per bit.
  64. LngRsv-tg3 (m), 32-bit IEEE Float.
  65. LatRsv-tg3 (m), 32-bit IEEE Float.
  66. LongRref-tg3 (m), 32-bit IEEE Float.
  67. LatRref-tg3 (m), 32-bit IEEE Float.
  68. LngRtg-tg3 (m), 32-bit IEEE Float.
  69. LatRtg-tg3 (m), 32-bit IEEE Float.
  70. Lngdiff-tg3 (minutes), 32-bit IEEE Float.
  71. Latdiff-tg3 (minutes), 32-bit IEEE Float.
  72. T2C2sv-tg3 (s), 16-bit signed integer, 0.01 seconds per bit.
  73. LngSsv-tg3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  74. Accel-tg3 (m/s2), 16-bit signed integer, 0.01 metres per second per second per bit.
  75. Spd-tg3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  76. LatSsv-tg3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  77. RelSpd-tg3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  78. Angle-tg3 (°), 16-bit signed integer, 0.01 degrees per bit.
  79. SepTim-tg3 (s), 16-bit signed integer, 0.01 seconds per bit.
  80. LkTime-tg3, 16-bit unsigned integer, count of 10 ms counts since midnight.
  81. Yawdif-tg3 (°), 16-bit signed integer, 0.01 degrees per bit.
  82. YawRat-tg3 (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  83. Pnttg3-sv, 8-bit unsigned integer.
  84. Pntsv-tg3; 8-bit unsigned integer
  85. X_Pos-tg3 (m), 32-bit IEEE Float.
  86. Y_Pos-tg3 (m), 32-bit IEEE Float.

      

Target VBOX CAN Output

Data format: Motorola
Baud rate: 500 kbit/s

You can find the channel definitions here.

Note: All the Target channels are generically named and specific to the connected VBOX with exception of the Status channels.

Available CAN output frames
ID* 1 2 3 4 5 6 7 8
0x30A (1) Range tg (2) T2Csv tg (3) T2Ctg tg
0x30B (4) LngRsv tg (5) LatRsv tg
0x30C (6) LongRref tg (7) LatRref tg
0x30D (8) LngRtg tg (9) LatRtg tg
0x30E (10) Lngdiff tg (11) Latdiff tg
0x30F (12) T2C2sv tg (13) LngSsv tg (14) Accel tg (15) Spd tg
0x310 (16) LatSsv tg (17) RelSpd tg (18) Angle tg (19) SepTim tg
0x311 (20) LkTime tg (21) Yawdif tg (22) YawRat tg (23) YawRat Sv
0x312 (24) Status sv (25) Status tg1 (26) TargetType tg (27) Pnttg1 sv (28) Pntsv tg (29) Status tg2** (30) Status tg3*** Unused

*Default Identifiers. The identifier values can be changed using the configuration software.
**2nd Remote VBOX Target added.
***3rd Remote VBOX Target added. 

 

  1. Range-tg (m), 32-bit IEEE Float.
  2. T2Csv-tg (s), 16-bit signed integer, 0.01 seconds per bit.
  3. T2Ctg-tg (s), 16-bit signed integer, 0.01 seconds per bit.
  4. LngRsv-tg (m), 32-bit IEEE Float.
  5. LatRsv-tg (m), 32-bit IEEE Float.
  6. LongRref-tg (m), 32-bit IEEE Float.
  7. LatRref-tg (m), 32-bit IEEE Float.
  8. LngRtg-tg (m), 32-bit IEEE Float.
  9. LatRtg-tg (m), 32-bit IEEE Float.
  10. Lngdiff-tg (minutes), 32-bit IEEE Float.
  11. Latdiff-tg (minutes), 32-bit IEEE Float.
  12. T2C2sv-tg (s), 16-bit signed integer, 0.01 seconds per bit.
  13. LngSsv-tg (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  14. Accel-tg (m/s2), 16-bit signed integer, 0.01 metres per second per second per bit.
  15. Spd-tg (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  16. LatSsv-tg (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  17. RelSpd-tg (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  18. Angle-tg ( °), 16-bit signed integer, 0.01 degrees per bit.
  19. SepTim-tg (s), 16-bit signed integer, 0.01 seconds per bit.
  20. LkTime-tg, 16-bit unsigned integer, count of 10 ms counts since midnight.
  21. Yawdif-tg ( °), 16-bit signed integer, 0.01 degrees per bit.
  22. YawRat-tg (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  23. YawRat-sv (°/s), 16-bit signed integer, 0.01 degrees per second per bit.
  24. Status-sv; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  25. Status-tg1; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  26. TargetType-tg, 2-bit unsigned integer; 0=none, 1=Remote Target, 2=Static Target.
  27. Pnttg-sv, 8-bit unsigned integer.
  28. Pntsv-tg; 8-bit unsigned integer.
  29. Status-tg2; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
  30. Status-tg3; 8-bit unsigned integer, 0 = None, 1 = Standalone, 3 = RTK Float, 4 = RTK Fixed.
                                                                                         
Lines CAN Output - Subject VBOX

Subject with 1 reference line

Data format: Motorola
Baud rate: 500 kbit/s

You can find the channel definitions here.

Available CAN output frames
ID* 1 2 3 4 5 6 7 8
0x357 (1) RangeA L1 (2) TTCA L1 (3) LatSpdsvA L1
0x358 (4) AnglesvA L1 (5) CurvatureL1 A (6) RangeB L1
0x359 (7) TTCB L1 (8) LatSpdsvB L1 (9) AnglesvB L1 (10) CurvatureL1 B
0x35A (11) RangeC L1  (12) TTCC L1 (13) LatSpdsvC L1
0x35B (14) AnglesvC L1 (15) CurvatureL1 C (16) Status sv Unused
0x35C (17) RangeA L2** (18) TTCA L2** (19) LatSpdsvA L2**
0x35D (20) AnglesvA L2** (21) CurvatureL2 A** (22) RangeB L2**
0x35E (23) TTCB L2** (24) LatSpdsvB L2** (25) AnglesvB L2** (26) CurvatureL2 B**
0x35F (27) RangeC L2** (28) TTCC L2** (29) LatSpdsvC L2**
0x360 (30) AnglesvC L2** (31) CurvatureL2 C** (32) AnglesvC L3*** (33) CurvatureL3 C***
0x361 (34) RangeA L3*** (35) TTCA L3*** (36) LatSpdsvA L3***
0x362 (37) AnglesvA L3*** (38) CurvatureL3 A*** (39) RangeB L3***
0x363 (40) TTCB L3*** (41) LatSpdsvB L3*** (42) AnglesvB L3*** (43) CurvatureL3 B***
0x364 (44) RangeC L3*** (45) TTCC L3*** (46) LatSpdsvC L3***

*Default Identifiers. The identifier values can be changed using the configuration software.
**2nd reference line added
***3rd reference line added

Remote VBOX 1 Added
ID* 1 2 3 4 5 6 7 8
0x365 (47) Rangetg1 L1 (48) TTCtg1 L1 (49) LatSpdtg1 L1
0x366 (50) Angletg1 L1 (51) TTCtg1 L2 (52) Rangetg1 L2
0x367 (53) LatSpdtg1 L2 (54) Angletg1 L2 (55) Rangetg1 L3
0x368 (56) TTCtg1 L3 (57) LatSpdtg1 L3  (58) Angletg1 L3 (59) Status tg1 Unused
Remote VBOX 2 Added
ID* 1 2 3 4 5 6 7 8
0x369 (60) Rangetg2 L1 (61) TTCtg2 L1 (62) LatSpdtg2 L1
0x36A (63) Angletg2 L1 (64) TTCtg2 L2 (65) Rangetg2 L2
0x36B (66) LatSpdtg2 L2 (67) Angletg2 L2 (68) Rangetg2 L3
0x36C (69) TTCtg2 L3 (70) LatSpdtg2 L3 (71) Angletg2 L3 (72) Status tg2 Unused
Remote VBOX 3 Added
ID* 1 2 3 4 5 6 7 8
0x36D (73) Rangetg3 L1 (74) TTCtg3 L1 (75) LatSpdtg3 L1
0x36E (76) Angletg3 L1 (77) TTCtg3 L2 (78) Rangetg3 L2
0x36F (79) LatSpdtg3 L2 (80) Angletg3 L2 (81) Rangetg3 L3
0x370 (82) TTCtg3 L3 (83) LatSpdtg3 L3 (84) Angletg3 L3 (85) Status tg3 Unused

 

  1. RangeA-L1 (m), 32-bit IEEE float.
  2. TTCA-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  3. LatSpdsvA-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  4. AnglesvA-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  5. CurvatureL1-A (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  6. RangeB-L1 (m), 32-bit IEEE float.
  7. TTCB-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  8. LatSpdsvB-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  9. AnglesvB-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  10. CurvatureL1-B (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  11. RangeC-L1 (m), 32-bit IEEE float.
  12. TTCC-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  13. LatSpdsvC-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  14. AnglesvC-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  15. CurvatureL1-C (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  16. Status-Sv, 8-bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed.
  17. RangeA-L2 (m), 32-bit IEEE float.
  18. TTCA-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  19. LatSpdsvA-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  20. AnglesvA-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  21. CurvatureL2-A (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  22. RangeB-L2 (m), 32-bit IEEE float.
  23. TTCB-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  24. LatSpdsvB-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  25. AnglesvB-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  26. CurvatureL2-B (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  27. RangeC-L2 (m), 32-bit IEEE float.
  28. TTCC-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  29. LatSpdsvC-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  30. AnglesvC-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  31. CurvatureL2-C (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  32. AnglesvC-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  33. CurvatureL3-C (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  34. RangeA-L3 (m), 32-bit IEEE float.
  35. TTCA-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  36. LatSpdsvA-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  37. AnglesvA-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  38. CurvatureL3-A (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  39. RangeB-L3 (m), 32-bit IEEE float.
  40. TTCB-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  41. LatSpdsvB-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  42. AnglesvB-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  43. CurvatureL3-B (m-1), 16-bit unsigned integer, 0.0001 metres -1 per bit.
  44. RangeC-L3 (m), 32-bit IEEE float.
  45. TTCC-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  46. LatSpdsvC-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  47. Rangetg1-L1 (m), 32-bit IEEE float.
  48. TTCtg1-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  49. LatSpdtg1-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  50. Angletg1-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  51. TTCtg1-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  52. Rangetg1-L2 (m), 32-bit IEEE float.
  53. LatSpdtg1-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  54. Angletg1-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  55. Rangetg1-L3 (m), 32-bit IEEE float.
  56. TTCtg1-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  57. LatSpdtg1-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  58. Angletg1-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  59. Status-tg1, 8-bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed.
  60. Rangetg2-L1 (m), 32-bit IEEE float.
  61. TTCtg2-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  62. LatSpdtg2-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  63. Angletg2-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  64. TTCtg2-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  65. Rangetg2-L2 (m), 32-bit IEEE float.
  66. LatSpdtg2-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  67. Angletg2-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  68. Rangetg2-L3 (m), 32-bit IEEE float.
  69. TTCtg2-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  70. LatSpdtg2-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  71. Angletg2-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  72. Status-tg2, 8-bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed.
  73. Rangetg3-L1 (m), 32-bit IEEE float.
  74. TTCtg3-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  75. LatSpdtg3-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  76. Angletg3-L1 (°), 16-bit signed integer, 0.01 degrees per bit.
  77. TTCtg3-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  78. Rangetg3-L2 (m), 32-bit IEEE float.
  79. LatSpdtg3-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  80. Angletg3-L2 (°), 16-bit signed integer, 0.01 degrees per bit.
  81. Rangetg3-L3 (m), 32-bit IEEE float.
  82. TTCtg3-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  83. LatSpdtg3-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  84. Angletg3-L3 (°), 16-bit signed integer, 0.01 degrees per bit.
  85. Status-tg3, 8-bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed.
Lines CAN Output - Target VBOX

Data format: Motorola
Baud rate: 500 kbit/s

You can find the channel definitions here.

Available CAN output frames
ID* 1 2 3 4 5 6 7 8
0x365 (1) Rangetg L1 (2) TTCtg L1 (3) LatSpdtg L1
0x366 (4) Angletg L1 (5) TTCtg L2 (6) Rangetg L2
0x367 (7) LatSpdtg L2 (8) Angletg L2 (9) Rangetg L3
0x368 (10) TTCtg L3 (11) LatSpdtg L3 (12) Angletg L3 Unused

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

  1. Rangetg-L1 (m), 32-bit IEEE float.
  2. TTCtg-L1 (s), 16-bit signed integer, 0.01 seconds per bit.
  3. LatSpdtg-L1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  4. Angletg-L1 ( °), 16-bit signed integer, 0.01 degrees per bit.
  5. TTCtg-L2 (s), 16-bit signed integer, 0.01 seconds per bit.
  6. Rangetg-L2 (m), 32-bit IEEE float.
  7. LatSpdtg-L2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  8. Angletg-L2 ( °), 16-bit signed integer, 0.01 degrees per bit.
  9. Rangetg-L3 (m), 32-bit IEEE float.
  10. TTCtg-L3 (s), 16-bit signed integer, 0.01 seconds per bit.
  11. LatSpdtg-L3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  12. Angletg-L3 ( °), 16-bit signed integer, 0.01 degrees per bit.
Sign Post CAN Output

Data format: Motorola
Baud rate: 500 kbit/s

You can find the channel definitions here.

Available CAN output frames
ID* 1 2 3 4 5 6 7 8
0x34C (1) ID1 (2) ID2 (3) ID3 (4) ID4 (5) ID5 Unused
0x34D (6) Range1 (7) Lat. Range1
0x34E (8) Lng. Range1 (9) TTC1 (10) Angle1
0x34F (11) Range2 (12) Lat. Range2
0x350 (13) Lng. Range2 (14) TTC2 (15) Angle2
0x351 (16) Range3 (17) Lat. Range3
0x352 (18) Lng. Range3 (19) TTC3 (20) Angle3
0x353 (21) Range4 (22) Lat. Range4
0x354 (23) Lng. Range4 (24) TTC4 (25) Angle4
0x355 (26) Range5 (27) Lat. Range5
0x356 (28) Lng. Range5 (29) TTC5 (30) Angle5

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

  1. ID1, 8-bit unsigned integer.
  2. ID2, 8-bit unsigned integer.
  3. ID3, 8-bit unsigned integer.
  4. ID4, 8-bit unsigned integer.
  5. ID5, 8-bit unsigned integer.
  6. Range1 (m), 32-bit IEEE Float.
  7. Lat_Range1 (m), 32-bit IEEE Float.
  8. Lng_Range1 (m), 32-bit IEEE Float.
  9. TTC1 (s), 16-bit signed integer, 0.01 seconds per bit.
  10. Angle1 ( °), 16-bit signed integer, 0.01 degrees per bit.
  11. Range2 (m), 32-bit IEEE Float.
  12. Lat_Range2 (m), 32-bit IEEE Float.
  13. Lng_Range2 (m), 32-bit IEEE Float.
  14. TTC2 (s), 16-bit signed integer, 0.01 seconds per bit.
  15. Angle2 ( °), 16-bit signed integer, 0.01 degrees per bit.
  16. Range3 (m), 32-bit IEEE Float.
  17. Lat_Range3 (m), 32-bit IEEE Float.
  18. Lng_Range3 (m), 32-bit IEEE Float.
  19. TTC3 (s), 16-bit signed integer, 0.01 seconds per bit.
  20. Angle3 ( °), 16-bit signed integer, 0.01 degrees per bit.
  21. Range4 (m), 32-bit IEEE Float.
  22. Lat_Range4 (m), 32-bit IEEE Float.
  23. Lng_Range4 (m), 32-bit IEEE Float.
  24. TTC4 (s), 16-bit signed integer, 0.01 seconds per bit.
  25. Angle4 ( °), 16-bit signed integer, 0.01 degrees per bit.
  26. Range5 (m), 32-bit IEEE Float.
  27. Lat_Range5 (m), 32-bit IEEE Float.
  28. Lng_Range5 (m), 32-bit IEEE Float.
  29. TTC5 (s), 16-bit signed integer, 0.01 seconds per bit.
  30. Angle5 ( °), 16-bit signed integer, 0.01 degrees per bit.
Static Target CAN Output

Data format: Motorola
Baud rate: 500 kbit/s

You can find the channel definitions here.

Frames available to output on Subject when 1st Static Target added

ID* 1 2 3 4 5 6 7 8
0x339 (1) Range st1 (2) T2Csv st1 (3) T2Ctg st1
0x33A (4) LngRsv st1 (5) LatRsv st1
0x33B (6) LongRref st1 (7) LatRref st1
0x33C (8) LngRtg st1 (9) LatRtg st1
0x33D (10) Lngdiff st1 (11) Latdiff st1
0x33E (12) LatSsv st1 (13) LngSsv st1 (14) Angle st1 (15) Yawdif st1
0x33F (16) Status sv (17) TargetType st1 (18) TargetType st2 (19) TargetType st3 Unused

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


2nd Static Target Added
ID* 1 2 3 4 5 6 7 8
0x340 (20) Range st2 (21) T2Csv st2 (22) T2Ctg st2
0x341 (23) LngRsv st2 (24) LatRsv st2
0x342 (25) LongRref st2 (26) LatRref st2
0x343 (27) LngRtg st2 (28) LatRtg st2
0x344 (29) Lngdiff st2 (30) Latdiff st2
0x345 (31) LatSsv st2 (32) LngSsv st2 (33) Angle st2 (34) Yawdif st2

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

3rd Static Target Added
ID* 1 2 3 4 5 6 7 8
0x346 (35) Range st3 (36) T2Csv st3 (37) T2Ctg st3
0x347 (38) LngRsv st3 (39) LatRsv st3
0x348 (40) LongRref st3 (41) LatRref st3
0x349 (42) LngRtg st3 (43) LatRtg st3
0x34A (44) Lngdiff st3 (45) Latdiff st3
0x34B (46) LatSsv st3 (47) LngSsv st3 (48) Angle st3 (49) Yawdif st3

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

  1. Range-st1 (m), 32-bit IEEE Float.
  2. T2Csv-st1 (s), 16-bit signed integer, 0.01 seconds per bit.
  3. T2Ctg-st1 (s), 16-bit signed integer, 0.01 seconds per bit.
  4. LngRsv-st1 (m), 32-bit IEEE Float.
  5. LatRsv-st1 (m), 32-bit IEEE Float.
  6. LongRref-st1 (m), 32-bit IEEE Float.
  7. LatRreg-st1 (m), 32-bit IEEE Float.
  8. LngRtg-st1 (m), 32-bit IEEE Float.
  9. LatRtg-st1 (m), 32-bit IEEE Float.
  10. Lngdiff-st1 (minutes), 32-bit IEEE Float.
  11. Latdiff-st1 (minutes), 32-bit IEEE Float.
  12. LatSsv-st1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  13. LngSsv-st1 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  14. Angle-st1 ( °), 16-bit signed integer, 0.01 degrees per bit.
  15. Yawdif-st1 (°/s), 16-bit signed integer, 0.01 degrees per bit.
  16. Status-sv, 8-bit unsigned integer.
  17. TargetType-st1, 8-bit unsigned integer.
  18. Target Type-st2, 8-bit unsigned integer. (Channel only populates when 2nd Static Target is added.)
  19. TargetType-st3, 8-bit unsigned integer. (Channel only populates when 3rd Static Target is added.)
  20. Range-st2 (m), 32-bit IEEE Float.
  21. T2Csv-st2 (s), 16-bit signed integer, 0.01 seconds per bit.
  22. T2Ctg-st2 (s), 16-bit signed integer, 0.01 seconds per bit.
  23. LngRsv-st2 (m), 32-bit IEEE Float.
  24. LatRsv-st2 (m), 32-bit IEEE Float.
  25. LongRref-st2 (m), 32-bit IEEE Float.
  26. LatRreg-st2 (m), 32-bit IEEE Float.
  27. LngRtg-st2 (m), 32-bit IEEE Float.
  28. LatRtg-st2 (m), 32-bit IEEE Float.
  29. Lngdiff-st2 (minutes), 32-bit IEEE Float.
  30. Latdiff-st2 (minutes), 32-bit IEEE Float.
  31. LatSsv-st2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  32. LngSsv-st2 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  33. Angle-st2 ( °), 16-bit signed integer, 0.01 degrees per bit.
  34. Yawdif-st2 (°/s), 16-bit signed integer, 0.01 degrees per bit.
  35. Range-st3 (m), 32-bit IEEE Float.
  36. T2Csv-st3 (s), 16-bit signed integer, 0.01 seconds per bit.
  37. T2Ctg-st3 (s), 16-bit signed integer, 0.01 seconds per bit.
  38. LngRsv-st3 (m), 32-bit IEEE Float.
  39. LatRsv-st3 (m), 32-bit IEEE Float.
  40. LongRref-st3 (m), 32-bit IEEE Float.
  41. LatRreg-st3 (m), 32-bit IEEE Float.
  42. LngRtg-st3 (m), 32-bit IEEE Float.
  43. LatRtg-st3 (m), 32-bit IEEE Float.
  44. Lngdiff-st3 (minutes), 32-bit IEEE Float.
  45. Latdiff-st3 (minutes), 32-bit IEEE Float.
  46. LatSsv-st3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  47. LngSsv-st3 (km/h), 16-bit signed integer, 0.01 kilometres per hour per bit.
  48. Angle-st3 ( °), 16-bit signed integer, 0.01 degrees per bit.
  49. Yawdif-st3 (°/s), 16-bit signed integer, 0.01 degrees per bit.

 

                                                                           
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