CAN Output - IMU04
The IMU04 has a CAN output which is present on the 5-way CAN/SER port on the unit.
Motorola Format
Data format: Each data channel is in an IEEE 32 bit float Motorola form.
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 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x600 | (1) YAWRate (°/s) | (2) X-Acceleration (g) | ||||||||||||||
| 0x601 | (3) Y-Acceleration (g) | (4) Temperature ( °) | ||||||||||||||
| 0x602 | (5) PitchRate (°/s) | (6) RollRate (°/s) | ||||||||||||||
| 0x603 | (7) Z-Acceleration (g) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
In timed mode, you can change the update rate in the configuration software
The IMU CAN database is available in vector database (DBC File) format on the VBOX Automotive website.
- Degrees per second measurement from a gyro in the YAW plane of a vehicle. +ve clockwise.
- Accelerometer measurement in the vehicle's longitudinal plane, +ve for forward acceleration. This measurement is not compensated for gravitational influence.
- Accelerometer measurement in the vehicle's lateral plane, +ve for acceleration to the left. This measurement is not compensated for gravitational influence.
- This is the internal temperature measured in the unit at the current time.
- Rotational rate measurement from a gyro in the longitudinal axis of a vehicle. -ve nose down.
- Rotational rate measurement from a gyro in the lateral axis of a vehicle. +ve for counterclockwise rotation.
- Accelerometer measurement in the vehicle's vertical plane, +ve for upward acceleration. This measurement is not compensated for gravitational influence.