CAN Output – VBOX 3i With Firmware v2.8
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 here.
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 | (26) Position Quality | (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) Robot Nav Satellites | (36) Time Since Midnight GPS | (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 (°) | (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.
- If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
- 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).
- Position, Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
- Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
- Velocity, 0.01 kts per bit.
- Heading, 0.01° per bit.
- Altitude above mean sea level based on the WGS 84 model of the earth, 0.01 m per bit, signed.
- Vertical Velocity, 0.01 m/s per bit, signed.
- Status. 8 bit unsigned char. Bit 0 = VBOX Lite, Bit 1 = Open or Closed CAN Bus (1=open), 2 = VBOX3, Bit 3 = Logging Status.
- 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.
- Distance, 0.000078125 m per bit, unsigned. Corrected to trigger point.
- Longitudinal Acceleration, 0.01 g per bit, signed.
- Lateral Acceleration, 0.01 g per bit, signed.
- Distance travelled since VBOX reset, 0.000078125 m per bit, unsigned.
- Time from last brake trigger event, 0.01 seconds per bit.
- Velocity at brake trigger point, 0.01 kts per bit, interpolated between samples.
- Velocity Quality, 0.01 km/h per bit.
- True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
- Slip Angle, 16 bit signed integer 0.01° per bit.
- Pitch Angle, 16 bit signed integer 0.01° per bit.
- Lateral Velocity, 16 bit signed integer 0.01 km/h per bit.
- Yaw Rate, 16 bit signed integer 0.01°/s per bit.
- Roll Angle, 16 bit signed integer 0.01° per bit.
- Longitudinal Velocity, 16 bit signed integer 0.01 km/h per bit.
- Position, Latitude 48 bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
- Position Quality, 8 bit unsigned integer.
- Solution 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.
- Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
- Velocity, 16 bit signed integer 0.01 kts per bit (not delayed when ADAS mode enabled).
- Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
- Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
- Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
- Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
- Slip Angle COG, 16 bit signed integer 0.01° per bit.
- Robot Navigation Satellites.
- 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).
- Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
- Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message), unsigned.
- Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message), unsigned.
- Heading derived from the Kalman Filter (activated when IMU integration is enabled).
- Roll Angle derived from Kalman Filter (activated when IMU integration is enabled).
- Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled).
- Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
- Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
- Motion pack type number, outputted as 6 (used by ABD robot systems).
- VBOX FW version, 32 bit unsigned.
*can be split into Major (8 bit), Minor (8 bit) and build number (16 bit). - 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 X direction is East. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
- 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).
- Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot systems).
- Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
- Position quality, 8 bit (used by Vehico robot systems).
- Solution type, 8 bit (used by Vehico robot systems).
- GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
- GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
- Differential Age - unsigned char, (s) differential age (0xFF = invalid).
- Serial Number - 20 bit, VBOX serial number.
- VBOX Type - VB3i = 1, VB3iS = 2, VBOX Omega = 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) Velocity (km/h) | 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_Stahle | (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.
- Velocity, 32 bit signed integer.
- Roll rate, 16 bit signed integer 0.01°/s per bit.
- Pitch rate, 16 bit signed integer 0.01°/s per bit.
- Yaw rate, 16 bit signed integer 0.01°/s per bit.
- Longitudinal Acceleration, 16 bit signed integer 0.0004 g per bit.
- Lateral Acceleration, 16 bit signed integer 0.0004 g per bit.
- Z Acceleration, 16 bit signed integer 0.0004 g per bit.
- Inverse Path Radius, 16 bit signed integer 0.01°/s per bit. Inverse Path Radius = 1/(Speed (m/s)/yaw rate (rad/s)).
- Slip Angle, 16 bit signed integer 0.01° per bit.
- Roll Angle derived from Kalman Filter (activated when IMU integration is enabled), 16 bit signed integer 0.01° per bit.
- Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled), 16 bit signed integer 0.01° per bit.
- Robot_head_Stahle (360 - Robot_head), 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
- Heading, 16 bit unsigned integer 0.01° per bit.
- 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).
- Position, Latitude in degrees. This is a true 32 bit signed integer, North being positive,, 1e^-7 per bit.
- Position, Position, Longitude in degrees. This is a true 32 bit signed integer, East being positive, 1e^-7 per bit.
- X Velocity (car frame), 16 bit signed integer 0.005 m/s per bit. X Velocity = Speed(m/s) * Cos(slip angle).
- Y Velocity (car frame), 16 bit signed integer 0.005 m/s per bit. X Velocity = Speed(m/s) * Cos(slip angle).