Message types
There are three different data message types defined:
- IMU
- GPS
- CAN
IMU message (type = 0x24)
| Field | Description | Byte order1 | Type2 | Length | Factor | Offset | Unit |
|---|---|---|---|---|---|---|---|
| TIMESTAMP | Timestamp | M | U | 4 | 50 | 0 | us |
| ACC_X | X - acceleration | M | S | 2 | 0,244 * 9,80665 / 1000 0 | m/s2 | |
| ACC_Y | Y - acceleration | M | S | 2 | 0,244 * 9,80665 / 1000 | 0 | m/s2 |
| ACC_Z | Z - acceleration | M | S | 2 | 0,244 * 9,80665 / 1000 | 0 | m/s2 |
| GYRO_X | X - angular velocity | M | S | 2 | 17,5 / 1000 | 0 | °/sec |
| GYRO_Y | Y - angular velocity | M | S | 2 | 17,5 / 1000 | 0 | °/sec |
| GYRO_Z | Z - angular velocity | M | S | 2 | 17,5 / 1000 | 0 | °/sec |
| TEMP | Internal temperature | M | S | 2 | 1/256 | 25 | °C |
| ACC_XF | X - filtered acceleration | M | S | 2 | 9,80665/3000 | 0 | m/s2 |
| ACC_YF | Y - filtered acceleration | M | S | 2 | 9,80665/3000 | 0 | m/s2 |
| ACC_ZF | Z - filtered acceleration | M | S | 2 | 9,80665/3000 | 0 | m/s2 |
| GYRO_XF | X - filtered angular velocity | M | S | 2 | 1/50 | 0 | °/sec |
| GYRO_YF | Y - filtered angular velocity | M | S | 2 | 1/50 | 0 | °/sec |
| GYRO_ZF | Z - filtered angular velocity | M | S | 2 | 1/50 | 0 | °/sec |
Example:
24 1E 00 09 13 51 00 21 01 36 0F C3 FF E4 FF 5D 00 06 FD F2 02 BA 02 18 00 4C FF E8 FF 72 00 05
Fields:
| Field | RAW hex | RAW decimal | Value |
|---|---|---|---|
| TIMESTAMP | 0x00091351 | 594 769 | 29 738 450 us |
| ACC_X | 0x0021 | 33 | 0,08 m/s2 |
| ACC_Y | 0x0136 | 310 | 0,74 m/s2 |
| ACC_Z | 0x0FC3 | 4035 | 9,66 m/s2 |
| GYRO_X | 0xFFE4 | -28 | -0,49 °/sec |
| GYRO_Y | 0xFF5D | -163 | -2,85 °/sec |
| GYRO_Z | 0x0006 | 6 | 0,11 °/sec |
| TEMP | 0xFDF2 | -526 | 22,9 °C |
| ACC_XF | 0x02BA | 698 | 2,28 m/s2 |
| ACC_YF | 0x0218 | 536 | 1,75 m/s2 |
| ACC_ZF | 0x004C | 76 | 0,25 m/s2 |
| GYRO_XF | 0xFFE8 | -24 | -0,48 °/sec |
| GYRO_YF | 0xFF72 | -142 | -2,84 °/sec |
| GYRO_ZF | 0x0005 | 5 | 0,1 °/sec |
GPS message (type = 0x25)
| Field | Description | Byte order1 | Type2 | Length | Factor | Offset | Unit |
|---|---|---|---|---|---|---|---|
| TIMESTAMP | Timestamp | M | U | 4 | 50 | 0 | us |
| TIME | GPS time | M | U | 8 | 1 | 0 | UNIX time in milliseconds |
| LATITUDE | GPS latitude | M | S | 4 | 1 / 100000 | 0 | Latitude in Degrees Minutes |
| LONGITUDE | GPS longitude | M | S | 4 | 1 / 100000 | 0 | Longitude in Degrees Minutes |
| HDOP | GPS hdop | M | U | 2 | 1 / 100 | 0 | |
| ALTITUDE | GPS altitude | M | U | 2 | 1 / 100 | 0 | m |
| SPEED | GPS speed | M | U | 2 | 1 / 100 | 0 | km/h |
Example:
25 1C 00 3B 1B D8 00 00 01 8F BF 55 E4 39 1C 2D B5 3B 0B 56 EF 3C 00 77 00 00 3E E4 09 EC
Fields:
| Field | RAW hex | RAW decimal | Value |
|---|---|---|---|
| TIMESTAMP | 0x00381BD8 | 3 677 144 | 183 857 200 us |
| TIME | 0x0000018FBF55E439 | 1 716 902 028 345 | 2024-05-28 13:13:48.345 UTC |
| LATITUDE | 0x1C2DB53B | 472 757 563 | 4727.57563 => 47° 27.57563’ => 47.45959383° |
| LONGITUDE | 0x0B56EF3C | 190 246 716 | 1902.46716 => 19° 2.46716’ => 19.0411193° |
| HDOP | 0x0077 | 119 | 1.19 |
| ALTITUDE | 0x00003EE4 | 16 100 | 161 m |
| SPEED | 0x09EC | 2 540 | 25.4 km/h |
CAN message (type = 0x26)
| Field | Description | Byte order1 | Type2 | Length | Factor | Offset | Unit |
|---|---|---|---|---|---|---|---|
| TIMESTAMP | Timestamp | M | U | 4 | 50 | 0 | us |
| FLG | CAN flags | M | U | 1 | upper 4 bits is the channel, lower 4 bits is the DLC (data length code) | ||
| CAN_ID | CAN frame ID | M | U | 4 | most significant bit is the std/xtd flag | ||
| DATA | CAN frame data | M | U | variable | byte array, length specified by the DLC |
Example:
21 0F 00 0B 17 E9 16 00 00 01 9A AF FD E5 7F 00 20
Fields:
| Field | RAW hex | RAW decimal | Value |
|---|---|---|---|
| TIMESTAMP | 0x000B17E9 | 727 017 | 36 350 850 us |
| FLG | 0x16 | Channel: 0x01, DLC: 0x06 | Channel: 1, DLC: 6 |
| CAN_ID | 0x0000019A | STD/EXT:0, CAN ID: 0x19A | Standard CAN frame, ID: 410 |
| DATA | 0xAF 0xFD 0xE5 0x7F 0x00 0x20 |