CAN bus Data Format
μLanding™ also has a version of CAN Bus data format, with update rate of 95Hz. For options about CAN bus protocol, please contact Aerotenna.
Communication Protocol
The communication protocol is:
- Extended Data Frame Format
- Baud rate is 250 Kb/s
- Data Field length is 8 Bytes.
- CAN ID frame is 0x00090002.
Connection Interface
In the CAN Bus data format, the GREEN port is CAN_H pin and the WHITE port is the CAN_L pin. The RED and BLACK port keep the same, as 5V DC power supply and Ground, respectively.
user interface on μLanding™ for CAN Bus
Data Format
This section introduce the data format in data field of CAN. The data field consists of 8 Bytes (64 bits).
Note that an 'x' refers to a variable bit containing dynamic data.
| Bytes No. | bits details | Description |
|---|---|---|
| 1 | 0bxxxxxxxx | Altitude (Most Significant 8 bits) |
| 2 | 0bxxxxxxxx | Altitude (Least Significant 8 bits) |
| 3 | 0bxxxxxxxx | SNR (Most Significant 8 bits) |
| 4 | 0bxxxxxxxx | SNR (Least Significant 8 bits) |
| 5-8 | 0b00000000 | N/A (Reserved) |
Explanation
Altitude:
The altitude bytes can be combined (total 16 bits) to represent the altitude information in centimeters. The structure would be: 0x[MSB][LSB], where MSB and LSB are each two hexadecminal numbers (8 bits).
Altitude data will be '0' (Byte 1 and Byte 2 are both 0) if it is not valid.
SNR:
The definition of SNR is this case is '10*log10(Power of Signal/Power of Noise Floor)', and its range is from 0 dB to 60 dB. The altitude reading will be associated with SNR to indicate the quality of the reflections.
Updated almost 5 years ago