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.