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.
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.
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.
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)|
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.
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