Internal signals

This page documents the signals internally generated by the CANedge.

The signals are available through the internal CAN-bus channel. The signal messages can be filtered, scaled, etc. as with the physical CAN-bus channels. See CAN for more information on CAN-bus channel configuration.

The CAN-internal database file (.DBC) can be downloaded below.

Note

Multiple variants of the CANedge share the same signal database. Not all signals are available for all variants.

The remaining of this section is autogenerated from the database (DBC) file.

Messages

Message

Format

ID (DEC)

ID (HEX)

Bytes

Description

TimeExternal

Standard

5

0x005

8

Time received, event

GnssStatus

Standard

101

0x065

1

GNSS status, 5 Hz

GnssTime

Standard

102

0x066

6

GNSS time, 5 Hz

GnssPos

Standard

103

0x067

8

GNSS position, 5 Hz

GnssAltitude

Standard

104

0x068

4

GNSS altitude, 5 Hz

GnssAttitude

Standard

105

0x069

8

GNSS attitude, 5 Hz

GnssDistance

Standard

106

0x06A

3

GNSS distance, 1 Hz

GnssSpeed

Standard

107

0x06B

5

GNSS speed, 5 Hz

GnssGeofence

Standard

108

0x06C

2

GNSS geofence(s), 1 Hz

ImuAlign

Standard

110

0x06E

7

IMU alignment, 1 Hz

ImuData

Standard

111

0x06F

8

IMU data, 5 Hz

Signals

TimeExternal signals

Signal

Start

Length

Factor

Offset

Unit

Description

InternalEpoch

0

32

1

1577840400

\(s\)

Internal epoch time

ExternalEpoch

32

32

1

1577840400

\(s\)

External epoch time

GnssStatus signals

Signal

Start

Length

Factor

Offset

Unit

Description

FixType

0

3

1

0

Fix type

Satellites

3

5

1

0

Number of satellites used

FixType values

Value

Description

0

No fix

1

Dead reckoning only

2

2D-fix

3

3D-fix

4

GNSS + dead reckoning combined

5

Time only fix

GnssTime signals

Signal

Start

Length

Factor

Offset

Unit

Description

TimeValid

0

1

1

0

Time validity

TimeConfirmed

1

1

1

0

Time confirmed

Epoch

8

40

0.001

1577840400

\(s\)

Epoch time

TimeValid values

Value

Description

0

Invalid

1

Valid

TimeConfirmed values

Value

Description

0

Unconfirmed

1

Confirmed

GnssPos signals

Signal

Start

Length

Factor

Offset

Unit

Description

PositionValid

0

1

1

0

Position validity

Latitude

1

28

1e-06

-90

\(deg\)

Latitude

Longitude

29

29

1e-06

-180

\(deg\)

Longitude

PositionAccuracy

58

6

1

0

\(m\)

Position accuracy

PositionValid values

Value

Description

0

Invalid

1

Valid

GnssAltitude signals

Signal

Start

Length

Factor

Offset

Unit

Description

AltitudeValid

0

1

1

0

Altitude validity

Altitude

1

18

0.1

-6000

\(m\)

Altitude

AltitudeAccuracy

19

13

1

0

\(m\)

Altitude accuracy

AltitudeValid values

Value

Description

0

Invalid

1

Valid

GnssAttitude signals

Signal

Start

Length

Factor

Offset

Unit

Description

AttitudeValid

0

1

1

0

Attitude validity

Roll

1

12

0.1

-180

\(deg\)

Vehicle roll

RollAccuracy

13

9

0.1

0

\(deg\)

Vehicle roll accuracy

Pitch

22

12

0.1

-90

\(deg\)

Vehicle pitch

PitchAccuracy

34

9

0.1

0

\(deg\)

Vehicle pitch accuracy

Heading

43

12

0.1

0

\(deg\)

Vehicle heading

HeadingAccuracy

55

9

0.1

0

\(deg\)

Vehicle heading accuracy

AttitudeValid values

Value

Description

0

Invalid

1

Valid

GnssDistance signals

Signal

Start

Length

Factor

Offset

Unit

Description

DistanceValid

0

1

1

0

Distance valid

DistanceTrip

1

23

1

0

\(m\)

Distance traveled since last reset

DistanceValid values

Value

Description

0

Invalid

1

Valid

GnssSpeed signals

Signal

Start

Length

Factor

Offset

Unit

Description

SpeedValid

0

1

1

0

Speed valid

Speed

1

20

0.001

0

\(m/s\)

Speed m/s

SpeedAccuracy

21

19

0.001

0

\(m/s\)

Speed accuracy

SpeedValid values

Value

Description

0

Invalid

1

Valid

GnssGeofence signals

Signal

Start

Length

Factor

Offset

Unit

Description

FenceValid

0

1

1

0

Geofencing status

FenceCombined

1

2

1

0

Combined (logical OR) state of all geofences

Fence1

8

2

1

0

Geofence 1 state

Fence2

10

2

1

0

Geofence 2 state

Fence3

12

2

1

0

Geofence 3 state

Fence4

14

2

1

0

Geofence 4 state

FenceValid values

Value

Description

0

Invalid

1

Valid

FenceCombined values

Value

Description

0

Unknown

1

Inside

2

Outside

Fence1 values

Value

Description

0

Unknown

1

Inside

2

Outside

Fence2 values

Value

Description

0

Unknown

1

Inside

2

Outside

Fence3 values

Value

Description

0

Unknown

1

Inside

2

Outside

Fence4 values

Value

Description

0

Unknown

1

Inside

2

Outside

ImuAlign signals

Signal

Start

Length

Factor

Offset

Unit

Description

AlignStatus

0

3

1

0

IMU-mount alignment status

AlignXYError

3

1

1

0

IMU-mount X or Y alignment error

AlignZError

4

1

1

0

IMU-mount Z alignment error

AlignError

5

1

1

0

IMU-mount singularity error

AlignZ

8

16

0.01

0

\(deg\)

IMU-mount Z angle

AlignY

24

16

0.01

-90

\(deg\)

IMU-mount Y angle

AlignX

40

16

0.01

-180

\(deg\)

IMU-mount X angle

AlignStatus values

Value

Description

0

Idle

1

Ongoing

2

Coarse

3

Fine

AlignXYError values

Value

Description

0

No error

1

Error

AlignZError values

Value

Description

0

No error

1

Error

AlignError values

Value

Description

0

No error

1

Error

ImuData signals

Signal

Start

Length

Factor

Offset

Unit

Description

ImuValid

0

1

1

0

IMU status

AccelerationX

1

10

0.125

-64

\(m/s^2\)

IMU X acceleration with a resolution of 0.125 m/s^2

AccelerationY

11

10

0.125

-64

\(m/s^2\)

IMU Y acceleration with a resolution of 0.125 m/s^2

AccelerationZ

21

10

0.125

-64

\(m/s^2\)

IMU Z acceleration with a resolution of 0.125 m/s^2

AngularRateX

31

11

0.25

-256

\(deg/s\)

IMU X angular rate with a resolution of 0.25 deg/s

AngularRateY

42

11

0.25

-256

\(deg/s\)

IMU Y angular rate with a resolution of 0.25 deg/s

AngularRateZ

53

11

0.25

-256

\(deg/s\)

IMU Z angular rate with a resolution of 0.25 deg/s

ImuValid values

Value

Description

0

Invalid

1

Valid