Database

This page documents the database associated with the CANmod.gps.

The CANmod.gps signal encoding description file (DBC file) can be downloaded below.

Note

The DBC file is configured to match the default message IDs. If the IDs are changed in the configuration, the DBC file needs to be updated accordingly.

Encoding

Related signals are packed in the same CAN-bus frame. All signals use an encoding method similar to what is used in SAE J1939-71:

  • Intel byte order (multi byte values are stored least significant byte first)

  • Values are encoded as unsigned integers which are then offset and scaled

By using encoding based on scaled and offset unsigned integers, the raw signal values can be decoded to physical values using a simple linear transformation:

\[y_{\texttt{PHY}} = a x_{\texttt{RAW}} + b,\]

with:

  • \(y_{\texttt{PHY}}\): The signal physical value

  • \(x_{\texttt{RAW}}\): The signal raw value

  • \(a\): The signal scaling factor

  • \(b\): The signal offset

Above transformation can be described by DBC (*.dbc) files[1].

Note

Placing byte 0 to the right makes it easy to interpret Intel order data

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

Messages

Message

Format

ID (DEC)

ID (HEX)

Bytes

Description

GnssStatus

Standard

1

0x001

1

GNSS information

GnssTime

Standard

2

0x002

6

GNSS time

GnssPosition

Standard

3

0x003

8

GNSS position

GnssAltitude

Standard

4

0x004

4

GNSS altitude

GnssAttitude

Standard

5

0x005

8

GNSS attitude

GnssOdo

Standard

6

0x006

8

GNSS odometer

GnssSpeed

Standard

7

0x007

5

GNSS speed

GnssGeofence

Standard

8

0x008

2

GNSS geofence(s)

GnssImu

Standard

9

0x009

8

GNSS IMU

Signals

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

\(sec\)

Epoch time

TimeValid values

Value

Description

0

Invalid

1

Valid

TimeConfirmed values

Value

Description

0

Unconfirmed

1

Confirmed

GnssPosition 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

\(m\)

Accuracy of position

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

\(m\)

Accuracy of altitude

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

GnssOdo signals

Signal

Start

Length

Factor

Offset

Unit

Description

DistanceValid

0

1

1

0

DistanceTrip

1

22

1

0

\(m\)

Distance traveled since last reset

DistanceAccuracy

23

19

1

0

\(m\)

Distance accuracy (1-sigma)

DistanceTotal

42

22

1

0

\(km\)

Distance traveled in total

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

GnssImu signals

Signal

Start

Length

Factor

Offset

Unit

Description

ImuValid

0

1

1

0

AccelerationX

1

10

0.125

-64

\(m/s^2\)

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

AccelerationY

11

10

0.125

-64

\(m/s^2\)

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

AccelerationZ

21

10

0.125

-64

\(m/s^2\)

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

AngularRateX

31

11

0.25

-256

\(deg/s\)

X angular rate with a resolution of 0.25 deg/s

AngularRateY

42

11

0.25

-256

\(deg/s\)

Y angular rate with a resolution of 0.25 deg/s

AngularRateZ

53

11

0.25

-256

\(deg/s\)

Z angular rate with a resolution of 0.25 deg/s

ImuValid values

Value

Description

0

Invalid

1

Valid