CAN Interface Data Protocol

CAN port settings

  • Save parameters
Frame type Save parameters
Description Save user parameters, no loss after power failure
Set frame PF ps PGN Data content length
255 81 65361 3
Data content:
Byte Description Value
0 Frame type 0: Request frame 1: Reply frame
1 Destination address  
2 Reply frame is valid 0: Save failed 1: Save successfully
  • Set CAN packet type
Frame type Set CAN data packet type
Description Set the type of CAN data sent cyclically
Set frame PF PS PGN Data content length
255 86 65366 3
Data content:
Byte Description Value
0 destination address  
1 Data packet type (low byte) 0x01-accelerometer 0x02-Gyroscope 0x04-latitude and longitude 0x08-attitude Note: The package can be sent together, such as 0x03, both accelerometer and gyroscope
2 Packet type (high byte)
  • Set CAN data frequency
Frame type Set CAN data frequency
Description Set the frequency of CAN data sent cyclically
Set frame PF PS PGN Data content length
255 85 65365 2
Data content:
Byte Description Value
0 destination address  
1 Data frequency 0-Quiet Mode 1-100(default) 2-50 4-25 5-20 10(0x0a)-10 20(0x14)-5 25(0x19)-4 50(0x32)-2

Get parameters through CAN port

Frame type Get parameters
Description Get specified parameters
Get frame PF PS PGN Data content length
234 255 60159 3
Data content:
Byte Description Value
0 N/A  
1 Parameter PF PF and PS of specific parameters, see below 2 parameter PS
2 Parameter PS
  • Get the software version number
Frame type Get software version number
Description Get specified parameters
Get frame PF PS PGN Data content length
254 218 65242 5
Data content:
Byte Description Value
0 Major Version Number  
1 Minor Version Number  
2 Patch Number  
3 Stage Number  
4 Build Number  
  • Get ECU ID
Frame type Get ECU ID
Description Get specified parameters
Get frame PF PS PGN Data content length
253 197 64965 8
Data content:
Bits Description Value
bits 0 Arbitrary Address Arbitrary Address
bits 1:3 Industry Group Industry Group
bits 4:7 Vehicle System Instance Vehicle System Instance
bits 8:14 System Bits System Bits Vehicle system domain
bits 15 Reserved Reserved Reserved
bits 16:23 Function Bits Function Bits Function domain
bits 24:28 Function Instance Function Instance
bits 29:31 ECU Bits ECU Bits ECU instance domain
bits 32:42 Manufacturer code Manufacturer code Manufacturer code field
bits 43:63 ID bits ID bits number
  • Get CAN packet type
Frame type Get CAN data packet type
Description  
Get frame PF PS PGN Data content length
225 86 65366 3
Data content:
Byte Description Value
0 destination address  
1 Packet type (low byte)  
2 Packet type (high byte)  
  • Get CAN data frequency
Frame type Get CAN data frequency
Description  
Get frame PF PS PGN Data content length
255 85 65365 2
Data content:
Byte Description Value
0 destination address  
1 Data frequency  
  • Latitude and longitude position
Frame type Latitude and longitude position
Description  
Data frame PF PS PGN Data content length
254 243 65267 8
Data content:
Byte Description Value
0:3 Latitude 0.0000001 deg/bit
4:7 Longitude 0.0000001 deg/bit
  • Attitude
Frame type Attitude
Description  
Data frame PF PS PGN Data content length
241 25 127257 8
Data content:
Byte Description Value
0 SID  
1:2 yaw angle 0.0001 rad/bit
3:4 pitch angle 0.0001 rad/bit
5:6 roll angle 0.0001 rad/bit
7 Latitude  
  • Accelerometer data
Frame type Accelerometer data
Description  
Data frame PF PS PGN Data content length
240 45 61485 8
Data content:
Byte Description Value  
0:1 Accelerometer x axis 0.01 m/s**2/bit -320 m/s**2
2:3 Accelerometer y axis 0.01 m/s**2/bit -320 m/s**2
4:5 Accelerometer z axis 0.01 m/s**2/bit -320 m/s**2
6:7 reserved    
  • Gyroscope data
Frame type Gyroscope data
Description  
Data frame PF PS PGN Data content length
240 42 61482 8
Data content:
Byte Description Value  
0:1 gyroscope x axis 1/128 deg/second/bit -250 deg
2:3 gyroscope y axis 1/128 deg/second/bit -250 deg
4:5 gyroscope z axis 1/128 deg/second/bit -250 deg
6:7 reserved