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03 - IMU / YAW CAN Modes

IMU03/04 and YAW03 units can operate in one of three different modes:

  • Racelogic polled CAN mode
  • User polled CAN mode
  • Timed CAN mode

Racelogic Polled CAN Mode – Default Mode

This mode should be set if the unit is to be used with a Racelogic VBOX.  All the CAN parameters are set to work with the Racelogic VBOX CAN protocol.  In this mode no other parameters can be set.

User Polled CAN Mode

This mode allows a user’s own data logging system to poll the unit for data using the CAN bus. The IMU can be polled up to 100Hz. The following parameters are used in this mode:

  • Baud rate (selectable from 125kbit/s, 250kbit/s, 500kbit/s or 1Mbit/s)
  • Extended identifiers (OFF or ON)
  • Request identifiers (identifiers used to request data from the sensor)
  • Response identifiers (identifiers used to transmit data from the sensor)
     

The timer parameter has no effect in this mode.

Timed CAN Mode

In this mode the unit will send CAN data at intervals determined by the timer value.  The following parameters are used in this mode:

  • Timer (time interval in milliseconds between output data)
  • Baud rate (selectable from 125kbit/s, 250kbit/s, 500kbit/s or 1Mbit/s)
  • Extended identifiers (OFF or ON)
  • Response identifiers (identifiers used to transmit data from the sensor)
     

The request identifiers have no effect in this mode.

Data Format in User Polled and Timed CAN Mode

IMU03/04 has 7 channels:

  • Channel 1              Yaw_Rate (deg/sec)
  • Channel 2              X_Accel (g)
  • Channel 3              Y_Accel (g)
  • Channel 4              Temp (deg C)
  • Channel 5              Pitch_Rate (deg/sec)
  • Channel 6              Roll_Rate (deg/sec)
  • Channel 7              Z_Accel (g)

 

YAW03 has 4 channels:

  • Channel 1              Yaw_Rate (deg/sec)
  • Channel 2              X_Accel (g)
  • Channel 3              Y_Accel (g)
  • Channel 4              Temp (deg C)

 

Channels are sent as pairs, so channels 1 and 2 will be sent together, 3 and 4 together and so on. The pairing of channels cannot be changed.  The channel data is in an IEEE 32 bit float format so each channel occupies 4 bytes. The first 4 data bytes contained within a data packet are the lower channel; the second 4 bytes are for the higher data channel. A CAN DBC file containing default settings for each sensor is available on request from Racelogic.

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