RS232 Racelogic Data Format
Protocol:
115200 Baud, no parity, 8 data bits, 1 stop bit
Message format:
$VBSS$glbtttaaaaoooovvvhhAAAVVVDspprrSSHHPPRRyyxxYYzzddTTTkkqQQT1T1wwwWWWiicc
| Parameter | Number of Bytes | Description |
|---|---|---|
$VBSS$ |
7 |
Header |
g |
1 |
GPS sats Number of GPS satellites used |
l |
1 |
GLONASS sats Number of GLONASS satellites used |
b |
1 |
BeiDou sats Number of BeiDou satellites used |
ttt |
3 (MSB first) |
Time Ticks since midnight UTC, incrementing every 10 ms |
aaaa |
4 (MSB first) |
Latitude Signed integers, 0.0000001° per bit |
oooo |
4 (MSB first) |
Longitude Signed integers, 0.0000001° per bit |
vvv |
3 (MSB first) |
Velocity 0.001 km/h per bit |
hh |
2 (MSB first) |
Heading 0.01° per bit |
AAA |
3 (MSB first) |
Altitude 0.01 m per bit |
VVV |
3 (MSB first) |
Vertical velocity 0.001 m/s per bit |
s |
1 |
Solution type |
pp |
2 (MSB first) |
Pitch angle derived from KF 0.01° per bit |
rr |
2 (MSB first) |
Roll angle derived from KF 0.01° per bit |
SS |
2 (MSB first) |
Slip angle derived from KF 0.01° per bit |
HH |
2 (MSB first) |
Heading derived from KF 0.01° per bit |
PP |
2 (MSB first) |
Pitch rate derived from internal/external IMU 0.01°/sec per bit |
RR |
2 (MSB first) |
Roll rate derived from internal/external IMU 0.01°/sec per bit |
yy |
2 (MSB first) |
Yaw rate derived from internal/external IMU 0.01°/sec per bit |
xx |
2 (MSB first) |
X accel from internal/external IMU 0.01 m/s² per bit |
YY |
2 (MSB first) |
Y accel from internal/external IMU 0.01 m/s² per bit |
zz |
2 (MSB first) |
Z accel from internal/external IMU 0.01 m/s² per bit |
dd |
2 (MSB first) |
Date DOS format |
TTT |
3 (MSB first) |
Trigger event time 0.000001 ms per bit |
kk |
2 (MSB first) |
Kalman Filter Status |
q |
1 |
Position Quality |
2 (MSB first) |
Speed Quality 0.001 m/s per bit |
|
T1T1 |
2 (MSB first) |
T1 0.0000001 ms per bit |
www |
3 (MSB first) |
Wheel speed 1 0.001 m/s per bit |
WWW |
3 (MSB first) |
Wheel speed 2 0.001 m/s per bit |
ii |
2 (MSB first) |
Heading_IMU2 derived from KF 0.01° per bit |
cc |
2 (MSB first) |
Checksum See CRC Calculation example below |
CRC Calculation example:
s[n] is a string containing the message
Polynomial:= 4129
CRC:=0;
for Loop:=1 to Length(s) do
begin
Temp:=s[Loop];
CRC:= CRC xor (integer(Temp) *256);
CRC:= CRC mod 65536;
for i:=7 downto 0 do
begin
if ( (CRC and 32768)=32768) then
begin
CRC:= CRC *2 ;
CRC:= CRC xor Polynomial;
end
else
begin
CRC:= CRC *2 ;
end;
CRC:=CRC mod 65536;
end;
end;
result:=CRC;
NMEA Output
The VBOX 100 Hz Speed Sensor (v5) can output 7 types of NMEA messages:
- GGA
- GLL
- RMC
- VTG
- ZDA
- RLS
- ATT
NMEA - RLS
| Name | ASCII String - Format | ASCII String - Example | Units | Description |
|---|---|---|---|---|
$PTPSR |
string |
$PTPSR |
Message ID |
|
RLS |
string |
RLS |
Sentence formatter |
|
V |
character |
V |
Whether the UTC time is valid V=valid or N=not valid |
|
hhmmss.ss |
hhmmss.ss |
114105.00 |
UTC Time Current Time |
|
IMUHeading |
string |
157.531 |
Degrees |
Heading angle of IMU |
IMUpitch |
string |
002.473 |
Degrees |
Pitch angle of IMU |
IMUroll |
string |
-02.635 |
Degrees |
Roll angle of IMU |
IMU3Dquality |
string |
000.192 |
3D quality of IMU |
|
cs |
hexadecimal |
*5F |
Checksum |
RS232 Racelogic Data Format
Protocol:
115200 Baud, no parity, 8 data bits, 1 stop bit
Message format:
$VBSS$glbtttaaaaoooovvvhhAAAVVVDspprrSSHHPPRRyyxxYYzzddTTTkkqQQT1T1wwwWWWiicc
| Parameter | Number of Bytes | Description |
|---|---|---|
$VBSS$ |
7 |
Header |
g |
1 |
GPS sats Number of GPS satellites used |
l |
1 |
GLONASS sats Number of GLONASS satellites used |
b |
1 |
BeiDou sats Number of BeiDou satellites used |
ttt |
3 (MSB first) |
Time Ticks since midnight UTC, incrementing every 10 ms |
aaaa |
4 (MSB first) |
Latitude Signed integers, 0.0000001° per bit |
oooo |
4 (MSB first) |
Longitude Signed integers, 0.0000001° per bit |
vvv |
3 (MSB first) |
Velocity 0.001 km/h per bit |
hh |
2 (MSB first) |
Heading 0.01° per bit |
AAA |
3 (MSB first) |
Altitude 0.01 m per bit |
VVV |
3 (MSB first) |
Vertical velocity 0.001 m/s per bit |
s |
1 |
Solution type |
pp |
2 (MSB first) |
Pitch angle derived from KF 0.01° per bit |
rr |
2 (MSB first) |
Roll angle derived from KF 0.01° per bit |
SS |
2 (MSB first) |
Slip angle derived from KF 0.01° per bit |
HH |
2 (MSB first) |
Heading derived from KF 0.01° per bit |
PP |
2 (MSB first) |
Pitch rate derived from internal/external IMU 0.01°/sec per bit |
RR |
2 (MSB first) |
Roll rate derived from internal/external IMU 0.01°/sec per bit |
yy |
2 (MSB first) |
Yaw rate derived from internal/external IMU 0.01°/sec per bit |
xx |
2 (MSB first) |
X accel from internal/external IMU 0.01 m/s² per bit |
YY |
2 (MSB first) |
Y accel from internal/external IMU 0.01 m/s² per bit |
zz |
2 (MSB first) |
Z accel from internal/external IMU 0.01 m/s² per bit |
dd |
2 (MSB first) |
Date DOS format |
TTT |
3 (MSB first) |
Trigger event time 0.000001 ms per bit |
kk |
2 (MSB first) |
Kalman Filter Status |
q |
1 |
Position Quality |
2 (MSB first) |
Speed Quality 0.001 m/s per bit |
|
T1T1 |
2 (MSB first) |
T1 0.0000001 ms per bit |
www |
3 (MSB first) |
Wheel speed 1 0.001 m/s per bit |
WWW |
3 (MSB first) |
Wheel speed 2 0.001 m/s per bit |
ii |
2 (MSB first) |
Heading_IMU2 derived from KF 0.01° per bit |
cc |
2 (MSB first) |
Checksum See CRC Calculation example below |
CRC Calculation example:
s[n] is a string containing the message
Polynomial:= 4129
CRC:=0;
for Loop:=1 to Length(s) do
begin
Temp:=s[Loop];
CRC:= CRC xor (integer(Temp) *256);
CRC:= CRC mod 65536;
for i:=7 downto 0 do
begin
if ( (CRC and 32768)=32768) then
begin
CRC:= CRC *2 ;
CRC:= CRC xor Polynomial;
end
else
begin
CRC:= CRC *2 ;
end;
CRC:=CRC mod 65536;
end;
end;
result:=CRC;
NMEA Output
The VBOX 100 Hz Speed Sensor (v5) can output 7 types of NMEA messages:
- GGA
- GLL
- RMC
- VTG
- ZDA
- RLS
- ATT
NMEA - RLS
| Name | ASCII String - Format | ASCII String - Example | Units | Description |
|---|---|---|---|---|
$PTPSR |
string |
$PTPSR |
Message ID |
|
RLS |
string |
RLS |
Sentence formatter |
|
V |
character |
V |
Whether the UTC time is valid V=valid or N=not valid |
|
hhmmss.ss |
hhmmss.ss |
114105.00 |
UTC Time Current Time |
|
IMUHeading |
string |
157.531 |
Degrees |
Heading angle of IMU |
IMUpitch |
string |
002.473 |
Degrees |
Pitch angle of IMU |
IMUroll |
string |
-02.635 |
Degrees |
Roll angle of IMU |
IMU3Dquality |
string |
000.192 |
3D quality of IMU |
|
cs |
hexadecimal |
*5F |
Checksum |