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# FDI_Standard_CAN_Link

在通信协议中，CAN总线以其高效的通信方式脱颖而出。通过采用差分信号传输，它具备出色的抗干扰能力和高度的数据时效性。我司为用户提供了两种灵活的方式配置CAN模块以输出数据包。上位机配置模式： 用户可以通过上位机进行配置，定制CAN模块的输出行为，实现个性化的通信需求；CAN总线问答模式： 模块支持通过CAN总线进行问答，用户可以直接与CAN总线进行交互，实时配置和获取数据包，为通信过程增添了更多的灵活性。

# ID:544, 长度 = 7字节, 名称 : FDI_ECAN_MSG_TRACK_SLIP_CURVATURE

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t rad 0.0001 ANGLE_TRACK
2 2 int16_t rad 0.0001 ANGLE_SLIP
4 2 Uint16_t m 0.01 CURVATURE_RADIUS
6 1 Uint8_t 1 AUTO_STATUS

# ID:521, 长度 = 8字节, 名称 :FDI_ECAN_MSG_EVENT_TIME_E

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t us 1 TIME_OFFSET_0
2 2 Uint16_t us 1 TIME_OFFSET_1
4 2 Uint16_t us 1 TIME_OFFSET_2
6 2 Uint16_t us 1 TIME_OFFSET_3

# ID:520, 长度 = 8字节, 名称 : FDI_ECAN_MSG_EVENT_INFO_E

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:519, 长度 = 8字节, 名称 : FDI_ECAN_MSG_EVENT_TIME_D

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t us 1 TIME_OFFSET_0
2 2 Uint16_t us 1 TIME_OFFSET_1
4 2 Uint16_t us 1 TIME_OFFSET_2
6 2 Uint16_t us 1 TIME_OFFSET_3

# ID:518, 长度 = 8字节, 名称 : FDI_ECAN_MSG_EVENT_INFO_D

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:393, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_HDT

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t ° 0.01 TRUE_HEADING
2 2 Uint16_t ° 0.01 TRUE_HEADING_ACC
4 2 int16_t ° 0.01 PITCH
6 2 Uint16_t ° 0.01 PITCH_ACC

# ID:392, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS2_HDT_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t 1 STATUS

# ID:391, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_POS_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t m 0.01 LATITUDE_ACC
2 2 Uint16_t m 0.01 LONGITUDE_ACC
4 2 Uint16_t m 0.01 ALTITUDE_ACC
6 2 Uint16_t 1 BASE_STATION_ID

# ID:390, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_POS_ALT

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t m 0.001 ALTITUDE
4 2 int16_t m 0.005 UNDULATION
6 1 Uint8_t 1 NUM_SV
7 1 Uint8_t s 1 DIFF_CORR_AGE

# ID:389, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_POS

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t ° 0.0000001 LATITUDE
4 4 int32_t ° 0.0000001 LONGITUDE

# ID:388, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_POS_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:387, 长度 =4字节, 名称 : FDI_ECAN_MSG_GPS2_VEL_COURSE

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t ° 0.01 COURSE
2 2 Uint16_t ° 0.01 COURSE_ACC

# ID:386, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS2_VEL_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t S-1 0.01 VELOCITY_ACC_N
2 2 int16_t S-1 0.01 VELOCITY_ACC_E
4 2 int16_t S-1 0.01 VELOCITY_ACC_D

# ID:385, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS2_VEL

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t S-1 0.01 VELOCITY_N
2 2 int16_t S-1 0.01 VELOCITY_E
4 2 int16_t S-1 0.01 VELOCITY_D

# ID:384, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS2_VEL_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:377, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_HDT

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t ° 0.01 TRUE_HEADING
2 2 Uint16_t ° 0.01 TRUE_HEADING_ACC
4 2 int16_t ° 0.01 PITCH
6 2 Uint16_t ° 0.01 PITCH_ACC

# ID:376, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS1_HDT_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t 1 STATUS

# ID:375, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_POS_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t m 0.01 LATITUDE_ACC
2 2 Uint16_t m 0.01 LONGITUDE_ACC
4 2 Uint16_t m 0.01 ALTITUDE_ACC
6 2 Uint16_t 1 BASE_STATION_ID

# ID:374, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_POS_ALT

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t m 0.001 ALTITUDE
4 2 int16_t m 0.005 UNDULATION
6 1 Uint8_t 1 NUM_SV
7 1 Uint8_t s 1 DIFF_CORR_AGE

# ID:373, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_POS

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t ° 0.0000001 LATITUDE
4 4 int32_t ° 0.0000001 LONGITUDE

# ID:372, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_POS_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:371, 长度 =4字节, 名称 : FDI_ECAN_MSG_GPS1_VEL_COURSE

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Uint16_t ° 0.01 COURSE
2 2 Uint16_t ° 0.01 COURSE_ACC

# ID:370, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS1_VEL_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t S-1 0.01 VELOCITY_ACC_N
2 2 int16_t S-1 0.01 VELOCITY_ACC_E
4 2 int16_t S-1 0.01 VELOCITY_ACC_D

# ID:369, 长度 =6字节, 名称 : FDI_ECAN_MSG_GPS1_VEL

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t S-1 0.01 VELOCITY_N
2 2 int16_t S-1 0.01 VELOCITY_E
4 2 int16_t S-1 0.01 VELOCITY_D

# ID:368, 长度 = 8字节, 名称 : FDI_ECAN_MSG_GPS1_VEL_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t 1 STATUS

# ID:358, 长度 = 5字节, 名称 : FDI_ECAN_MSG_DEPTH_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 1 Uint8_t 1 DEPTH_STATUS

# ID:356, 长度 = 6字节, 名称 : FDI_ECAN_MSG_AIR_DATA_AIRSPEED

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t pa 0.001 PRESSURE_DIFF
4 2 int16_t m.s-1 0.01 AIRSPEED

# ID:355, 长度 = 8字节, 名称 : FDI_ECAN_MSG_AIR_DATA_ALTITUDE

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t pa 0.001 PRESSURE_ABS
4 4 int32_t m 0.001 ALTITUDE

# ID:354, 长度 =7字节, 名称 : BG_ECAN_MSG_AIR_DATA_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 1 Uint8_t 1 AIR_DATA_STATUS
5 2 Int16_t ℃ 0.01 AIR_TEMPERATURE

# ID:353, 长度 =2字节, 名称 : FDI_ECAN_MSG_ODO_VEL

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 Int8_t m.s_1 0.01 VELOCITY

# ID:352, 长度 = 6字节, 名称 : FDI_ECAN_MSG_ODO_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t 1 ODO_STATUS

# ID:338, 长度 =6字节, 名称 : FDI_ECAN_MSG_MAG_2

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s_2 0.01 ACCEL_X
2 2 int16_t m.s_2 0.01 ACCEL_Y
4 2 int16_t m.s_2 0.01 ACCEL_Z

# ID:337, 长度 =6字节, 名称 : FDI_ECAN_MSG_MAG_1

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t a.u. 0.001 MAG_X
2 2 int16_t a.u. 0.001 MAG_Y
4 2 int16_t a.u. 0.001 MAG_Z

# ID:336, 长度 = 6字节, 名称 : FDI_ECAN_MSG_MAG_0

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t 1 STATUS

# ID:333, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_HP_2

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-1 0.01 VEL_X
2 2 int16_t m.s-1 0.01 VEL_Y
4 2 int16_t m.s-1 0.01 VEL_Z

# ID:332, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_HP_1

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-2 0.01 ACCEL_X
2 2 int16_t m.s-2 0.01 ACCEL_Y
4 2 int16_t m.s-2 0.01 ACCEL_Z

# ID:331, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_HP_0

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m 0.001 SURGE
2 2 int16_t m 0.001 SWAY
4 2 int16_t m 0.001 HEAVE

# ID:330, 长度 =8字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_HP_INFO 0038

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Unt16_t s 0.01 PERIOD
6 2 Unt16_t 1 STATUS

# ID:329, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_2

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-1 0.01 VEL_X
2 2 int16_t m.s-1 0.01 VEL_Y
4 2 int16_t m.s-1 0.01 VEL_Z

# ID:325, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_1

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-2 0.01 ACCEL_X
2 2 int16_t m.s-2 0.01 ACCEL_Y
4 2 int16_t m.s-2 0.01 ACCEL_Z

# ID:321, 长度 =6字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_0

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m 0.001 SURGE
2 2 int16_t m 0.001 SWAY
4 2 int16_t m 0.001 HEAVE

# ID:320, 长度 =8字节, 名称 : FDI_ECAN_MSG_SHIP_MOTION_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t s 0.01 PERIOD
6 2 Uint16_t 1 STATUS

# ID:313, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_VEL_BODY

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-1 0.01 VELOCITY_X
2 2 int16_t m.s-1 0.01 VELOCITY_Y
4 2 int16_t m.s-1 0.01 VELOCITY_Z

# ID:312, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_VEL_NED_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-1 0.01 VELOCITY_ACC_N
2 2 int16_t m.s-1 0.01 VELOCITY_ACC_E
4 2 int16_t m.s-1 0.01 VELOCITY_ACC_D

# ID:311, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_VEL_NED

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-1 0.01 VELOCITY_N
2 2 int16_t m.s-1 0.01 VELOCITY_E
4 2 int16_t m.s-1 0.01 VELOCITY_D

# ID:310, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_POS_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m 0.01 LATITUDE_ACC
2 2 int16_t m 0.01 LONGITUDE_ACC
4 2 int16_t m 0.01 ALTITUDE_ACC

# ID:309, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_ALTITUDE

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t m 0.001 ALTITUDE
4 2 int16_t m 0.005 UNDULATION

# ID:308, 长度 =8字节, 名称 : FDI_ECAN_MSG_UKF_POS

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 int32_t ° 0.0000001 LATITUDE
4 4 int32_t ° 0.0000001 LONGITUDE

# ID:307, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_ORIENTATION_ACC

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t rad 0.0001 ROLL_ACC
2 2 int16_t rad 0.0001 PITCH_ACC
4 2 int16_t rad 0.0001 YAW_ACC

# ID:306, 长度 =6字节, 名称 : FDI_ECAN_MSG_UKF_EULER

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t rad 0.0001 ROLL
2 2 int16_t rad 0.0001 PITCH
4 2 int16_t rad 0.0001 YAW

# ID:305, 长度 = 8字节, 名称 : FDI_ECAN_MSG_UKF_QUAT

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t ^ ^ 1/32767 Q0
2 2 int16_t 1/32767 Q1
4 2 int16_t 1/32767 Q2
6 2 int16_t 1/32767 Q3

# ID:304, 长度 = 4字节, 名称 : FDI_ECAN_MSG_UKF_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Int32_t us 1 TIME_STAMP

# ID:292, 长度 =6字节, 名称 : FDI_ECAN_MSG_IMU_DELTA_ANGLE

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t rad.s-1 0.001 DELTA_ANGLE_X
2 2 int16_t rad.s-1 0.001 DELTA_ANGLE_Y
4 2 int16_t rad.s-1 0.001 DELTA_ANGLE_Z

# ID:291, 长度 =6字节, 名称 : FDI_ECAN_MSG_IMU_DELTA_VEL

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-2 0.01 DELTA_VEL_X
2 2 int16_t m.s-2 0.01 DELTA_VEL_Y
4 2 int16_t m.s-2 0.01 DELTA_VEL_Z

# ID:290, 长度 =6字节, 名称 :FDI_ECAN_MSG_IMU_GYRO

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t rad.s-1 0.001 GYRO_X
2 2 int16_t rad.s-1 0.001 GYRO_Y
4 2 int16_t rad.s-1 0.001 GYRO_Z

# ID:289, 长度 =6字节, 名称 :FDI_ECAN_MSG_IMU_ACCEL

Offset(bytes) Length(bytes) Type Units Factor Description
0 2 int16_t m.s-2 0.01 ACCEL_X
2 2 int16_t m.s-2 0.01 ACCEL_Y
4 2 int16_t m.s-2 0.01 ACCEL_Z

# ID:288, 长度 =8字节, 名称 :FDI_ECAN_MSG_IMU_INFO

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 0.01 TIME_STAMP
4 2 Uint16_t 0.01 STATUS
6 2 int16_t °C 0.01 TEMPERATURE

# ID:273, 长度 =8字节, 名称 :FDI_ECAN_MSG_UTC_1

Offset(bytes) Length(bytes) Type Units Factor Description
0 1 Uint8_t year 1 YEAR
1 1 Uint8_t month 1 MONTH
2 1 Uint8_t d 1 DAY
3 1 Uint8_t h 1 HOUR
4 1 Uint8_t min 1 MIN
5 1 Uint8_t s 1 SEC
6 2 Uint16_t us 100 MICRO_SEC

# ID:272, 长度 =8字节, 名称 : FDI_ECAN_MSG_UTC_0

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 4 Uint32_t ms 1 GPS_TOW

# ID:258, 长度 =6字节, 名称 : FDI_ECAN_MSG_STATUS_03

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t ^ ^ 1 SOLUTION
4 2 Uint16_t 1 HEAVE_STATUS

# ID:257, 长度 =8字节, 名称 : FDI_ECAN_MSG_STATUS_02

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t ^ ^ 1 COM
4 4 Uint32_t 1 AIDING

# ID:256, 长度 =8字节, 名称 :FDI_ECAN_MSG_STATUS_01

Offset(bytes) Length(bytes) Type Units Factor Description
0 4 Uint32_t us 1 TIME_STAMP
4 2 Uint16_t 1 GENERAL
6 2 Uint16_t 1 CLOCK

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