RoyalTek RDR-3100 - Manual (Page 23)

RDR-3100 User Manual
8.3 CAN bus (UART B) protocol
The RDR-3100 provides a second port to receive the speed and reverse message from
the input source. If the module receives the following input message then the DR
module will stop reading the speed and reverse message from MCU.
The communication settings:
Baud rate: 38400, n, 8, 1
Update rate: 1 Hz
8.3.1 Speed, Reverse status input Message
This sentence contains the speed and reverse information that read from CAN
bus. The protocol is illustrated as the following:
Item Field
Description
1 $ Beginning of the sentence
2 PSRF121 Message Header
3 Speed
4 Reverse High-normal / Low - activated
5 *CC
Example:
Example:
$PSRF121, 100, 1*25
Speed = 100 * scaled meter/second
Reverse isn’t activated
Checksum = 25
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