RoyalTek PANASONIC GYRO RDR-3200 - Manual (Page 21)

RDR-3200 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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