ECUMASTER GPStoCAN V2 Manual

Contents

1. Copyright and trademarks
2. Introduction
3. Description
4. Specifications
   • 4.1. Mechanical drawings
   • 4.2. Mounting orientation
   • 4.3. Connectors pinout
   • 4.4. Specification table
5. PC connection
6. Light Client description
7. Software features
   • 7.1. Channels
   • 7.2. Properties
8. Device installation
   • 8.1. Mounting method and location
   • 8.2. Antenna connection
9. Document revision history

1. Copyright and trademarks

All trademarks, service marks, trade names, trade dress, product names and logos appearing in this documents are the property of their respective owners.

2. Introduction

This document provides information about the ECUMASTER GPStoCAN V2 module including a device description, specifications, available features and use cases.

Document created for firmware version 1.x. Description of all the features can differ from other firmware versions, so upgrade is recommended.

3. Description

GPStoCAN V2 is a device designed to provide position information over CAN bus. This module can use up to four concurrent navigation systems (GPS, GLONASS, BeiDou, Galileo) to provide position updates at a rate of 25 Hz. Position data can be used to measure lap times, estimate current lap time, draw track maps and analyze vehicle logs with respect to track position.

4. Specifications

4.1. Mechanical drawings

Dimensions in mm

X - front

Y - right

Z - down

[Diagram showing dimensions and orientation of the GPStoCAN V2 module]

4.2. Mounting orientation

Acceleration in the directions shown below gives positive values

X - front

Y - right

Z - down

[Diagram showing the mounting orientation of the GPStoCAN V2 module within a vehicle]

4.3. Connectors pinout

DEUTSCH DT

[Image of DEUTSCH DT connector]

DEUTSCH AS

[Images of DEUTSCH AS connectors and pinout diagram]

4.4. Specification table

5. PC connection

Communication with PC software is done using CAN bus. This requires a special interface which converts CAN bus communication to USB 2.0. Interface is an independent device and must be purchased separately. Supported interfaces:

• ECUMASTER USBtoCAN (driver and manual: http://www.ecumaster.com/download/)
• PEAK-System
• Kvaser

Wiring diagram:

[Diagram showing the wiring for PC connection via CAN bus]

6. Light Client description

ECUMASTER Light Client is the configuration software for many ECUMASTER products as well as tool for CAN bus monitoring. Light Client can be used to check available devices on the CAN bus, display channel values, change CAN bus bitrate and device specific properties. Monitoring of CAN bus is possible thanks to list of frames grouped by ID, saving traffic trace file and sending custom messages on the CAN bus.

Software and manual can be downloaded from: https://www.ecumaster.com/products/light-client/

7. Software features

7.1. Channels

Channels are different data values that are sent over CAN bus. Channels are sent as raw values, which means that obtaining a value with the correct unit requires some calculations.

Value[unit] = (Value[raw] * Multiplier / Divider) + Offset

Tables below describe how each channel is positioned inside CAN frames and how to obtain the correct value. All values are Big Endian.

Ecumaster format output:

Ecumaster output ID+1 (default: 0x401)

Ecumaster output ID+2 (default: 0x402)

Ecumaster output ID+3 (default: 0x403)

Ecumaster output ID+4 (default: 0x404)

Channels description:

Latitude – latitude position in degrees
Longitude - longitude position in degrees
Speed – ground speed in kilometers per hour
Height – height above mean sea level in meters
Satellites number – number of currently visible satellites
GPS frame index – increments cyclically from 0 to 15 for each position frame
Empty frame index – increments cyclically from 0 to 15 for each empty frame
GPS status – position fix status:

• 1 - "NoFix” - no position fix acquired
• 3 - "GPS-2D" - position is fixed in 2D space using GNSS satellites
• 4 - "GPS-3D” - position is fixed in 3D space using GNSS satellites

Heading motion – direction of vehicle motion in degrees
Heading vehicle – direction in which vehicle front is heading in degrees
X, Y, Z angle rate – angular velocity around longitudinal, lateral and vertical axis (referenced to the vehicle frame)
X, Y, Z acceleration – longitudinal, lateral and vertical acceleration (referenced to the vehicle frame)
UTC year, month, day – UTC date from navigation satellites
UTC hour, minute, second, millisecond – UTC time from navigation satellites

Format M output:

Format M output ID+1 (default: 0x681)

Format M output ID+2 (default: 0x682)

Format M output ID+3 (default: 0x683)

Channels description:

Latitude (M) – latitude position in degrees
Longitude (M) – longitude position in degrees
Time (M) – time in HHMMSS.sss format
Speed (M) – ground speed in kilometers per hour
Altitude (M) – height above mean sea level in meters
Date (M) – date in DDMMYY format
Valid (M) – position data valid:

• -1 - "Warning" - position data may be invalid
• 0 - "Unknown" - position data is unknown
• 1 - "Valid” - position data is valid

True course (M) – direction of vehicle motion in degrees
Satellites (M) – number of currently visible satellites
FAA mode (M) – duplicate of 'Fix quality 2' field, see below
Fix quality (M) – fix quality status:

• -1 - "Unknown" - unknown fix quality
• 0 - "Invalid” - not enough satellites, invalid fix quality
• 1 - “GPS” - standard GPS signal position fix

High rate IMU output:

High rate IMU output ID+1 (default: 0x409)

Channels description:

HR X, Y, Z ang rate – high rate angular velocity around longitudinal, lateral and vertical axis
HR X, Y, Z accel – high rate longitudinal, lateral and vertical acceleration

7.2. Properties

Device properties can be changed using the ECUMASTER Light Client software and connection interface. Each property is described below:

Ecumaster output:

• Enable – enable Ecumaster CAN frames output
• Output CAN ID – base frame ID for Ecumaster output

Format M output:

• Enable – enable format M CAN frames output
• Output CAN ID – base frame ID for format M output

High rate IMU output:

• Enable – enable high rate IMU CAN frames output
• Output CAN ID – base frame ID for high rate IMU output

Navigation config:

• Navigation systems – selected navigation systems to use in positioning

Static hold config:

• Enable – enable static hold, this option holds position constant and speed equal to 0 until distance or speed threshold is exceeded
• Distance threshold – threshold in meters for static hold to deactivate
• Speed threshold – threshold in kilometers per hour for static hold to deactivate

8. Device installation

8.1. Mounting method and location

Ideal mounting position is in the middle of the vehicle, attached to a vehicle frame using included rubber dampers and orientation that is shown in the "Mechanical drawings" chapter.

GPStoCAN V2 module must be mounted with rubber dampers in a vertical orientation (Z-axis pointing down). Mounting the module to a vertical plane with dampers horizontally can introduce problems with the IMU since bumps on the road could significantly move the module up and down relative to the vehicle.

8.2. Antenna connection

The GPStoCAN V2 module is designed to work with active antennas. Ideal antenna placement is on a big metal plane (roof, hood, trunk) with a clear view of the sky. The most common way to mount the antenna is to put it on the roof (using the magnetic base).

Antenna wire should be placed away from any harness with high currents or voltages (like engine harness). Fast changing current or voltage can generate noise in the antenna wire and interfere with GNSS signal.

9. Document revision history