ECU Master GPStoCAN V2 User manual

ECUMASTER
GPStoCAN V2
Manual
Revision 1.0
(Firmware 1.x)
Contents
1. Copyright and trademarks...............................................................................2
2. Introduction......................................................................................................2
. Description......................................................................................................2
4. Specifications..................................................................................................2
4.1. Mechanical drawings................................................................................2
4.2. Mounting orientation.................................................................................
4. . Connectors pinout.....................................................................................
4.4. Specification table.....................................................................................4
5. PC connection.................................................................................................5
6. Light Client description....................................................................................5
7. Software features............................................................................................6
7.1. Channels...................................................................................................6
7.2. Properties.................................................................................................9
8. Device installation.........................................................................................10
8.1. Mounting method and location................................................................10
8.2. Antenna connection................................................................................10
9. Document revision history.............................................................................11

1. Copyright and trade arks
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 concurent 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

4.2. Mounting orientation
Acceleration in the directions shown below gives positive values
X – front
Y – right
Z – down
4.3. Connectors pinout
DEUTSCH DT
Pin Description
1 Ground
2 CAN High
CAN Low
4 12V (after ignition)
DEUTSCH AS
Pin Description
1 12V (after ignition)
2 CAN High
Short these pins together to
add CAN termination resistor
4
5 CAN Low
6 Ground

4.4. Specification table
General
Operating supply voltage 6-22 V, immunity to transients according to ISO 76 7
Reverse polarity protection Yes, internal up to 16 V
Temperature range -40 to +85 °C
Enclosure IP65, bespoke CNC machined aluminum
Size and weight (DT version) 66×5 ×44 mm, 92 g
Size and weight (AS version) 66×49×44 mm, 74 g
Connector (DT version) Plug: DEUTSCH DT06-4S Socket: DEUTSCH DT15-4P
Connector (AS version) Plug: DEUTSCH ASX602-06SN Socket: DEUTSCH ASX202-06PN
CAN-bus bitrate 1 Mbps, 500 kbps, 250 kbps, 125 kbps
PC communication Using USB to CAN interface
(ECUMASTER USBtoCAN, PEAK, Kvaser)
LED colors Red – no position fix
Green – position fix ready
Navigation
Supported systems GPS, GLONASS, BeiDou, Galileo
Supported antennas Active
Position update frequency 25 Hz
IMU update frequency 100 Hz
Velocity accuracy 0.05 m/s
Velocity maximum 500 m/s
Velocity resolution 0.01 m/s
Velocity latency < 20 ms
Position accuracy 2 m
Height accuracy 2.5 m
Heading accuracy 0. °
Heading resolution 0.01°
Acquisition Cold start: 24 sec
Hot start: 2 sec

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:
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.
Ecu aster for at output:
Byte (bit) Channel Data type Range Multiplier Divider Offset Unit
Ecu aster output ID (default: 0x400)
0 Latitude 2bit signed -90 – 90 1 1070 °
4 Longitude 2bit signed -180 – 180 1 1070 °
Ecu aster output ID+1 (default: 0x401)
0 Speed 16bit signed -1179 – 1179 6 1000 0 km/h
2 Height 16bit signed - 2768 – 2767 1 1 0 m
5 Satellites number 8bit unsigned 0 – 72 1 1 0 -
6 (0) GPS frame index 4bit unsigned 0 – 16 1 1 0 -
6 (4) Empty frame index 4bit unsigned 0 – 16 1 1 0 -
7 (0) GPS status bit unsigned 1 – 5 1 1 0 -
Ecu aster output ID+2 (default: 0x402)
0 Heading motion 16bit unsigned 0 – 60 1 1 0 °
2 Heading vehicle 16bit unsigned 0 – 60 1 1 0 °
4 X angle rate 16bit signed -250 – 250 1 100 0 °/s
6 Y angle rate 16bit signed -250 – 250 1 100 0 °/s
Ecu aster output ID+3 (default: 0x403)
0 Z angle rate 16bit signed -250 – 250 1 100 0 °/s
2 X acceleration 16bit signed -4 – 4 1 100 0 g
4 Y acceleration 16bit signed -4 – 4 1 100 0 g
6 Z acceleration 16bit signed -4 – 4 1 100 0 g

Byte (bit) Channel Data type Range Multiplier Divider Offset Unit
Ecu aster output ID+4 (default: 0x404)
0 UTC year 8bit unsigned 0 – 255 1 1 2000 -
1 UTC month 8bit unsigned 1 – 12 1 1 0 -
2 UTC day 8bit unsigned 1 – 1 1 1 0 -
UTC hour 8bit unsigned 0 – 2 1 1 0 -
4 UTC minute 8bit unsigned 0 – 59 1 1 0 -
5 UTC second 8bit unsigned 0 – 60 1 1 0 -
6 UTC millisecond 16bit unsigned 0 – 655 5 1000 655 6 0 -
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 nu ber – number of currently visible satellites
GPS fra e index – increments cyclically from 0 to 15 for each position frame
E pty fra e index – increments cyclically from 0 to 15 for each empty frame
GPS status – position fix status:
•1 - “NoFix” - no position fix acquired
• - “GPS-2D” - position is fixed in 2D space using GNSS satellites
•4 - “GPS- D” - position is fixed in D space using GNSS satellites
Heading otion – 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, onth, day – UTC date from navigation satellites
UTC hour, inute, second, illisecond – UTC time from navigation satellites

For at M output:
Byte (bit) Channel Data type Range Multiplier Divider Offset Unit
For at M output ID (default: 0x680)
0 Latitude (M) 2bit signed -90 – 90 1 1070 °
4 Longitude (M) 2bit signed -180 – 180 1 1070 °
For at M output ID+1 (default: 0x681)
0 Time (M) 2bit signed 0 – 2 5959999 1 1 0 -
4 Speed (M) 16bit unsigned 0 – 1800 1 10 0 km/h
6 Altitude (M) 16bit signed - 2768 – 2767 1 10 0 m
For at M output ID+2 (default: 0x682)
0 Date (M) 24bit unsigned 0 – 11299 1 1 0 -
Valid (M) 8bit signed -1 – 1 1 1 0 -
4 True course (M) 16bit signed -250 – 250 1 10 0 °
7 Satellites (M) 8bit unsigned 0 – 255 1 1 0 -
For at M output ID+3 (default: 0x683)
4 FAA mode (M) 8bit signed -1 – 1 1 1 0 -
5 Fix quality (M) 8bit signed -1 – 1 1 1 0 -
Channels description:
Latitude (M) – latitude position in degrees
Longitude (M) – longitude position in degrees
Ti e (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 ode (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:
Byte (bit) Channel Data type Range Multiplier Divider Offset Unit
High rate IMU output ID (default: 0x408)
0 HR X ang rate 16bit signed -250 – 250 1 100 0 °/s
2 HR Y ang rate 16bit signed -250 – 250 1 100 0 °/s
4 HR Z ang rate 16bit signed -250 – 250 1 100 0 °/s
High rate IMU output ID+1 (default: 0x409)
0 HR X accel 16bit signed -4 – 4 1 100 0 g
2 HR Y accel 16bit signed -4 – 4 1 100 0 g
4 HR Z accel 16bit signed -4 – 4 1 100 0 g
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 syste s – 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. ntenna 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. Docu ent revision history
Revision Date Changes
1.0 202 -04-0 - official release