LPMS CAN Decoder

Node ID: lpmsCanDecoder · Role: Filter · Realtime config: no

Description

Decodes raw CAN frames from an LPMS sensor into ImuData. Supports CANopen and Sequential CAN modes, 16-bit and 32-bit precisions, and per-channel mapping per the LPMS-IG1 user manual. Filters by IMU ID so multiple sensors can share one bus.

Inputs / Outputs

Inputs: Can
Outputs: Imu

Config aliases

LpmsCanDecoder, lpmsCanDecoder

Properties

Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.

Property	Type	Default	Description
CAN Mode `mode`	select	`canopen`	Options: `canopen`, `sequential`.
IMU ID `imuId`	number	`1`
Sequential Start ID (hex, ignored for CANopen) `startId`	string	`0x514`
Data Precision `precision`	select	`int16`	Options: `int16`, `float32`.
Gyro / Euler Unit `gyroUnit`	select	`deg`	Options: `deg`, `rad`.
Channel Mapping (16 IDs) `mapping`	json	`[4,5,6,22,23,24,28,29,30,38,39,40,34,35,36,37]`
Output Sender ID `senderId`	string	`lpmsCan`

Example node definition

A minimal entry in config.json looks like the block below. Paste it under the sinks key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.

{
  "sinks": {
    "lpmsCanDecoder": {
      "dataEndpoint": "inproc://lpmsCanDecoder_data",
      "inputEndpoints": [
        "inproc://can_data"
      ],
      "inputDataFilter": [
        "Can"
      ],
      "settings": {}
    }
  }
}

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