DriveWorks SDK Reference
4.0.0 Release
For Test and Development only

Dataspeed Bridge Sample


Dataspeed Bridge sample shows how to convert CAN signals coming to/from a Dataspeed drive-by-wire system to a generic NVIDIA-defined CAN bus format, as defined in the NVIDIA- provided Database CAN (DBC) file.

The sample expects that the Dataspeed CAN bus messages are flowing over the actual CAN bus or a virtual CAN network (say vcan0).

The sample intercepts the CAN bus messages, converts them to the NVIDIA generic drive-by-wire format, and puts the converted messages back on the CAN bus. If the vehicleio sample is running with type=generic, it picks up and displays vehicle parameters gleaned from these generic messages, such as the status for brake, throttle, and steering. For information on vehicleio, see Additional information (end of this section).

The sample can also send CAN bus messages with generic commands that influence vehicle controls such as throttle, brake, and steering. It does so by converting the messages to Dataspeed commands and then executing them.

Running the Sample

The command line for the sample is:

./sample_dataspeedBridge --dbc=[path/to/dbc/file]


    DBC file with which to parse CAN data.
    Default value: path/to/data/samples/sensors/can/AutonomousVehicleCANSignals.dbc

    Specifies the can driver.
    Default value: can.socket

    Specifies the actual can device.
    Default value: device=can0

    Path to the rig configuration file.
    Default value: path/to/data/samples/vehicleio/rig-dataspeedBridge.json

If you do not have an access to the actual Dataspeed-equipped vehicle, please see VehicleIO Sample for information on how to replay pre-recorded Dataspeed messages on either virtual CAN or physical CAN using Linux.

Additional information

For more information, see: