Delphi ESR 2.5

General

Interface name	delphi-esr-2.5
Interface file	libps_delphi_esr_2.5_interface.so
Supported Since	V2.0.0-b.1
OEM Hardware/Software/Firmware Version
Sensor Communication Protocol
PolySync Sensor Type	130
Driver Notes	-SDF Sensor 0 Identifier must match the sensor's serial number in order to validate -c use provided CAN channel system index instead of what is stored in the SDF [optional] -t perform a validation test on the Delphi ESR 2.5 interface [optional] -g get the sensor serial number from the Delphi ESR 2.5 interface [optional]

(OEM) Sensor Description

PolySync Configuration

Locate CAN hardware and circuit identifiers.
Copy these numbers into SDF configuration
Run driver

For more information check out the parsing sensor identifiers article.

Interface Requirements

Input Message Types

Input Msg Type	Notes
Native CAN message logged as 'ps_can_frame_msg'	Default bit rate: 500K
Subscribes to 'ps_platform_motion_msg' when configured to provide sensor with platform motion data (Parameter ID 3404)	Optional, see parameters for use. When enabled: provides sensor with valid vehicle speed provides sensor with valid vehicle yaw-rate provides sensor with SDF mount yaw angle provides sensor with SDF mount Y offset (lateral offset)

Input Msg Type

Notes

Native CAN message logged as 'ps_can_frame_msg'

Default bit rate: 500K

Subscribes to 'ps_platform_motion_msg' when configured to provide sensor with platform motion data (Parameter ID 3404)

Optional, see parameters for use.

When enabled:

provides sensor with valid vehicle speed
provides sensor with valid vehicle yaw-rate
provides sensor with SDF mount yaw angle
provides sensor with SDF mount Y offset (lateral offset)

Output Message Types

Output Msg Type

Notes

Publishes 'ps_radar_targets_msg' at a rate of ~50 ms

Radar tracks

up to 64 tracks published in the sequence
track status field indicates status/validity
publishes invalid tracks so users can see when re-indexing occurs

Command Line Arguments

-h show this help message [optional]
-o enable output of log messages to stdout (in addition to syslog) [optional]
-w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
-r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
-n SDF node configuration key for the node [required]
-i use provided PAL interface file instead of what is stored in the SDF [optional]
-e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
-c use provided CAN channel system index instead of what is stored in the SDF [optional]
-t perform a validation test on the Delphi ESR 2.5 interface [optional]
-g get the sensor serial number from the Delphi ESR 2.5 interface [optional]

Events

Event ID	Event Description	Implemented (y/n)	Active When	Notes
N/A	N/A

Parameters

Parameter ID	Description	Notes
800	Active Coordinate Frame Identifier
810	Output Field of View Range
1002	Sensor 0 X Position	Meters
1003	Sensor 0 Y Position	Meters
1004	Sensor 0 Z Position	Meters
1005	Sensor 0 Roll Orientation	Degrees
1006	Sensor 0 Pitch Orientation	Degrees
1007	Sensor 0 Yaw Orientation	Degrees
1001	Sensor 0 Identifier	Sensor serial number
400	CAN Channel 0 Hardware Identifier
401	CAN Channel 0 Circuit Identifier

Additional Parameters

ID	Value Type	Description	Values	Notes
3400	unsigned long long (1)	ESR is mounted upside-down	0 - ESR is mounted right-side-up (default) >= 1 - ESR is mounted upside-down	Sensor corrects for upside-down settings in the firmware, any additional transformations done via the SDF configuration will be applied after the sensor's firmware corrections. Setting SDF sensor roll angle to 180 degrees can undo the setting if replaying a logfile that was recorded with upside-down enabled.
3401	unsigned long long (1)	Disable blockage detection	0 - Blockage detection is enabled (default) >= 1 - Blockage detection is disabled
3402	unsigned long long (1)	Clear ESR faults	0 - Does nothing (default) 1 - Sends command to clear faults, then sets value back to 0	Used to send a command to the ESR that clear any internal faults
3403	unsigned long long (1)	Raw data enabled	0 - Raw data is disabled (default) >= 1 - Raw data is enabled	Raw data bypasses the internal tracker
3404	unsigned long long (1)	Provides ESR with platform motion	0 - ESR is not provided with valid velocity/yaw-rate >= 1 - ESR is provided with valid velocity/yaw-rate	Motion data is received by subscribing to the first publisher of 'ps_platform_motion_msg' If no motion data is seen by the subscriber, ESR velocity/yaw-rate data will be invalidated Subscriber will zero the motion data fields after 200 ms if no platform motion data was received Sensor MUST be mounted within the required yaw and lateral offset Mounting yaw angle must be within -31:+31 degrees Mounting lateral offset (Y) must be within -1.9:+1.9 meters
3405	unsigned long long (1)	Calculate ESR track Cartesian velocity vectors	0 - Velocity vectors not calculated (default) >= 1 - Velocity vectors calculated	The ESR is capable of detecting reasonable lateral rate (tangential velocity) when provided with motion data. However the data is quite noisy when no motion data is provided so the default state is to not use the Cartesian velocity vectors. Range rate is always available.

Other resources

Setting up a CAN radar sensor node in PolySync