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The PolySync Team

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)

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

  1. -h show this help message [optional]
  2. -o enable output of log messages to stdout (in addition to syslog) [optional]
  3. -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
  4. -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
  5. -n SDF node configuration key for the node [required]
  6. -i use provided PAL interface file instead of what is stored in the SDF [optional]
  7. -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
  8. -c use provided CAN channel system index instead of what is stored in the SDF [optional]
  9. -t perform a validation test on the Delphi ESR 2.5 interface [optional]
  10. -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

 

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