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The PolySync Team

Preco Gen 3

General

Interface name
  • preco-gen3
Interface file
  • libps_preco_gen3_interface.so
Supported Since
  • V2.0.0-b.1
OEM Hardware/Software/Firmware Version  
Sensor Communication Protocol  
PolySync Sensor Type
  • 50
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 Preco Gen 3 interface [optional]
  • -g get the sensor identifier address from the Preco Gen 3 interface [optional]
  • -s set the sensor identifier address on the Preco Gen 3 interface (1-253), power cycle to apply [optional]
  • -p get the maximum range configuration from the Preco Gen 3 interface [optional]
  • -l set the maximum range configuration on the Preco Gen 3 interface (1-200 feet), power cycle to apply [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 stored as ps_can_frame_msg Default bit rate: 500K

Output Message Types

Output Msg Type
Notes
ps_radar_targets_msg Radar tracks

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 Preco Gen 3 interface [optional]
  10. -g get the sensor identifier address from the Preco Gen 3 interface [optional]
  11. -s set the sensor identifier address on the Preco Gen 3 interface (1-253), power cycle to apply [optional]
  12. -p get the maximum range configuration from the Preco Gen 3 interface [optional]
  13. -l set the maximum range configuration on the Preco Gen 3 interface (1-200 feet), power cycle to apply [optional]

Events

If applicable, list events published and under what circumstances they are published

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 identifier must match in order to validate. Parse the sensor identifier with the '-g' driver command-line argument

400 CAN Channel 0 Hardware Identifier  
401 CAN Channel 0 Circuit Identifier  

Other resources

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