Brigade Backsense BS-9000, Installation & Operation Manual, Page: 16 / 40

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5.5 Configuration Message Structure and Examples
5.5
Configuration Message Structure
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
Current Sensor
Configuration ID
to be used
Fixed
value
0xFF
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Sensor Number for
desired (target)
Base ID
Configuration Message Example, Base ID change from 0x390 to 0x310
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
0x158 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x01
Configuration Message Example, Base ID change from 0x320 to 0x330
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
0x151 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x03
5.6 Addressing Strategy for Detected Object and Generated Messages
Each BS-9000 sensor is capable of detecting and reporting data for up to 8 closest objects.
Each detected object has an individual message ID who’s value is dependent on the proximity
of the detected object to the sensor.
Sensor ID Number
Object Proximity to Sensor 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08
Closest
Object
0x310 0x320 0x330 0x340 0x350 0x360 0x370 0x380
2
nd
Closest
Object
0x311 0x321 0x331 0x341 0x351 0x361 0x371 0x381
3
rd
Closest
Object
0x312 0x322 0x332 0x342 0x352 0x362 0x372 0x382
4
th
Closest
Object
0x313 0x323 0x333 0x343 0x353 0x363 0x373 0x383
5
th
Closest
Object
0x314 0x324 0x334 0x344 0x354 0x364 0x374 0x384
6
th
Closest
Object
0x315 0x325 0x335 0x345 0x355 0x365 0x375 0x385
7
th
Closest
Object
0x316 0x326 0x336 0x346 0x356 0x366 0x376 0x386
8
th
Closest
Object
0x317 0x327 0x337 0x347 0x357 0x367 0x377 0x387
5.7 Detection Message
Detection data for each detected object (per sensor) is reported in a single CAN message
from the sensor with a message as detailed in section 3.2. Detection location data, relative
speed, reflected power level and various detection flags are contained in individual bytes for
ease of processing.
The message structure for the data field is detailed in the table below: