M-system HDMS, Руководство пользователя

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Aftermarket – HDMS FMCW RADAR
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3 Communication Protocol
- RADAR basic communication uses CAN 2.0B and the communication speed is 500kBit/s.
- Refer to Table 1 below for the packet structure of RADAR. (The CAN ID of RADAR varies depending on the
cable being connected.)
Table 1 RADAR CAN Protocol(Total 8Byte)
Start
bit
Length Signal Name Factor Offset
Range
Unit Description
min max
0 4 RADAR Detect Packet Number 1 0 0 15 -
0 : NOT USED / Error
1 ~ 5 : RADAR Packet Number
4 4 Install Position 1 0 0 15 -
0 : RR_BR - Rear RADAR, Backward, Rearward-looking
1 : SR_RR -
Side RADAR, Right-hand side, Rearward-looking
2 : SR_LR - Side RADAR, Left-hand side, Rearward-looking
3 : SR_RF - Side RADAR, Right-hand side, Forward-looking
4 : SR_LF - Side RADAR, Left-hand side, Forward-looking
8 2 RADAR Status 1 0 0 3 - 0 : Normal, 1 : Swing, 2 : Moving
10 2 Reserved 1 0 0 3 - Reserved
12 8 RADAR SW version 1 0 0 255 - RADAR Software version(ex, 0x10 = ver 1.0)
20 10 n-th Target X data 1 0 0 1023 cm
n : packet number
0 : 0 cm
1~511 : +(X_Distance ) cm
512 ~ 1023 : -((1024-X_Distance) ) cm
30 10 n-th Target Y data 1 0 0 1023 cm
n : packet number
0 : 0 cm
1~1023 : +(Y_Distance ) cm
40 10 n-th Target Power data 1 0 0 1023 dB
n : packet number
0~1023 : Power dBm
50 10 Reserved 1 0 0 1023 Reserved
60 4 Fault Code 1 0 0 15 -
Fault Code
0x0 : Normal
0x1 : RADAR Interface board Error
0x2 : RADAR Module board Error
0x3 : Position Pin Error (Not connect)
0x4 : Position Pin Error (Redundant connect)