nanoradar NRA24, Руководство пользователя

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7
Note:
At present, NRA24 will only return version information; other functions are not yet available.
DataType indicates the configuration item, result indicates the configuration result, and
Parameter is the value of the configured DataType.
5.2.1 Sensor Version
After the PC or other MCU sends the read version information of sensor to NRA24, the NRA24
will return the execution result. When the version information is returned, the corresponding
Parameter field format is as follows:
Table 7 Sensor Version back format
Message ID
0x400
Signal Name Bit Resolution Interval Type Comment
DataType 0..6 1 2 u7
1: Sensor ID;2: Sensor Version
3:start/stop
target information output
4: range filtering
7e:for internal test
7f:Save parameters
Result 7 1 0…1 u1
0:fail to read
1:succeed to read
Parameter
8..15 1 0…255 u8 Master Version
16..23 1 0…255 u8 Second Version
23..31 1 0…255 u8 Step Version
Reserved 32..55 1 - - -
Check Sum 56..63 1 0…255 u8
The sum of lower eight bits of first
seven bytes
5.3 NRA24 system status (Sensor Status)
The NRA24 system status message format is shown in the following table. The start sequence
(0xAAAA) and the termination sequence (0x5555) have been omitted from the table, where the
value of RollCount is fixed to 0.
Table 8 NRA24 system status message format
Message ID
0x60A
Signal Name Bit Resolution Interval Type Comment
ACTL_Mode 0..6 1 0…127 u7 NRA24 is fixed to 1
RollCount 8..9 1 0…3 u2
The cycle count is 0-1-2-3
，
and
it change one time per cycle
Rsvd1 10..11 1 - u2 -
CfgStatus 12..15 1 - u4 NRA24is fixed to 1
Rsvd2 15..55 1 - - -
Check Sum 56..63 1 0…255 u8
The sum of lower eight bits of
first seven bytes