Supported Sensors

Autoliv MMR 77Ghz

autoliv-mmr-77ghz
V2.0.0-b.1
CAN
90

PolySync Configuration

Driver Notes

  • SDF sensor configuration’s serial number 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 Autoliv MMR 77GHz interface [optional]
  • -a get the sensor identifier address from the Autoliv MMR 77GHz interface [optional]

Input Message Types

Input Message Type Input Message Note
Native CAN message stored as ps_can_frame_msg Default bit rate: 500K

Output Message Types

Output Message Type Output Message Note
ps_radar_targets_msg Radar tracks

Command Line Arguments

Flag Description
-h Show this help message [optional]
-o Enable output of log messages to stdout (in addition to syslog) [optional]
-w Disable the hardware interface(s), allowing the node to run without hardware connected [optional]
-r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
-n SDF node configuration key for the node [required]
-i Use provided PAL interface file instead of what is stored in the SDF [optional]
-e Export a JSON support string describing the interface, used by the SDF configuration tool [optional]
-c Use provided CAN channel system index instead of what is stored in the SDF [optional]
-t Perform a validation test on the Autoliv MMR 77GHz interface [optional]
-a Get the sensor identifier address from the Autoliv MMR 77GHz interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
3000 Sensor Measurement Mode 1 5

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
3000 Sensor Measurement Mode 1 5

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4
42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_autoliv_srr_c6_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver