Supported Sensors

Dataspeed MKZ DBW

dataspeed-mkz
V2.0.2-b.1
CAN
300

PolySync Configuration

Driver Notes

  • -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]
  • -u allow updates to the SDF configuration if needed [optional]
  • -c use provided CAN channel system index instead of what is stored in the SDF [optional]
  • -t perform a validation test on the DataSpeed MKZ interface [optional]
  • -d enable additional debugging output in DataSpeed MKZ interface [optional]

Input Message Types

Input Message Type Input Message Note
‘ps_can_frame_msg’ ‘ps_imu_msg’ ‘ps_gps_msg’ N/A
‘ps_platform_brake_command_msg’ N/A
‘ps_platform_throttle_command_msg’ N/A
‘ps_platform_steering_command_msg’ N/A
‘ps_platform_gear_command_msg’ N/A
‘ps_platform_turn_signal_command_msg’ N/A
‘ps_platform_brake_report_msg’ ‘ps_platform_throttle_report_msg’ N/A
‘ps_platform_steering_report_msg’ ‘ps_platform_gear_report_msg’ N/A
‘ps_platform_cabin_report_msg’ ‘ps_platform_suspension_report_msg’ N/A
‘ps_platform_tire_pressure_report_msg’ N/A
‘ps_platform_wheel_speed_report_msg’ N/A

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]
-u Allow updates to the SDF configuration if needed [optional]
-c Use provided CAN channel system index instead of what is stored in the SDF [optional]
-t Perform a validation test on the DataSpeed MKZ interface [optional]
-d Enable additional debugging output in DataSpeed MKZ interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
4011 Control commands enabled 1 0
4012 Throttle pedal maximum percentage 3 0.3
4010 Driver override active 1 0
4000 Brake channel 1 fault active 1 0
4001 Brake channel 2 fault active 1 0
4002 Brake connector fault active 1 0
4003 Throttle channel 1 fault active 1 0
4004 Throttle channel 2 fault active 1 0
4005 Throttle connector fault active 1 0
4006 Steering channel 1 fault active 1 0
4007 Steering channel 2 fault active 1 0
4008 Steering connector fault active 1 0
4009 Gear CAN bus fault active 1 0
4013 Fuel level percentage 3 0

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
4011 Control commands enabled 1 0
4012 Throttle pedal maximum percentage 3 0.3
4010 Driver override active 1 0
4000 Brake channel 1 fault active 1 0
4001 Brake channel 2 fault active 1 0
4002 Brake connector fault active 1 0
4003 Throttle channel 1 fault active 1 0
4004 Throttle channel 2 fault active 1 0
4005 Throttle connector fault active 1 0
4006 Steering channel 1 fault active 1 0
4007 Steering channel 2 fault active 1 0
4008 Steering connector fault active 1 0
4009 Gear CAN bus fault active 1 0
4013 Fuel level percentage 3 0

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_dataspeed_mkz_interface.so
40 Executable File Path 4 /usr/local/polysyn/bin/polysync-core-dynamic-driver

Sensor Notes

The Dataspeed driver logs all the CAN data─including received control commands─when you use PolySync to record data from the vehicle. The control commands are not re-published to the PolySync bus during replay.