Supported Sensors

Delphi ESR 2.5

delphi-esr-2.5
V2.0.0-b.1
CAN
130

PolySync Configuration

Driver Notes

  • SDF Sensor 0 Identifier 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 Delphi ESR 2.5 interface [optional]
  • -g get the sensor serial number from the Delphi ESR 2.5 interface [optional]

Input Message Types

Input Message Type Input Message Note
Native CAN message logged as ‘ps_can_frame_msg’ Default bit rate: 500K
Subscribes to ‘ps_platform_motion_msg’ when configured to provide sensor with platform motion data (Parameter ID 3404) Optional, see parameters for use. When enabled: provides sensor with valid vehicle speed provides sensor with valid vehicle yaw-rate provides sensor with SDF mount yaw angle provides sensor with SDF mount Y offset (lateral offset)

Output Message Types

Output Message Type Output Message Note
Publishes ‘ps_radar_targets_msg’ at a rate of ~50 ms Radar tracks up to 64 tracks published in the sequence track status field indicates status/validity publishes invalid tracks so users can see when re-indexing occurs

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 Delphi ESR 2.5 interface [optional]
-g Get the sensor serial number from the Delphi ESR 2.5 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 Yam Position 3 0
3400 ESR is mounted upside-down 1 0
3401 Disable blockage detection 1 0
3402 Clear ESR faults 1 0
3403 Raw data enabled 1 0
3404 Provides ESR with platform motion 1 0
3405 Calculate ESR track Cartesian velocity vectors 1 0

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 Yam Position 3 0
3400 ESR is mounted upside-down 1 0
3401 Disable blockage detection 1 0
3402 Clear ESR faults 1 0
3403 Raw data enabled 1 0
3404 Provides ESR with platform motion 1 0
3405 Calculate ESR track Cartesian velocity vectors 1 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_delphi_esr_2_5_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver