Supported Sensors

Model S

model-s-can-reader
V2.0.4-pr.4
CAN
330

PolySync Configuration

Driver Notes

  • -h
    • show this help message [optional]
  • -o
    • reserved [optional]
  • -w
    • disable the hardware interface(s), allowing the node to run without hardware connected (also known as replay mode) [optional]
  • -r
    • SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
  • -n
    • SDF node configuration identifier 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 during the normal runtime if needed (does not exit) [optional]
  • -p
    • use provided logfile in Record and Replay operations instead of the default [optional]
  • -s
    • use provided SDF instead of the default [optional]
  • -U
    • update the node SDF configuration and exit [optional]
  • -t
    • perform a validation test on the interface [optional]
  • -d
    • enable additional debugging output [optional]

Input Message Types

Input Message Type Input Message Note
ps_can_frame_msg Raw CAN frames as an input to the Dynamic Driver interface

Output Message Types

Output Message Type Output Message Note
ps_platform_brake_report_msg Published to the PolySync bus
ps_platform_throttle_report_msg Published to the PolySync bus
ps_platform_steering_report_msg Published to the PolySync bus

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 4

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 4

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