Delphi ESR 2.5

  • Interface Name

    delphi-esr-2.5

  • Supported Since

    V2.0.0-b.1

  • Sensor Communication Protocol

    CAN

  • PolySync Sensor Type

    130

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.8//articles/add-a-sensor-node/) in the SDF Configurator
    * [Locate the CAN hardware and circuit identifiers](https://help.polysync.io/releases/2.0.8//articles/parse-can-hardware-and-circuit-identifiers)
    * Copy the hardware and circuit IDs into the nodes entry in the SDF Configurator “IO Parameters” section
    * [Parse the sensor identifier](https://help.polysync.io/releases/2.0.8//articles/parse-the-sensor-identifier/) from the connected hardware device
    * [Run the Dynamic Driver interface](https://help.polysync.io/releases/2.0.8//articles/manually-starting-nodes/)

  • 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
    400 CAN Channel 0 Hardware Identifier 1 0
    401 CAN Channel 0 Circuit Identifier 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-dynamic-driver