Delphi ESR 9.21.21

  • Interface Name

    delphi-esr-9.21.21

  • Supported Since

    V2.0.0-b.1

  • Sensor Communication Protocol

    CAN

  • PolySync Sensor Type

    131

  • 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 configuration’s serial number must match the sensor’s serial number in order to validate
    * Use the ‘-g’ driver command-line argument to parse the sensor’s serial number

  • Input Message Types

    Input Message Type Input Message Note
    Native CAN message stored as ps_can_data_msg Default bit rate: 500K
  • Output Message Types

    Output Message Type Output Message Note
    ps_radar_track_stream_msg Radar tracks
  • 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
    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 Calculates 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_9_21_21_interface.so
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver