Brigade Backsense BS-9000 - Configuration Message Structure and Examples; Addressing Strategy for Detected Object and Generated Messages; Detection Message Structure

16
5.5 Configuration Message Structure and Examples
5.5
Configuration Message Structure
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
Current Sensor
Configuration ID
to be used
Fixed
value
0xFF
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Fixed
value
0x00
Sensor Number for
desired (target)
B
ase ID
Configuration Message Example, Base ID change from 0x390 to 0x310
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
0x158 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x01
Configuration Message Example, Base ID change from 0x320 to 0x330
11- Bit
CAN ID
Data
Byte 7
Data
Byte 6
Data
Byte 5
Data
Byte 4
Data
Byte 3
Data
Byte 2
Data
Byte 1
Data
Byte 0
0x151 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x03
5.6 Addressing Strategy for Detected Object and Generated Messages
Each BS-9000 sensor is capable of detecting and reporting data for up to 8 closest objects.
Each detected object has an individual message ID who’s value is dependent on the proximity
of the detected object to the sensor.
Sensor ID Number
Object Proximity to Sensor
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
Closest
Object
0x310 0x320
0x330
0x340
0x350
0x360
0x370
0x380
2
nd
Closest
Object
0x311 0x321
0x331
0x341
0x351
0x361
0x371
0x381
3
rd
Closest
Object
0x312 0x322
0x332
0x342
0x352
0x362
0x372
0x382
4
th
Closest
Object
0x313 0x323
0x333
0x343
0x353
0x363
0x373
0x383
5
th
Closest
Object
0x314 0x324
0x334
0x344
0x354
0x364
0x374
0x384
6
th
Closest
Object
0x315 0x325
0x335
0x345
0x355
0x365
0x375
0x385
7
th
Closest
Object
0x316 0x326
0x336
0x346
0x356
0x366
0x376
0x386
8
th
Closest
Object
0x317 0x327
0x337
0x347
0x357
0x367
0x377
0x387
5.7 Detection Message
Detection data for each detected object (per sensor) is reported in a single CAN message
from the sensor with a message as detailed in section 3.2. Detection location data, relative
speed, reflected power level and various detection flags are contained in individual bytes for
ease of processing.
The message structure for the data field is detailed in the table below: