SICK LD-MRS 400001S01 Manual de usuario

CAN data protocol

LD-MRS 400001S01

LD-MRS 400102S01

LD-MRS 800001S01

Table of Content

1Introduction 3

2General information 3

2.1 CAN frame format 3

2.2 Identifiers 3

2.3 Message format 4

3Object Data 5

3.1 List header: CAN Base ID (e.g. 0x500) 5

3.2 Timestamp: CAN Base ID + 0x1 (e.g. 0x501) 6

3.3 Tracking1: CAN Base ID + 0x2 (e.g. 0x502) 6

3.4 Tracking2: CAN Base ID + 0x3 (e.g. 0x503) 7

3.5 Class and box1: CAN Base ID + 0x4 (e.g. 0x504) 7

3.6 Box2: CAN Base ID + 0x5 (e.g. 0x505) 7

3.7 Contour header: CAN Base ID + 0x6 (e.g. 0x506) 8

3.8 Contour points: CAN Base ID + 0x7 (e.g. 0x507) 8

4Command Interface 10

4.1 LD-MRS commands and command replies 10

4.1.1 Reset sensor 10

4.1.2 SaveConfig 11

4.1.3 Set Parameter 11

4.1.4 Get Parameter 11

4.1.5 Load Factory Defaults 12

4.1.6 Start Measure 12

4.1.7 Stop Measure 13

4.1.8 SetNTPTimestampSec 13

4.1.9 SetNTPTimestampFracSec 14

4.2 LD-MRS parameter list 15

4.3 Examples 22

5LD-MRS error/warning 23

1.1 Error register 1 23

1.2 Error register 2 24

1.3 Warning register 1 25

1.4 Warning register 2 25

6Ego motion information 26

1 Introduction

This document describes how data is received and transmitted via CAN. Addressed

systems are LD-MRS400001S0, LD-MRS400102S01 and LD-MRS800000S01.

This document is based on firmware version 3.02.

Note: The standard LD-MRSXXX (without “S01”) also has a CAN interface. This interface

is used to control the external I/O-extender of the sensor and uses other commands.

This document does not apply to this sensor type!

2 General information

2.1 CAN frame format

The LD-MRS uses CAN 2.0A with 11-bit identifiers. The baudrate is 500 kBit/s.

2.2 Identifiers

Each CAN messages has an identifier (ID). For the LD-MRS, a base ID can be set as a

parameter (default is 0x500). This base ID defines a range of 16 subsequent IDs, starting

with the base ID itself. E.g., with the base ID set to 0x500, the used CAN messages will

have the IDs 0x500 through 0x50F.

As the message ID defines the message and its contents, each ID may only be used by

one device (or for one purpose) on the CAN bus. If multiple sensors should be used on

one CAN bus, each sensor must have a base ID that separates its ID range from the

other devices.

Table 1: CAN ID overview

CAN ID

Default ID

Description

0x303 –

0x306

(fixed)

Vehicle motion data

base ID

0x500

Object list header (start of object data)

base ID+1

0x501

Object timestamp

base ID+2

0x502

Tracking1: First set of information for an object

base ID+3

0x503

Tracking2: Second set of information for an object

base ID+4

0x504

Class and box1: Bounding box information for an

object

base ID+5

0x505

Box2: Bounding box information for an object

base ID+6

0x506

Contour header: Start of contour information for an

object

base ID+7

0x507

Contour points: Additional contour points.

base ID+8

0x508

Object list trailer

base ID+9

0x509

(unused)

base ID+10

0x50A

Command to the sensor.

base ID+11

0x50B

Reply from the sensor (for each received

command).

base ID+12

0x50C

(unused)

base ID+13

0x50D

(unused)

base ID+14

0x50E

(unused)

base ID+15

0x50F

Error messages

2.3 Message format

Message length is always 8 bytes, unless declared differently in the description.

Message byte and bit numbering is zero based. E.g., the first data byte of a message ist

byte 0, the last one byte 7.

Data encoding is big endian (Motorola) for all messages except command, command

reply and errors and warnings, which use little endian (Intel).

3 Object Data

Object data can be transmitted via CAN if the corresponding output flag is enabled in the

sensor.

The ID range is CAN base ID … CAN base ID + 0x7, first and last ID included.

For a base ID 0x500 the range is [0x500, 0x507].

One set of object data consist of:

A list header message

A timestamp message

For each object:

oA Tracking1 message

oA Tracking2 message

oA Class and box1 message

oA Box2 message

oA contour header message

oFor each next 1-3 contour points:

A Contour point message

Note: Data encoding is Big Endian format.

3.1 List header: CAN Base ID (e.g. 0x500)

Content

Data area

Data type

Description

Version

byte 0

UINT8

Version of the object data format. This

document describes version 1.

Number of objects

byte 1

UINT8

Number of objects transmitted in this

cycle.

View range

estimation

byte 2

UINT8

Estimated maximum sensor view range

on typical vehicles in percent [0,100].

100: full view range

0: low view range

0xFF: invalid (no estimation possible)

Sensor

temperature

byte 3

INT8

Current sensor temperature in °C. 0x80

indicates an invalid value.

Object data info

flags

byte 4

bit field

8 bits

bit 0: Velocity type

0 = absolute velocities,

1 = relative velocities.

bit 1: Bounding boxes

0 = boxes are object boxes (aligned to

object),

1 = boxes are bounding boxes (aligned

to axes of coordinate system).

bits 2…7:

reserved

Counter

byte 5

UINT8

Counter for header and trailer message

(to be able to match header and trailer)

Blindness

byte 6

UINT8

0: sensor not covered; other: sensor

covered = blind

Unused

byte 7

3.2 Timestamp: CAN Base ID + 0x1 (e.g. 0x501)

Content

Data area

Data type

Description

NTP seconds

bytes 0…3

UINT32

Start time of the scan these objects are

based on.

NTP fractional

seconds

byte 4…7

UINT32

Fractional seconds the scan start time.

3.3 Tracking1: CAN Base ID + 0x2 (e.g. 0x502)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

Position x

bytes 1…2

INT16

Position of the object (reference point,

e.g. center of gravity) in the reference

coordinate system in cm.

Position y

bytes 3…4

INT16

Velocity x

byte 5

bits 0…7,

byte 6

bits 4…7

INT12

Object velocity in 0.1 m/s in the reference

coordinate system. See list header for

absolute or relative velocities. 0x800

indicates an invalid velocity.

Velocity y

byte 6

bits 0…3,

byte 7

bits 0…7

INT12

Please refer to this image for clarification of the bits and bytes used for each information:

Byte 7 6 5 4 3 2 1 0

5 Velocity X

7 Velocity Y

Bit

Object ID

Position X

Position Y

3.4 Tracking2: CAN Base ID + 0x3 (e.g. 0x503)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

Object age

byte 1

UINT8

Number of scans this object has been

tracked for. Saturates at 0xFF.

Object prediction

age

byte 2

UINT8

Number of scans this object has only be

predicted without measurement update.

Saturates at 0xFF. Is reset to 0 after

measurement update.

Object time offset

byte 3

UINT8

Detection time of this object as offset to

the reference time stamp in ms.

Position x sigma

byte 4

UINT8

Standard deviation of the position

estimation in cm.

Position y sigma

byte 5

UINT8

Velocity x sigma

byte 6

UINT8

Standard deviation of the velocity

estimation in cm.

Velocity y sigma

byte 7

UINT8

3.5 Class and box1: CAN Base ID + 0x4 (e.g. 0x504)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

reserved

byte 1

UINT8

reserved

byte 2

UINT8

reserved

byte 3

UINT8

reserved

Box center x

bytes 4…5

INT16

Center position of the box in cm. See list

header for object box / bounding box.

Box center y

bytes 6…7

INT16

3.6 Box2: CAN Base ID + 0x5 (e.g. 0x505)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

Box size x

bytes 1…2

UINT16

Size of the box in cm in the object

coordinate system. The box orientation is

only available for an object box. A

bounding box is an unrotated rectangle in

the reference coordinate system. In this

case the box size is always given in the

reference coordinate system. 0x8000

indicates an invalid orientation.

Box size x

bytes 3…4

UINT16

Box orientation

byte 5…6

INT16

Object box orientation in the reference

coordinate system in 1/100°. 0x8000

indicates an invalid orientation.

Reserved

byte 7

3.7 Contour header: CAN Base ID + 0x6 (e.g. 0x506)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

Number of contour

points

byte 1

UINT8

Number of contour points including start

point transmitted for this object. The

number of following ObjectDataContour

messages can be calculated by

(NumOfContourPoints+1) Div 3. If this

value is set to 0xFF (invalid), the contour

of this object was not calculated correctly

(e.g. too many contour points). In this

case, the ContourStartpoint contains the

closest distance to the object. No more

contour point messages are sent for this

object.

Closest contour

point number

byte 2

UINT8

The closest object distance can be found

in the contour point with this number. The

numbering starts with 0 (start point).

Reserved

byte 3

Start point x

bytes 4…5

INT16

Position of the first contour point in cm in

the reference coordinate system. This is

the first point of the contour (or the

closest distance, see above). The

following contour points are only given by

offsets to the previous points.

Start point y

bytes 6…7

INT16

3.8 Contour points: CAN Base ID + 0x7 (e.g. 0x507)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use

this ID to refer messages to an object.

Contour message

number

byte 1

UINT8

Number of this contour message. Zero

based.

x offset

(e.g. point 1)

byte 2

INT8

Add these offsets to the position of the

previous point. Calculate the position for

y offset

(e.g. point 1)

byte 3

INT8

each contour point (besides the start

point) using the offsets.

First contour point is the start point sent

in the contour header message.

Note that these offsets have a resolution

of 4 cm. Multiply these values by 4 to

convert to cm.

x offset

(e.g. point 2)

byte 4

INT8

y offset

(e.g. point 2)

byte 5

INT8

x offset

(e.g. point 3)

byte 6

INT8

y offset

(e.g. point 3)

byte 7

INT8

3.9 List trailer: CAN Base ID (e.g. 0x508)

Content

Data area

Data type

Description

Number of object

CAN messages

sent

byte 0 - 1

UINT16

Number of CAN messages sent for the

current object list.

NumOfWarningErr

orMessagesSent

byte 2

UINT8

Number of warning/error messages sent

since the last object list trailer:

Counter

byte 3

UINT8

Counter for header and trailer message

(to be able to match header and trailer)

Unused

byte 4 - 7

4 Command Interface

Commands can be transmitted via CAN.

The ID is CAN base ID + 0xA. Example: For a base ID 0x500 the command ID is 0x50A.

Attention: The data is encoded in little endian byte order in this message!

Content

Data area

Data type

Description

Command ID

bytes 0…1

UINT16

See detailed list of commands and

according options/parameters.

Command data

bytes 2…7

Depending on command. May be unused

for some commands.

After receiving a command a reply is always sent.

The ID is CAN base ID + 0xB. Example: For a base ID 0x500 the command ID is 0x50B.

Attention: The data is encoded in little endian byte order in this message!

Content

Data area

Data type

Description

Reply ID

bytes 0…1

UINT16

If a command succeeded, the reply ID is

equal to the corresponding command ID.

If a command failed, the reply ID is the

command ID + 0x8000. Thus, the most

significant bit indicates a failed

command.

Command data

bytes 2…7

Depending on command this reply is

related to. May be completely unused for

some replies and if a command failed.

4.1 LD-MRS commands and command replies

4.1.1 Reset sensor

Bytes

Offset

LD-MRS command:

content

Content type

Description

0x0000

UINT16

Reset DSP

Restarts the sensor. For this command, no reply is sent.

Example: Reset the sensor.

Send the message ID=0x50A, DLC=2, Data=00 00. This will immediately reset the

sensor. Note that no reply is sent from the sensor.

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