Installation & Operating Guide

15
5 CAN Bus
5.1 Network Parameters
The BS-9100 system must operate on an independent CAN bus with no other connections
apart from power, terminations and typically one customer-supplied host.
CAN communications parameters from the sensor network are detailed below:
• Complies with CAN 2.0A Base Frame Format (11-bit Identifier)
• Programmable ID range per sensor
• Individual CAN ID for each detected object
• 500Kbits/second Baud Rate (Non-Configurable)
• Maximum of 8 sensors connected to the bus at any time
• Keep Alive message transmitted by sensors when no objects are detected
• Refresh Rate of ~21mSec per detected object message or Keep Alive message
• Intel Standard message format
5.2 Keep Alive Message
The Keep Alive message function provides a regular CAN message from each sensor when
there are no objects detected by that sensor, or when the sensor has not been re-configured
from the default CAN ID (detailed in section 5.3). The Keep Alive message may be used by
the host system to verify that the radar is operational and working correctly during periods of
no object detection.
5.3 CANbus Base ID
All BS-9100 sensors are shipped from Brigade with a pre-set Base ID of 0x390. Messages
with this ID value do not contain any detection data but do provide a Keep Alive message to
the host.
The installer must alter the 0x390 Base ID at system configuration and ensure that each BS-
9100 sensor within a network is configured with a different Base ID. Instructions for altering
sensor Base ID values are detailed in section 5.4.
The range of permissible Base ID values is given in the table below:
Sensor ID:
1
2
3
4
5
6
7
8
Base ID:
0x310
0x320
0x330
0x340
0x350
0x360
0x370
0x380
It is not permitted to connect sensors together that have the same Base ID. Therefore, during
system configuration, the installer must ensure that each sensor’s Base ID is programmed
whilst only that sensor is connected to the host