Raw Radar Data Structures

Data Structures
struct	SomeIPHeader1stPart
struct	SomeIPHeader2ndPart
struct	E2eP07Header
struct	Ars548Msg
struct	SomeIPPackage
struct	Ars548SensorStatusOlder
struct	Ars548SensorStatus
struct	Ars548FilterStatusEntry
struct	Ars548FilterStatus
struct	Ars548Detection
struct	Ars548DetectionList
struct	Ars548Object
struct	Ars548ObjectList
struct	Ars548SensorConfiguration
struct	Ars548FilterConfigEntry
struct	Ars548FilterConfiguration

Detailed Description

Struct definitions for ARS548 radar series communication protocol

---

Data Structure Documentation

SomeIPHeader1stPart

struct SomeIPHeader1stPart

Data Fields
UINT16	service_id
UINT16	method_id
UINT32	length
	The number of bytes after the header structure.

SomeIPHeader2ndPart

struct SomeIPHeader2ndPart

Data Fields
UINT16	client_id
UINT16	session_id
BYTE	protocol_version
BYTE	interface_version
BYTE	message_type
BYTE	return_code

E2eP07Header

struct E2eP07Header

Data Fields
UINT64	CRC
	Checksum (E2E Profile 7)
UINT32	Length
	Len (E2E Profile 7)
UINT32	SQC
	SQC (E2E Profile 7)
UINT32	DataID
	Data ID (E2E Profile 7)

Ars548Msg

struct Ars548Msg

Inheritance diagram for Ars548Msg:

SomeIPPackage

struct SomeIPPackage

Data Fields
SomeIPHeader1stPart	header_part1
SomeIPHeader2ndPart	header_part2
	Optional.
E2eP07Header	headerE2E
	Optional.
Ars548Msg *	pPayload

Ars548SensorStatusOlder

struct Ars548SensorStatusOlder

Inheritance diagram for Ars548SensorStatusOlder:

Data Fields
FLOAT32	Longitudinal
	Longitudinal sensor position (AUTOSAR)
FLOAT32	Lateral
	Lateral sensor position (AUTOSAR)
FLOAT32	Vertical
	Vertical sensor position (AUTOSAR)
FLOAT32	Yaw
	Sensor yaw angle (AUTOSAR)
FLOAT32	Pitch
	Sensor pitch angle (AUTOSAR)
UINT8	PlugOrientation
	Orientation of plug.
FLOAT32	Length
	Vehicle length.
FLOAT32	Width
	Vehicle width.
FLOAT32	Height
	Vehicle height.
FLOAT32	Wheelbase
	Vehicle wheelbase.
UINT16	MaximumDistance
	Maximum detection distance.
UINT8	FrequencySlot
	Center frequency.
UINT8	CycleTime
	Cycle time.
UINT8	TimeSlot
	Cycle offset.
UINT8	HCC
	Country code.
UINT8	Powersave_Standstill
	Power saving in standstill.
UINT32	SensorIPAddress_0
	Sensor IP address.
UINT32	SensorIPAddress_1
	Reserved.
UINT8	Configuration_counter
	Counter that counts up if new configuration has been received and accepted.
UINT8	Status_LongitudinalVelocity
	Signals if current VDY is OK or timed out.
UINT8	Status_LongitudinalAcceleration
	Signals if current VDY is OK or timed out.
UINT8	Status_LateralAcceleration
	Signals if current VDY is OK or timed out.
UINT8	Status_YawRate
	Signals if current VDY is OK or timed out.
UINT8	Status_SteeringAngle
	Signals if current VDY is OK or timed out.
UINT8	Status_DrivingDirection
	Signals if current VDY is OK or timed out.
UINT8	Status_CharacteristicSpeed
	Signals if current VDY is OK or timed out.
UINT8	Status_Radar
	Signals if Radar Status is OK.

Ars548SensorStatus

struct Ars548SensorStatus

Inheritance diagram for Ars548SensorStatus:

Data Fields
UINT32	Timestamp_Nanoseconds
	Timestamp Nanoseconds.
UINT32	Timestamp_Seconds
	Timestamp Seconds.
UINT8	Timestamp_SyncStatus
	Timestamp Sync Status.
UINT8	SWVersion_Major
	Software version (major)
UINT8	SWVersion_Minor
	Software version (minor)
UINT8	SWVersion_Patch
	Software version (patch)
FLOAT32	Longitudinal
	Longitudinal sensor position (AUTOSAR)
FLOAT32	Lateral
	Lateral sensor position (AUTOSAR)
FLOAT32	Vertical
	Vertical sensor position (AUTOSAR)
FLOAT32	Yaw
	Sensor yaw angle (AUTOSAR)
FLOAT32	Pitch
	Sensor pitch angle (AUTOSAR)
UINT8	PlugOrientation
	Orientation of plug.
FLOAT32	Length
	Vehicle length.
FLOAT32	Width
	Vehicle width.
FLOAT32	Height
	Vehicle height.
FLOAT32	Wheelbase
	Vehicle wheelbase.
UINT16	MaximumDistance
	Maximum detection distance.
UINT8	FrequencySlot
	Center frequency.
UINT8	CycleTime
	Cycle time.
UINT8	TimeSlot
	Cycle offset.
UINT8	HCC
	Country code.
UINT8	Powersave_Standstill
	Power saving in standstill.
UINT32	SensorIPAddress_0
	Sensor IP address.
UINT32	SensorIPAddress_1
	Reserved.
UINT8	Configuration_counter
	Counter that counts up if new configuration has been received and accepted.
UINT8	Status_LongitudinalVelocity
	Signals if current VDY is OK or timed out.
UINT8	Status_LongitudinalAcceleration
	Signals if current VDY is OK or timed out.
UINT8	Status_LateralAcceleration
	Signals if current VDY is OK or timed out.
UINT8	Status_YawRate
	Signals if current VDY is OK or timed out.
UINT8	Status_SteeringAngle
	Signals if current VDY is OK or timed out.
UINT8	Status_DrivingDirection
	Signals if current VDY is OK or timed out.
UINT8	Status_CharacteristicSpeed
	Signals if current VDY is OK or timed out.
UINT8	Status_Radar
	Signals if Radar Status is OK.
UINT8	Status_VoltageStatus
	Bitfield to report under- and overvoltage errors.
UINT8	Status_TemperatureStatus
	Bitfield to report under- and overtemperature errors.
UINT8	Status_BlockageStatus
	Current blockage state and blockage self test state};.

Ars548FilterStatusEntry

struct Ars548FilterStatusEntry

Data Fields
UINT8	Active
	Flag to activate/deactivate filter.
UINT8	FilterID
	Filter data index.
FLOAT32	MinimumValue
	Minimum data value to pass the filter.
FLOAT32	MaximumValue
	Maximum data value to pass the filter.

Ars548FilterStatus

struct Ars548FilterStatus

Inheritance diagram for Ars548FilterStatus:

Data Fields
UINT32	Timestamp_Nanoseconds
	Timestamp Nanoseconds.
UINT32	Timestamp_Seconds
	Timestamp Seconds.
UINT8	Timestamp_SyncStatus
	Timestamp Sync Status.
UINT8	FilterConfigurationCounter
	Counter that counts up if new filter configuration has been received and accepted.
UINT8	DetectionSortIndex
	Detection list sorting index.
UINT8	ObjectSortIndex
	Object list sorting index.
Ars548FilterStatusEntry	DetectionFilter [7]
	Detection filter entries (index 1 to 7)
Ars548FilterStatusEntry	ObjectFilter [24]
	Object filter entries (index 1 to 24)

Ars548Detection

struct Ars548Detection

Data Fields
FLOAT32	f_AzimuthAngle
	Detection Azimuth Angle.
FLOAT32	f_AzimuthAngleSTD
	Azimuth Angle Std.
UINT8	u_InvalidFlags
	Detection Invalid Flags.
FLOAT32	f_ElevationAngle
	Detection Elevation Angle.
FLOAT32	f_ElevationAngleSTD
	Elevation Angle Std.
FLOAT32	f_Range
	Detection Radial Distance.
FLOAT32	f_RangeSTD
	Radial Distance Std.
FLOAT32	f_RangeRate
	Detection Radial Velocity.
FLOAT32	f_RangeRateSTD
	Radial Velocity Std.
INT8	s_RCS
	Detecion RCS.
UINT16	u_MeasurementID
	Detection ID.
UINT8	u_PositivePredictiveValue
	Existence Probability.
UINT8	u_Classification
	Detection Classification.
UINT8	u_MultiTargetProbability
	Multi-Target Probability.
UINT16	u_ObjectID
	Associated Object.
UINT8	u_AmbiguityFlag
	tbd
UINT16	u_SortIndex
	tbd

Ars548DetectionList

struct Ars548DetectionList

Inheritance diagram for Ars548DetectionList:

Data Fields
UINT64	CRC
	Checksum (E2E Profile 7)
UINT32	Length
	Len (E2E Profile 7)
UINT32	SQC
	SQC (E2E Profile 7)
UINT32	DataID
	Data ID (E2E Profile 7)
UINT32	Timestamp_Nanoseconds
	Timestamp Nanoseconds.
UINT32	Timestamp_Seconds
	Timestamp Seconds.
UINT8	Timestamp_SyncStatus
	Timestamp Sync Status.
UINT32	EventDataQualifier
	Event Data Qualifier.
UINT8	ExtendedQualifier
	Extended Qualifier.
UINT16	Origin_InvalidFlags
	Sensor Position Invalid flags.
FLOAT32	Origin_Xpos
	Sensor X Position.
FLOAT32	Origin_Xstd
	Sensor X Position STD.
FLOAT32	Origin_Ypos
	Sensor Y Position.
FLOAT32	Origin_Ystd
	Sensor Y Position STD.
FLOAT32	Origin_Zpos
	Sensor Z Position.
FLOAT32	Origin_Zstd
	Sensor Z Position STD.
FLOAT32	Origin_Roll
	Sensor Roll Angle.
FLOAT32	Origin_Rollstd
	Sensor Roll Angle STD.
FLOAT32	Origin_Pitch
	Sensor Pitch Angle.
FLOAT32	Origin_Pitchstd
	Sensor Pitch Angle STD.
FLOAT32	Origin_Yaw
	Sensor Yaw Angle.
FLOAT32	Origin_Yawstd
	Sensor Yaw Angle STD.
UINT8	List_InvalidFlags
	Invalid flags.
Ars548Detection	Detections [800]
FLOAT32	List_RadVelDomain_Min
	Radial Velocity Domain Min.
FLOAT32	List_RadVelDomain_Max
	Radial Velocity Domain Max.
UINT32	List_NumOfDetections
	Number of Detections.
FLOAT32	Aln_AzimuthCorrection
	Azimuth Correction.
FLOAT32	Aln_ElevationCorrection
	Elevation Correction.
UINT8	Aln_Status
	Status of alignment.

Ars548Object

struct Ars548Object

Data Fields
UINT16	u_StatusSensor
	tbd
UINT32	u_ID
	ID of object.
UINT16	u_Age
	Age of object.
UINT8	u_StatusMeasurement
	Object Status.
UINT8	u_StatusMovement
	Object Movement Status.
UINT16	u_Position_InvalidFlags
	tbd
UINT8	u_Position_Reference
	Reference point position.
FLOAT32	f_Position_X
	X Position.
FLOAT32	f_Position_X_STD
	X Position Std.
FLOAT32	f_Position_Y
	Y Position.
FLOAT32	f_Position_Y_STD
	Y Position Std.
FLOAT32	f_Position_Z
	Z Position.
FLOAT32	f_Position_Z_STD
	Z Position Std.
FLOAT32	f_Position_CovarianceXY
	Covariance X Y.
FLOAT32	f_Position_Orientation
	Object Orientation.
FLOAT32	f_Position_Orientation_STD
	Orientation Std.
UINT8	u_Existence_InvalidFlags
FLOAT32	f_Existence_Probability
	Probability of Existence.
FLOAT32	f_RCS
	RCS.
UINT8	u_Classification_Car
	Car Classification.
UINT8	u_Classification_Truck
	Truck Classification.
UINT8	u_Classification_Motorcycle
	Motorcycle Classification.
UINT8	u_Classification_Bicycle
	Bicycle Classification.
UINT8	u_Classification_Pedestrian
	Pedestrian Classification.
UINT8	u_Classification_Animal
	Animal Classification.
UINT8	u_Classification_Hazard
	Hazard Classification.
UINT8	u_Classification_Unknown
	Unknown Classification.
UINT8	u_Classification_Overdrivable
	Overdrivable Classification.
UINT8	u_Classification_Underdrivable
	Underdrivable Classification.
UINT8	u_Dynamics_AbsVel_InvalidFlags
	Invalid Flags AbsVel.
FLOAT32	f_Dynamics_AbsVel_X
	X Abs Vel.
FLOAT32	f_Dynamics_AbsVel_X_STD
	X Abs Vel Std.
FLOAT32	f_Dynamics_AbsVel_Y
	Y Abs Vel.
FLOAT32	f_Dynamics_AbsVel_Y_STD
	Y Abs Vel Std.
FLOAT32	f_Dynamics_AbsVel_CovarianceXY
	Covariance Abs Vel X Y.
UINT8	u_Dynamics_RelVel_InvalidFlags
	Invalid Flags RelVel.
FLOAT32	f_Dynamics_RelVel_X
	X Rel Vel.
FLOAT32	f_Dynamics_RelVel_X_STD
	X Rel Vel Std.
FLOAT32	f_Dynamics_RelVel_Y
	Y Rel Vel.
FLOAT32	f_Dynamics_RelVel_Y_STD
	Y Rel Vel Std.
FLOAT32	f_Dynamics_RelVel_CovarianceXY
	Covariance Rel Vel X Y.
UINT8	u_Dynamics_AbsAccel_InvalidFlags
	Invalid Flags AbsAccel.
FLOAT32	f_Dynamics_AbsAccel_X
	X Abs Accel.
FLOAT32	f_Dynamics_AbsAccel_X_STD
	X Abs Accel Std.
FLOAT32	f_Dynamics_AbsAccel_Y
	Y Abs Accel.
FLOAT32	f_Dynamics_AbsAccel_Y_STD
	Y Abs Accel Std.
FLOAT32	f_Dynamics_AbsAccel_CovarianceXY
	Covariance Abs Accel X Y.
UINT8	u_Dynamics_RelAccel_InvalidFlags
	Invalid Flags RelAccel.
FLOAT32	f_Dynamics_RelAccel_X
	X Rel Accel.
FLOAT32	f_Dynamics_RelAccel_X_STD
	X Rel Accel Std.
FLOAT32	f_Dynamics_RelAccel_Y
	Y Rel Accel.
FLOAT32	f_Dynamics_RelAccel_Y_STD
	Y Rel Accel Std.
FLOAT32	f_Dynamics_RelAccel_CovarianceXY
	Covariance Rel Accel X Y.
UINT8	u_Dynamics_Orientation_InvalidFlags
	Invalid Flags Orientation.
FLOAT32	u_Dynamics_Orientation_Rate_Mean
	Object Orientation Rate.
FLOAT32	u_Dynamics_Orientation_Rate_STD
	Orientation Rate Std.
UINT32	u_Shape_Length_Status
	Shape Length Status.
UINT8	u_Shape_Length_Edge_InvalidFlags
	Invalid Flags Shape Length.
FLOAT32	u_Shape_Length_Edge_Mean
	Mean Shape Length.
FLOAT32	u_Shape_Length_Edge_STD
	Shape Length Std.
UINT32	u_Shape_Width_Status
	Shape Width Status.
UINT8	u_Shape_Width_Edge_InvalidFlags
	Invalid Flags Shape Width.
FLOAT32	u_Shape_Width_Edge_Mean
	Mean Shape Width.
FLOAT32	u_Shape_Width_Edge_STD
	Shape Width Std.

Ars548ObjectList

struct Ars548ObjectList

Inheritance diagram for Ars548ObjectList:

Data Fields
UINT64	CRC
	Checksum (E2E Profile 7)
UINT32	Length
	Len (E2E Profile 7)
UINT32	SQC
	SQC (E2E Profile 7)
UINT32	DataID
	Data ID (E2E Profile 7)
UINT32	Timestamp_Nanoseconds
	Timestamp Nanoseconds.
UINT32	Timestamp_Seconds
	Timestamp Seconds.
UINT8	Timestamp_SyncStatus
	Timestamp Sync Status.
UINT32	EventDataQualifier
	Event Data Qualifier.
UINT8	ExtendedQualifier
	Extended Qualifier.
UINT8	ObjectList_NumOfObjects
	Number of Objects.
Ars548Object	Objects [50]

Ars548SensorConfiguration

struct Ars548SensorConfiguration

Inheritance diagram for Ars548SensorConfiguration:

Data Fields
FLOAT32	Longitudinal
	Longitudinal sensor position (AUTOSAR)
FLOAT32	Lateral
	Lateral sensor position (AUTOSAR)
FLOAT32	Vertical
	Vertical sensor position (AUTOSAR)
FLOAT32	Yaw
	Sensor yaw angle (AUTOSAR)
FLOAT32	Pitch
	Sensor pitch angle (AUTOSAR)
UINT8	PlugOrientation
	Orientation of plug.
FLOAT32	Length
	Vehicle length.
FLOAT32	Width
	Vehicle width.
FLOAT32	Height
	Vehicle height.
FLOAT32	Wheelbase
	Vehicle wheelbase.
UINT16	MaximumDistance
	Maximum detection distance.
UINT8	FrequencySlot
	Center frequency (if MaximumDistance < 190 m only Mid can be selected)
UINT8	CycleTime
	Cycle time.
UINT8	TimeSlot
	Cycle offset.
UINT8	HCC
	Country code.
UINT8	Powersave_Standstill
	Power saving in standstill.
UINT32	SensorIPAddress_0
	Sensor IP address.
UINT32	SensorIPAddress_1
	Reserved.
UINT8	NewSensorMounting
	Flag if new sensor mounting position shall be configured.
UINT8	NewVehicleParameters
	Flag if new vehicle parameters position shall be configured.
UINT8	NewRadarParameters
	Flag if new radar parameter shall be configured.
UINT8	NewNetworkConfiguration
	Flag if new IP address shall be configured.

Ars548FilterConfigEntry

struct Ars548FilterConfigEntry

Data Fields
UINT8	Active
	Flag to activate/deactivate filter (0=Inactive; 1=Active)
UINT8	FilterID
	Filter data index (1-7 for Detection filters; 1-24 for Object filters)
UINT8	FilterType
	Filter type (1=Detections; 2=Objects)
FLOAT32	MinimumValue
	Minimum data value to pass the filter.
FLOAT32	MaximumValue
	Maximum data value to pass the filter.

Ars548FilterConfiguration

struct Ars548FilterConfiguration

Inheritance diagram for Ars548FilterConfiguration:

Data Fields
UINT8	DetectionSortIndex
	Detection list sorting index (0=None; 1=Range; 2=RCS)
UINT8	ObjectSortIndex
	Object list sorting index (0=None; 1=Range; 2=RCS)
UINT8	FilterReset
	Reset all filters (0=Ignore; 1=Reset)
UINT8	NumberOfFilters
	Number of filters to follow.
Ars548FilterConfigEntry	Filter [7+24]