Command Manual

 

Baud= Rate  115200, 1 Stop Bit, No Parity Bit.

Serial Data Format in Byte:  Value = 0x0020  → Send 00 after sending 20   →  “20 00“으로 포맷팅

Command Sequence: Enter command mode → Send Commands or Read Parameters →  Exit command mode.

 

 

No	Command Name	Description
R0101	FW-Version	Reads the radar firmware version number.
R0102	Config-Mode	Enables the radar to enter configuration mode.
R0103	Config-End	Exit configuration mode.
R0104	SN-Read	Reads the radar serial number
R0105	SN-Write	Writes the serial number into the radar
R0106	Register-Read	Reads the register value of the radar.
R0107	Register-Write	Writes the register value of the radar.
R0108	Radar-Parameter-Read	Reads the radar parameters.
R0109	Radar-Parameter-Set	Set the radar parameter values of the radar.
R0110	System-Parameter-Set	Set the system parameter of the radar.

 

 

 

 

 

R0101   FW-Version   Reads the radar firmware version number.

 

Command		FD FC FB FA 02 00 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	02 00	0x0002
Data → CMD-ID	2	00 00
Data → Param. Length	0	NA	Not Assigned
Data → Param1	0	NA	Not Assigned
Data → Param2	0	NA	Not Assigned
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 0C 00 00 01 00 00 06 00 76 31 2E 35 2E 35 04 03 02 01
Header	4	FD FC FB FA
Data Length	12	0C 00	0x000C, Data Length = 12
Data → ACK- ID	2	00 01	0x0100
Data → Cmd Status	2	00 00
Data → Value Length	2	06 00	Length of the version number = 6
Data → Value1	6	76 31 2E 35 2E 35	Version number = v1.1.5
Data → Value2	0	NA
Tailer	4	04 03 02 01

 

 

 

 

R0102   Config-Mode   Enter configuration mode.

All the other commands should be sent after this command, otherwise the command will be invalid.

 

Command		FD FC FB FA 04 00 FF 00 01 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	02 00	0x0002
Data → CMD-ID	2	FF 00
Data → Param. Length	0	N/A	Not Assigned
Data → Param1	0	01 00
Data → Param2	0	NA	Not Assigned
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 08 00 FF 01 00 00 02 00 20 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	08 00
Data → ACK- ID	2	FF 01
Data → ACK Status	2	0000
Data → Value Length	0	NA
Data → Value1	2	02 00	Protocol version = 0x0002
Data → Value2	2	20 00	Buffer size = 0x0020
Tailer	4	04 03 02 01

 

 

 

 

R0103   Config-End   Exit configuration mode.

After successfully conducting this command, the radar will return to normal working mode.

If another radar command needs to be conducted, an Enable Configuration Command needs to be sent beforehand.

 

Command		FD FC FB FA 02 00 FE 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	02 00	0x0002
Data → CMD-ID	2	FE 00
Data → Param. Length	0	N/A
Data → Param1	0	N/A
Data → Param2	0	N/A
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 04 00 FE 01 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	4	04 00
Data → ACK- ID	2	FE 01
Data → Cmd Status	2	00 00
Data → Value Length	0	NA
Data → Value1	0	NA
Data → Value2	0	N/A
Tailer	4	04 03 02 01

 

 

 

 

R0104   SN-Read   Reads the radar serial number.

 

Command		FD FC FB 02 00 11 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	02 00	0x0002
Data → CMD-ID	2	11 00	0x0011
Data → Param. Length	0	N/A
Data → Param1	0	N/A
Data → Param2	0	N/A
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 08 00 1101 00 00 02 00 CD AB 04 03 02 01
Header	4	FD FC FB FA
Data Length	4	08 00
Data → ACK- ID	2	11 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	4	02 00 CD AB
Data → Value2	0	NA
Tailer	4	04 03 02 01

 

 

 

 

R0105   SN-Write    Writes the serial number into the radar

 

Command		FD FC FB 06 00 10 00 02 00 CD AB  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	06 00	0x0002
Data → CMD-ID	2	10 00	0x0011
Data → Param. Length	2	02 00
Data → Param1	2	CD AB	SN = 0xABCD
Data → Param2	0	N/A
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 04 00 10 01 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	4	04 00
Data → ACK- ID	2	10 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	0	NA
Data → Value2	0	NA
Tailer	4	04 03 02 01

 

 

 

 

 

R0106   Register-Read    Reads the register value of the radar.

 

Command		FD FC FB 06 00 02 00 40 00 40 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	06 00	0x0002, Data length depends on N
Data → CMD-ID	2	02 00	0x0011
Data → Param. Length	0	NA
Data → Param1	2	40 00	SOC Address=0x0040
Data → Param2	2 x N	40 00	Address=0x0040, If N=2, write 2 addresses
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 06 00 02 01 00 00 07 02 04 03 02 01
Header	4	FD FC FB FA
Data Length	2(Variable)	06 00
Data → ACK- ID	2	02 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	2 x N	0702	Register Value=0x0207
Data → Value2	0	NA
Tailer	4	04 03 02 01

 

 

Usage 

Command	Command Structure	Remark
Enter to Cmd Mode	FD FC FB FA 04 00 FF 00 01 00 04 03 02 01
<Response	FD FC FB FA 08 00 FF 01 00 00 02 00 20 00 04 03 02 01
Read address=0x0040	FD FC FB FA 06 00 02 00 40 00 40 00  04 03 02 01	Read 1 register
<Response	FD FC FB FA 06 00 02 01 00 00 07 02 04 03 02 01
Read address=0x0041	FD FC FB FA 06 00 02 00 40 00 41 00  04 03 02 01	Read 1 register
<Response	FD FC FB FA 06 00 02 01 00 00 44 C8 04 03 02 01
Read address=0x0040, 0x0041	FD FC FB FA 08 00 02 00 40 00 40 00 41 00 04 03 02 01	Read 2 register
<Response	FD FC FB FA 08 00 02 01 00 00 07 02 44 C8 04 03 02 01	Addr(0x0040)=0x0207, Addr(0x041)=0x04C8
Exit Cmd Mode	FD FC FB FA 02 00 FE 00 04 03 02 01
<Response	FD FC FB FA 04 00 FE 01 00 00 04 03 02 01

 

 

 

 

R0107   Register-Write    Writes the register value of the radar.

 

Command		FD FC FB 08 00 01 00 40 00 40 00 07 42 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	08 00	Data length depends on N
Data → CMD-ID	2	01 00	0x0011
Data → Param. Length	0	NA
Data → Param1	2	40 00	IIC Address=0x0040
Data → Param2	2 x N	40 00	Address=0x0040
Data → Param3	2 x N	07 42	Value=0x4207
Tailer	4	04 03 02 01
Response		FD FC FB FA 04 00 01 01 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	04 00
Data → ACK- ID	2	01 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	0	NA
Data → Value2	0	NA
Tailer	4	04 03 02 01

 

 

Usage 

Command	Command Structure	Remark
Enter to Cmd Mode	FD FC FB FA 04 00 FF 00 01 00 04 03 02 01
<Response	FD FC FB FA 08 00 FF 01 00 00 02 00 20 00 04 03 02 01
Write address=0x0040
<Response
Write address=0x0041
<Response
Write address=0x0040, 0x0041
<Response
Read address=0x0040, 0x0041
<Response
Exit Cmd Mode	FD FC FB FA 02 00 FE 00 04 03 02 01
<Response	FD FC FB FA 04 00 FE 01 00 00 04 03 02 01

 

 

 

 

R0108   Radar-Parameter-Read   Reads the radar parameters.

 

Command		FD FC FB FA 04 00 08 00 01 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	04 00	Data length depends on N
Data → CMD-ID	2	08 00	0x0011
Data → Param. Length	0	NA
Data → Param1	2 x N	01 00	Parameter ID =0x0001, Refer to the below table
Data → Param2	0	NA
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 08 00 08 01 00 00 0C 00 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	08 00
Data → ACK- ID	2	08 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	4 x N	0C 00 00 00	Maximum Gate Number=0x0000 000C=12
Data → Value2	0	NA
Tailer	4	04 03 02 01
Radar Parameter		Parameter ID	Range of Parameter Value
Minimum Range Gate	2	0x0000	0~15(Decimal)
Maximum Range Gate	2	0x0001	0~15(Decimal)
Absence Report Delay	2	0x0004	0~65535, unit s (second)
Trigger Threshold	2	0x0010 ~ 0x001F	0~2^32 – 1, the square of the amplitude
Hold Threshold	2	0x0020 ~ 0x002F	0~2^32 – 1, the square of the amplitude

 

 

Usage –  Read Maximum Range Gate

Command	Command Structure	Remark
Enter to Cmd Mode	FD FC FB FA 04 00 FF 00 01 00 04 03 02 01
<Response	FD FC FB FA 08 00 FF 01 00 00 02 00 20 00 04 03 02 01
Read current value	FD FC FB FA 04 00 08 00 01 00 04 03 02 01	Max Range Gate ID=0x0001
<Response	FD FC FB FA 08 00 08 01 00 00 0C 00 00 00 04 03 02 01	Max Range Gate =0x0000000C=12
Exit Cmd Mode	FD FC FB FA 02 00 FE 00 04 03 02 01
<Response	FD FC FB FA 04 00 FE 01 00 00

 

 

 

 

R0109   Radar-Parameter-Set    Set the radar parameter values of the radar.

 

Command		FD FC FB 08 00 07 00 01 00 0A 00 00 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	08 00	Data length depends on N
Data → CMD-ID	2	07 00	0x0011
Data → Param. Length	0	NA
Data → Param1	2 x N	01 00	Parameter ID =0x0001, Refer to the below table
Data → Param2	4 x N	0A 00 00 00	Parameter Value = 0x0000 000A = 10
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 04 00 07 01 00 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	04 00
Data → ACK- ID	2	07 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	9	NA
Data → Value2	0	NA
Tailer	4	04 03 02 01
Parameter		Parameter ID	Radar Parameter Description
Minimum Range Gate	2	0x0000	0~15(0x01 ~ 0x0F)
Maximum Range Gate	2	0x0001	0~15(0x01 ~ 0x0F)
Absence Report Delay	2	0x0004	0~65535, unit s (second)
Trigger Threshold	2	0x0010 ~ 0x001F	0~2^32 – 1, the square of the amplitude
Hold Threshold	2	0x0020 ~ 0x002F	0~2^32 – 1, the square of the amplitude

 

 

Usage –  Set Maximum Range Gate

Command	Command Structure	Remark
Enter to Cmd Mode	FD FC FB FA 04 00 FF 00 01 00 04 03 02 01
<Response	FD FC FB FA 08 00 FF 01 00 00 02 00 20 00 04 03 02 01
Set Max Range Gate	FD FC FB FA 08 00 07 00 01 00 0C 00 00 00 04 03 02 01	Max Range Gate, ID = 0x0001, Value=0x0000000C That is, Max Range Gate is 12
<Response	FD FC FB FA 04 00 07 01 00 00 04 03 02 01
Check the set value	FD FC FB FA 04 00 08 00 01 00 04 03 02 01	It is can be omit
<Response	FD FC FB FA 08 00 08 01 00 00 0C 00 00 00 04 03 02 01	It is can be omit
Exit Cmd Mode	FD FC FB FA 02 00 FE 00 04 03 02 01
<Response	FD FC FB FA 04 00 FE 01 00 00 04 03 02 01

 

 

Example Usage.

Trigger/Hod Threshold 또는 Range Gate 설정을 통해 어떤 범위안에 있는 사물만을 검출할 수 있도록 설정할 수도 있다.

 

 

 

 

R0110   System-Parameter-Set    Set the system parameter of the radar.

More details, Refer to “Receiving Radar-Report Data” in next chapter.

 

Command		FD FC FB 08 00 12 00 00 00 04 00 00 00  04 03 02 01
Header	4	FD FC FB FA
Data Length	2	08 00	Data length depends on N
Data → CMD-ID	2	12 00	0x0011
Data → Param. Length	0	NA
Data → Param1	2 x N	00 00	0x0000 = Working Mode, Refer to the below table
Data → Param2	4 x N	04 00 00 00	0x0000 0004 = Reporting Mode, Refer to the below table
Data → Param3	0	NA
Tailer	4	04 03 02 01
Response		FD FC FB FA 04 00 12 01 00 00 04 03 02 01
Header	4	FD FC FB FA
Data Length	2	04 00
Data → ACK- ID	2	12 01
Data → ACK Status	2	00 00
Data → Value Length	0	NA
Data → Value1	0	NA
Data → Value2	0	NA
Tailer	4	04 03 02 01
Parameter		Value	Working Mode Parameter Description
Debugging Mode	4	0x0000 0000	FD FC FB FA 08 00 12 00 00 00 00 00 00 00 04 03 02 01
Reporting Mode	4	0x0000 0004	FD FC FB FA 08 00 12 00 00 00 04 00 00 00 04 03 02 01
Normal Working Mode	4	0x0000 0064	FD FC FB FA 08 00 12 00 00 00 64 00 00 00 04 03 02 01

 

 

Usage

Command	Command	Remark
Debugging Mode	FD FC FB FA 08 00 12 00 00 00 00 00 00 00 04 03 02 01	Report in Debugging Mode
Reporting Mode	FD FC FB FA 08 00 12 00 00 00 04 00 00 00 04 03 02 01	Report in Reporting Mode
Normal Working Mode	FD FC FB FA 08 00 12 00 00 00 64 00 00 00 04 03 02 01	Report in Normal Working Mode