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Command Manual

 

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

Serial Data Format in Byte:  Value = 0x002 → 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 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    

 

 

 

 

 

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  

 

 

 

 

 

 

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