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For more information on Google Protocol Buffers please see reference https://developers.google.com/protocol-buffers/. Navtech can provide Protobuf message files on request.
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All network data is sent in Network Order i.e. big-endian. |
Contents
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FIeld | Type [Size] | Description |
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Model | string | Customer friendly model name |
MAC Address | string | Networking MAC Address |
Service Date | uint32_t [4] | The date the last service was completed |
Software Version Numbers | SoftwareVersion PB Message | Collection of software version numbers |
NVRAM Contents | NVRAM PB Message | Contents of NVRAM, including radar serial number |
Range Resolution Hz | float | Resolution of each bin in Hz |
Module Serial Number | string | Processing Module Serial Number |
Auto Tune Value | int16_t [2] | Current Auto Tune Value |
Radar Unique Id | string (Guid) | Radar's Unique Id |
Data Width | int32 | 1 for 8-bit 2 for 16-bit |
Range Resolution Metres | float | Range of each bin in metres |
Radar Feature Flag | uint32 | Feature Flag bit field 1 = AutoTune, 2 = Secondary Processing Module Present |
Staring Mode | int32 | Boolean to represent staring mode enabled on radar |
On-Board MAC Address | string | On-Board Networking MAC Address - 00:00:00:00:00:00 indicates no module |
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Converting Bins to Range (m) This information can be used to calculate the range of the radar in metres and also when receiving FFT data the range of each bin can be calculated. The following algorithm should be used: Range = Range In Bins * Range Resolution (m) i.e. 3768 * 0.175 = 659.4 m (This radar has a total range of 659.4 m) Range of single bin = Bin Number * Range Resolution (m) i.e. 100 * 0.175 = 17.5 m (Bin 100 is 17.5 m from the radar) |
Configuration Request Message
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Field | Type [Size] | Description |
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FFT Data Offset | uint16_t [2] | The offset from the start of the payload where the FTT data starts. In this version the value will be 14 – the FFT starts at the 15th byte |
Sweep Counter | uint16_t [2] | A counter that increments on each packet sent from the radar. The value will rollover once the maximum type size has been reached |
Azimuth | uint16_t [2] | The azimuth at which this sample of FFT data was taken |
Seconds | uint32_t [4] | Total number of seconds since the synchronised Epoch |
Split Seconds | uint32_t [4] | Part seconds. This value rolls over each second |
FFT Data | uint8_t [n] | Variable length byte array of amplitude data per range bin (If high precision then two bytes represent one bin) |
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Azimuth to Bearing Algorithm To convert from an azimuth to bearing you can use the following algorithm, utilising information from the configuration message: Bearing = (Azimuth / Encoder Size) * 360 i.e. (2800 / 5600) * 360 = 180° This bearing is relative to the Zero/North point of the radar, for CDR/CIR radars this is a line perpendicular to the flat part of the base |
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For HDR units this point is the line running from the rear hole to the middle hole of the three on the base of the radar |
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Navigation Data Message
The Navigation Data message contains the targets found for an azimuth that were above the threshold. The packet consists of 3 fixed length fields and a variable length byte array containing target information. The size of this message body is specified by the payload size field in the header. The Navigation Pairs Data length can be calculated by subtracting the fixed length field sizes from the overall payload size (i.e. Payload Size – 10 bytes). Navigation Data messages need to be switched on before they are sent. Once activated, Navigation Data messages will be sent continuously for each sampled azimuth. Navigation data will continue to be sent until the radar receives a message to stop. Clients should honour this mechanism and, where possible, send the radar a stop message before disconnecting.
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The log levels get and get messages enable a user to get the logging levels and set the logging levels of the radar software. The LoggingLevelRequest message is an empty payload message, the radar will respond with a LoggingLevel message that contains a Protocol Buffer object which is a list of Log Levels. The get log levels payload is a Protocol Buffer serialised byte array. In order to de-serialise the message the client will need to use the Google library as described in reference: https://developers.google.com/protocol-buffers/.
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Version 2 Hardware Only |
Log Levels Structure
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Log Levels Buffer Payload
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