Parameter Set¶
The USBoard-USS5 uses a parameter set which allows a custom configuration. The graphical user interface can be used to easily manipulate the board’s settings, store them on the host computer’s hard drive, write them to the EEPROM on the USBoard-USS5 or read the current values from the board.
The parameter set consists of 54 bytes as described below.
Note
Several features affect groups of sensors. In these cases group 0 contains sensors 1 to 4, group 1 contains sensors 5 to 8 and so on.
- Byte 0
CAN baud rate
0 1000 kBaud (default) 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud - Bytes 1-4
CAN base address (default
0x400), calculated as follows:(byte_4 << 24) | (byte_3 << 16) | (byte_2 << 8) | byte_1
- Byte 5
Flags as bitmask
Bit Meaning 0 Enable CAN extended id (default 0) 1 Enable CAN termination of USBoard-USS5-IP (default 0) 2 Enable analog input (default 0) 3 Enable legacy data format (default 0) 4 Warning relay blocked mode (default 0) (see Configuration) 5 Alarm relay blocked mode (default 0) (see Configuration) In legacy mode, the data format is the same as the previous version of the USBoard, compatible to RelayBoardV2. This only affects continous transmission mode.
- Byte 6
Bits 0 to 3 encode the transmission mode for measurement data.
0 Send on request 1 Send continously via CAN 2 Send continously via USB / RS-232 3 Send continously via CAN and USB / RS-232 Bits 4 to 7 select which group will send measured data (bit 4 for group 0, bit 5 for group 1 and so on). If all bits are set to 0, all groups will send.
Default is
0xF0, i.e. all groups transmit on request.- Byte 7
Bits 0 to 3 encode the transmission interval when sending continously.
0 0.5 s 1 1.0 s 2 2.0 s 3 0.2 s 15 custom Bits 4 to 7 encode a custom transmission interval in 50 ms increments (0 for 50 ms, 1 for 100 ms and so on).
- Byte 8
Sensors 1 to 8 active, bit coded. Default is
0xFF, i.e. all active.Deactivated sensors do not send ultrasonic pulses. Deactivating sensor channels that are not in use reduces the overall cycle time.
- Byte 9
Sensors 9 to 16 active, bit coded. Default is
0xFF, i.e. all active.Deactivated sensors do not send ultrasonic pulses. Deactivating sensor channels that are not in use reduces the overall cycle time.
- Bytes 10-25
- Warning distances of sensors 1-16, in cm. Default is 100 cm.
- Bytes 26-41
- Alarm distances of sensors 1-16, in cm. Default is 30 cm.
- Byte 42
Sensor resolution, 2 bits per group
0 1 cm 1 0.5 cm (default) 2 0.25 cm 3 0.125 cm - Byte 43
- Enable cross echo mode, one bit per group. Default is 0.
- Byte 44
- Cross echo configuration, 2 bits per group denoting the sending sensor (0 to 3). Default is 0, i.e. the first sensor in the group.
- Bytes 45-46
- Fire interval in increments of 10 ms, 4 bits per group (0 for 10 ms, 1 for 20 ms and so on). Default is 20 ms.
- Byte 47
- Low-pass filter gain (see below) for distance measurements, in 0.0078125 increments. Default is 128, i.e. gain 1, filtering disabled.
- Byte 48
- Reserved, set to arbitrary values when sending.
- Byte 49
Hardware version, read only.
20 USBoard-USS5 V1.0.0 21 USBoard-USS5 V1.0.1 200 USBoard-USS5-IP V1.0.0 201 USBoard-USS5-IP V1.0.1 - Bytes 50-53
Serial number, read only.
(In USBoard V1, only bytes 51-53 are used.)
The low pass filter feature can be used smoothen the measurements and to prevent single, potentially faulty, readings from immediately switching the relays. Each new measurement of a sensor is added to the output value according to the filter’s weight.
A setting of 0.3 means that the output is calculated from 70% of the previous output value and 30% of the new measurement.
A setting of 1.0 means that each new measurement is directly used as output value while the old value is discarded, in effect deactivating the filter.