CAN Communication BMW FXX ICM <=> ACC / Radar

Hello everyone,

I have a Continental ARS3B radar sensor for a BMW F30/31.

I would like to access this one manually.
Continental offers a free version of the radar with documented protocols (ARS308 - http://www.conti-online.com/www/download/industrial_sensors_de_de/themes/download/1can_ars308_2c_tech_docu_v1_25_2012_08_03.pdf).



Now I have connected the radar to a microcontroller (don't forget the termination!), and I have performed some evaluations.

I was able to decode several messages (Motorola byte order!).

0x70A (~ /20ms): 6 bytes - Configuration bits 1-4, counter bits 5-6.
0x72F (~20ms): 10 bits for the distance to the next target (bits 23-32), followed by a counter and checksum calculated from the distance plus the counter.
0x70F (variable): Byte 5, bits 1-3 - Target classification (0 = unknown, 1 = person, 5 = vehicle), signal strength or azimuth angle, or dimensions (in which case it would likely be more than 3 bits).

0x740 - 0x768 (variable): Data records that are sent depending on the environment (targets, speeds, etc.). They likely refer to objects or the radar's antennas.


When sending messages, I found these codes:

0x733: Depending on the data sent, the values are stored during runtime and returned to 0x70A.
0x701: When byte 0 is set to "0x99" and bytes 1-7 are set to "0x00", byte 0 in the distance packets (0x72F) changes from 0x00 to 0x10, and no distances are reported thereafter.


My problem is that the sensor seems to only run in a diagnostic mode, calibration mode, or "standby" mode.

It can only detect stationary objects up to a distance of approximately 8-15 meters, and fast-moving vehicles (relative speed >= 10 m/s) up to a distance of 100 meters.


I would therefore need to know which data the Inertial Measurement Unit (IMU) exchanges with the Attitude Control System (ACS) sensor (initialization, speed/pitch rate, etc.).


Does anyone happen to have a wiring diagram for the connection between the ICM (Ignition Control Module) and the ACC (Automatic Climate Control), specifying pin 15/16 or 32/33 on the ICM, depending on the model year?

Can an Integrated Circuit Module (ICM) be operated in isolation outside of a vehicle, and are CAN codes also known in such cases?

General guidelines for approaching CAN protocol analyses are also welcome, even if the analysis is complex due to its dependence on the environment.

Here's another photo of my "speed camera box."

Greetings,
Florian[/url].