# Integrating CAN-based radar in DriveWorks

**URL:** <https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744>\
**Category:** DRIVE AGX Xavier General\
**Tags:** driveworks-radar, can-bus, radar-plugin\
**Created:** [February 5, 2021, 1:35pm UTC](https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744 "2021-02-05T13:35:31Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![eunow](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@eunow](https://forums.developer.nvidia.com/u/eunow)\
**Post date:** [February 5, 2021, 1:35pm UTC](https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744/1 "2021-02-05T13:35:31Z")

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Please provide the following info:  
 DRIVE OS Linux 5.2.0 and DriveWorks 3.5  
 NVIDIA DRIVE™ Software 10.0 (Linux)  
**Target Operating System**  
 Linux  
**Hardware Platform**  
 NVIDIA DRIVE™ AGX Xavier DevKit (E3550)  
**SDK Manager Version**  
 1.4.0.7363  
**Host Machine Version**  
 native Ubuntu 18.04

Hey,  
I have a can-based radar, is it posible to use it with DriveWorks?  
Do I have to implement a custom radar plugin with Comprehensive Sensor Plugin Framework, or is this Framework only for ethernet-based radar?

Can you provide a template radar implementation or can you say what I have to implement?

Best regards.

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**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\
**Post date:** [February 8, 2021, 3:08am UTC](https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744/3 "2021-02-08T03:08:30Z")

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Dear @eunow ,  
Could you check if your Radar is in natively supported list given at [DRIVE Ecosystem - Hardware and Software | NVIDIA Developer](https://developer.nvidia.com/drive/ecosystem-hw-sw).  
For custom plugin implementation, can you check [DriveWorks SDK Reference: Custom Radars (Comprehensive)](https://docs.nvidia.com/drive/driveworks-3.5/sensorplugins_radarsensor.html) to know list of APIs to be implemented.

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**Author:** ![eunow](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@eunow](https://forums.developer.nvidia.com/u/eunow)\
**Post date:** [February 16, 2021, 2:48pm UTC](https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744/4 "2021-02-16T14:48:38Z")

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Thank you for your reply. My Sensor is not supported out of the box.  
I’ve read the documentation and have some questions:

1. Which functions do I have to implement in which order?
2. Do I have to implement the DriveWorks User API or Plugin API?
3. Is a Template available?
4. Do I have to implement function defined in Common Interface or Radar Plugin? Or both?

Then i found the file “CUSTOM LIDAR/RADAR INTEGRATION WITH DRIVEWORKS SDK” there is an Example code file SAL\_Radar\_plugin\_template.c: and a Example header file SAL\_Radar\_plugin\_template.h. Can I use them or are they only for the ip protool? And do they differ from the documenation Custom Radars (comprehensive)?

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**Author:** ![TomNVIDIA](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/tomnvidia/32/14181_2.png) [@TomNVIDIA](https://forums.developer.nvidia.com/u/TomNVIDIA)\
**Post date:** [October 12, 2021, 8:04pm UTC](https://forums.developer.nvidia.com/t/integrating-can-based-radar-in-driveworks/167744/6 "2021-10-12T20:04:10Z")

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