Collision Avoidance System CAS-M 3 EVO
ManualVersion 1.2 28/03/2024

Content

Content
1 System Overview .............................................................................................................................................................

4

2 Technical Data .................................................................................................................................................................

5

2.1

Installation Notes .................................................................................................................................................................................................

7

2.2

Safety notes............................................................................................................................................................................................................

8

3 Mechanical Drawing .......................................................................................................................................................

9

4 Installation Guide ............................................................................................................................................................

10

4.1

Rear Module Installation ...................................................................................................................................................................................

10

5 Quick Start Guide ............................................................................................................................................................

11

5.1

Integration ..............................................................................................................................................................................................................

11

5.2

Assign yaw rate and speed input signals....................................................................................................................................................

11

6 Input Signals ....................................................................................................................................................................

12

6.1

Yaw rate ...................................................................................................................................................................................................................

12

6.2

Vehicle speed.........................................................................................................................................................................................................

12

6.3

Default values ........................................................................................................................................................................................................

12

6.4

MRR Signals Testmode ......................................................................................................................................................................................

13

7 Project Configuration .....................................................................................................................................................

14

7.1

Math Channels ......................................................................................................................................................................................................

14

7.2

Conditional Functions.........................................................................................................................................................................................

15

7.3

Conditional Channels..........................................................................................................................................................................................

17

7.4

Condition Combination .....................................................................................................................................................................................

19

7.5

Display Switch Module.......................................................................................................................................................................................

21

7.6

Timer Module ........................................................................................................................................................................................................

22

7.7

GPS Trigger Module............................................................................................................................................................................................

22

7.8

CPU Load Limits....................................................................................................................................................................................................

24

8 Display Configuration.....................................................................................................................................................

25

8.1

Overtake Warning ................................................................................................................................................................................................

25

8.2

Vehicle Markings ..................................................................................................................................................................................................

26

8.3

Side gauges ............................................................................................................................................................................................................

27

8.4

Own Vehicle Information ..................................................................................................................................................................................

28

8.5

Camera Temperature Warning .......................................................................................................................................................................

28

8.6

LEDs ...........................................................................................................................................................................................................................

28

8.7

Display + LED brightness ..................................................................................................................................................................................

33

9 CAN Configuration..........................................................................................................................................................

35

9.1

CAN Bus Trivia .......................................................................................................................................................................................................

35

9.2

CAN input................................................................................................................................................................................................................

36

9.3

CAN output.............................................................................................................................................................................................................

42

9.4

Multiplexer..............................................................................................................................................................................................................

45

10 System Messages and Troubleshooting .......................................................................................................................

48

10.1 Camera status messages casm_cameraStatus ..........................................................................................................................................

48

10.2 Radar status messages casm_radarStatus ..................................................................................................................................................

49

11 CAS-M 3 Signals ..............................................................................................................................................................

50

11.1 Main Signals - Function CASM_Main ...........................................................................................................................................................

50

11.2 Radar Signals - Function CASM_Radar ........................................................................................................................................................

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Content

11.3 Camera debug Signals - Function CASM_Camera_debug ...................................................................................................................

51

11.4 Radar debug Signals - Function CASM_Radar_debug...........................................................................................................................

51

12 Firmware ..........................................................................................................................................................................

52

12.1 Firmware and configuration.............................................................................................................................................................................

52

12.2 Firmware update...................................................................................................................................................................................................

52

13 RaceCon Shortcuts ..........................................................................................................................................................

53

14 Disposal ............................................................................................................................................................................

54

15 Order numbers and accessories.....................................................................................................................................

55

16 Legal .................................................................................................................................................................................

56

16.1 Legal Restrictions of Sale ..................................................................................................................................................................................

56

16.2 Open Source Software (OSS) Declaration for the Camera of the Rear Module ..........................................................................

56

16.3 Open Source Software (OSS) Declaration for the Display....................................................................................................................

59

16.4 Radar Sensor ..........................................................................................................................................................................................................

75

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1 | System Overview

1 System Overview
The Collision Avoidance System CAS-M 3 EVO features a Bosch mid-range radar sensor
for a wider field of view in close-up range, a high-performance Bosch Motorsport display
for fast video processing and a fast response high definition camera.
The CAS-M 3 EVO system provides real time visualization and warns the driver about approaching or overtaking cars via intuitive marking of the cars on the display. It helps prevent the most common collisions and allows drivers to focus on the race. With a momentary glance, the driver can tell how many cars are following and their classification depending on distance and relative speed. The radar tracks up to 40 objects and marks up to 4
objects on the display. In addition, bright flashing LEDs alert the driver when any car attempts a passing maneuver. All of these features work at night or in the rain when visibility is typically poor. Furthermore, the real time gap of a marked object is measured andcan be provided over CAN or Ethernet.
The CAS-M 3 EVO system is fully integrated in the Bosch Motorsport Tool environmentand can be configured with RaceCon.
More performance for the overall system
The CAS-M 3 EVO display is a multifunctional device incorporating the same processing
power as our top of the range DDU 10 display. This powerful addition to the System ismore than just a dumb screen! The additional computing power allows tasks to be shiftedfrom other devices or to increase the overall system performance by implementing tasks(e.g. math channels, macros, conditional channels or CAN message generation) in the
CAS-M 3 EVO display.

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Bosch MotorsportTechnical Data | 2

2 Technical Data
Application
Range

95 m

Horizontal field of viewRadar

85° from 0 to 29 m
70° from 29 to 46 m
50° from 46 to 73 m
42° from 73 to 78 m
20° from 78 to 95 m

Camera78°

Number of tracked objects

Max. 40

Number of displayed classified objects

Max. 4

Display format

7’’

Display resolution

800 x 480 pixel

User configurable CAN in/out messages
User configurable LEDs

Mechanical Data
Display UnitSize

198 x 134 x 35 mm

Weight

830 g

Protection Classification

IP67

Operating temperature internal-20 to 85°C

Max. vibration

Vibration profile 1 (see Downloads or
www.bosch-motorsport.com)

Rear ModuleSize

120 x 150 x 115 mm

Weight

880 g

Protection classification

IP67

Operating temperature

0 to 70°C (rearview camera internal temperature*)

Max. vibration

Vibration profile 1 (See Downloads or
www.bosch-motorsport.com)*If the temperature limit is reached, forced air cooling of the camera is recommended.

Electrical Data
Supply voltage (Display and Rear Unit)

6 to 18 V

Current consumption

Bosch Motorsport

Display Unit

2 A (at 12 V)

Rear Module

0.7 A (at 12 V)

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2 | Technical Data

Communication
Display Unit
CAN

1x private CAN for radar,
1x CAN

Ethernet

1x private 1GBase-T Ethernet for camera,
1x 100Base-T Ethernet

Time sync synchronization Ethernet

1

Rear Module
CAN

1x private CAN for radar

Ethernet

1x private 1GBase-T Ethernet for camera

Software Tools (free download)
Data analysis tool

WinDarab 7 Light

System configuration tool

RaceConConnectors and Wires
Display Unit
Motorsport connector on device

AS212-35PN

Mating connector AS612-35SN

F02U.000.443-01

Rear Module
Motorsport connector on device

AS212-35PN

Mating connector AS612-35SN

F02U.000.443-01

Pin Configuration
Display Unit

Rear Module for Vehicle Harness

Pin No.

Pin No.

1

GigEthernet_TR3_N (private Eth camera 14
PEC)

2

GigEthernet_TR3_P (PEC)

1

3

GigEthernet_TR2_N (PEC)

2

4

GigEthernet_TR2_P (PEC)

3

5

GigEthernet_TR1_N (PEC)

4

6

GigEthernet_TR1_P (PEC)

5

7

GigEthernet_TR0_N (PEC)

6

8

GigEthernet_TR0_P (PEC)7

9Ethernet_TXP

n/a - Connect to Bosch System Ethernet
BSE

10

Ethernet_RXP

n/a - Connect to BSE

11

Ethernet_RXN

n/a - Connect to BSE

12

CAN_High_Vehicle

n/a - Connect to Bosch System CAN

13+12 V KL30

n/a - Connect to Vehicle System Power
VSP

14

6 / 88+12 V KL15

Collision_Avoidance_System_CAS-M_3_EVO_Manualn/a - Connect to VSP

Bosch MotorsportTechnical Data | 2

15

GND KL31

n/a - Connect to VSP16

GND KL31

n/a - Connect to VSP

17

Time_Sync

n/a – Connect Display to Bosch Logging
System Time Sync

18

ETH_Screen

n/a - Connect to BSE

19

Ethernet_TXN

n/a - Connect to BSE

20

CAN Low Vehicle

n/a - Connect to Bosch System CAN

21

CAN High Radar (private CAN radar

11

PCR)
22

CAN Low Radar (PCR)

12

Rear Module

Display Unit for Vehicle Harness

1

2

GigEthernet_TR3_P (private Eth camera
PEC)

2

GigEthernet_TR2_N (PEC)

3

3

GigEthernet_TR2_P (PEC)

4

4

GigEthernet_TR1_N (PEC)

5

5

GigEthernet_TR1_P (PEC)

6

6

GigEthernet_TR0_N (PEC

7

7

GigEthernet_TR0_P (PEC)88+12 V Ubat

n/a - Connect to VSP

9+12 V Ubat

n/a - Connect to VSP

10+12 V Ubat (opt. to display)

13 (opt. if KL30 not connected)

11

CAN High Radar (PCR)

21

12

CAN Low Radar (PCR)

22

13

n.c.

14

GigEthernet_TR3_N (PEC)

15

GigEthernet Screen

16

n.c.

17

CAN Screen

18

GND

19

+12 V Ubat (opt. to display)

13 (opt. if KL30 not connected)

20

GND

n/a - Connect to VSP

21

GND (opt. to display)

15 (opt. if KL31 not connected)

22

GND (opt. to display)

15 (opt. if KL31 not connected)

1n/c

2.1 Installation Notes
The rear unit must be mounted 90° to the vehicles vertical and horizontal axis and within± 200 mm of the vehicle lateral centerline.
Mounting distance of radar over ground: 300 to 1,000 mm

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2 | Technical Data

To achieve the expected performance from the radar sensor, it must have a clear and unobstructed view. There should be no material over the radar sensor and the sensor
should be allowed a clear 180 degree field of view.
Consider the maximum vibration limits for the mounting position of the rear module.
The system is approved referred to vibration profile 1, see www.bosch-motorsport.com.
Check the radar sensor for travel inside the radar bracket. In this case, remove the radar
sensor and check the locking pins at both sides of the sensor. Due to vibrations, thesepins can be deformed. Exceeding travel of the sensor can damage the electric contacts.
The system needs yaw rate and vehicle speed information.
Cat 6 A standard for Gigabit Ethernet.
This product may contain open source software. Information about license terms andother obligations is given in the manual.
For the private CAN network between display and rear module, no termination resistor isneeded in the wiring harness. There are pre-installed termination resistors in the radar
sensor and the display.

2.2 Safety notes
WARNING

It is not permitted to use the system as mirror replacement.

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Bosch MotorsportMechanical Drawing | 3

3 Mechanical Drawing

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4 | Installation Guide

4 Installation Guide
4.1 Rear Module Installation
An individual concept for each car mounting situation must be developed by the car manufacturer. The following mounting restrictions must be fulfilled to secure a proper functionof the system.
– The rear unit must be mounted 90° to the vehicles vertical and horizontal axis andwithin ±200 mm of the vehicle lateral centerline.
– Radar sensor mounting height from 300 mm to 1,000 mm above the ground.
– It is critical that the radar sensor has an unobstructed (or radar-transparent) view out
the rear of the vehicle. Mounting without any material in front of the sensor is optimal. If it must be mounted behind material, the plane in front of the sensor surface
must be free of conductive materials (e.g. a thin layer of vinyl, fiberglass, or Kevlar).
The distance between sensor and surface depends on the material used and should
be approximately 5 mm.
– The radome design of the CAS-M 3 EVO radar sensor is chosen to minimize detrimental absorption effects on the sensor’s performance due to water droplets or filmon the radome surface.
– During operation, it must be ensured that a minimum distance of 6 cm is kept
between the radar sensor and humans and animals to adhere to the safety levels withrespect to human exposure to electromagnetic fields (cf. IEEE Std C95.1-2005 or
1999/519/EC). This 6 cm distance is related to continuous exposure. If the 6 cm distance is undercut, an averaged exposure time of 42 seconds has to be considered. In
this 42 s averaging period, a maximum exposure time to the radar beam of 4 s has tobe adhered to. The minimum distance of 6 cm is smaller than the minimal distancethe radar sensor can measure. Therefore, a function violating the minimum distancecannot be realized. Thus, this exposure limit does not impose functional limitations.
– Consider the maximum vibration limits for the mounting position of the rear module.
The system is approved up to Bosch Motorsport vibration profile 1 (see Bosch
Motorsport catalog appendix for more information).
– The camera and radar sensor cannot be removed from the housing and separated
from one another.

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Quick Start Guide | 5

5 Quick Start Guide
5.1 Integration
Integrate and connect the system as described in sections ”Pin Layout” and “Rear Module
Installation [} 10]”.

5.2 Assign yaw rate and speed input signals
Power on the system and connect it with RaceCon. Go to the “Display” sheet and switch to
the “Settings” page.

Choose the inputs for Vehicle speed and Yaw rate. If you use CAN signals, you need todefine the messages on the CAN input first.
For further information see section “CAN input [} 36]”.
Now the system is ready to use with the predefined default settings. To adapt these settings to your needs, please see section “Display Configuration [} 25]”.

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6 | Input Signals

6 Input Signals
The system needs yaw rate and vehicle speed information for the object motion estimation. Vehicle coordinate system according to DIN 70000.

6.1 Yaw rate
Minimum resolution

0.005°/s

Minimum refresh rate (CAN)

50 Hz

Assign the yaw rate input channel at the display settings page:

6.2 Vehicle speed
Minimum resolution

0.1 km/h

Minimum refresh rate (CAN)

50 Hz

Assign the vehicle speed input channel at the display settings page:

6.3 Default values
When receiving vehicle speed or yaw rate via CAN, care should be taken to configure signal time-outs and default values. These default values should then be reflected in the calibration parameters MRR_EGOVEHSPEED_INVLD and MRR_YAWRATE_INVLD to allow thesystem to detect and react correctly to signal losses.

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Bosch MotorsportInput Signals | 6

6.4 MRR Signals Testmode

Value

Valid data

Default

CASM_TESTMODE

On/OffOff

Add test mode to display current MRR signals (vehicle speed and yaw rate) on the CASM3 display for the first implementation

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7 | Project Configuration

7 Project Configuration
7.1 Math Channels– Arithmetic and logical operations on up to 4 measurement channel(s)– Numerical result– Result can be used as input source for various display elements (numeric elements,
alarms, bargraphs) and further calculations in the whole RaceCon project

Creating a new Math Channel
1.

Follow the steps shown in the screenshot. The “Create/edit math channel” window appears.

1st: Double-click on"Math Channels" in
the Project tree

2nd: Click on"Add channel"

2.

Define the math channel using the following configuration possibilities:

a)
b)
c)

d)

f)

e)

g)

h)

a) Enter the name of the math channel.
b) Enter a description of the math channel.
c) Enter the formula.
d) Select the logical operator.
e) Choose a measurement channel.
f) Define a value that can be used as a constant in the formula.
g) Choose a function.
h) Describes the function selected above.

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Bosch MotorsportProject Configuration | 7

Click ‘Finish’ when done. The math channel is displayed in the math channel window.

7.2 Conditional Functions– Arithmetic and logical operations on one or more measurement channel(s)– If-Else structure with reset– Numerical result– Result can be used as input source for various display elements (numeric elements,
alarms, bargraphs) and further calculations in the whole RaceCon project.
All math and conditional channels can be used globally in the whole RaceCon project.

Creating a new Conditional Function
1.

Follow the steps shown in the screenshot. The “create/edit math channel” window appears.

1st: Double-click on"Math Channels"
in Project Tree
2nd: Click on
the dropdown
arrow beside'Add channel'
3rd: Choose'Conditional
function...'2.

Define the math channel using the following configuration possibilities:

a)
b)

d)

c)

e)

a) Enter the name of the conditional function.
b) Enter the If-condition. Click pencil symbol to open an editor to enter expressions.
c) Enter the Then-condition. Click pencil symbol to open an editor to enter expressions.
d) Enter the Otherwise-condition. Click pencil symbol to open an editor to enter expressions.
e) Enter the reset value (must be a number).
Click ‘Finish’ when done.

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7 | Project Configuration

The conditional function works the following way:
The program always calculates the condition entered in the IF window and checks if thecondition is TRUE or FALSE.
If the condition entered in the IF window is TRUE, the program calculates the condition
entered in the THEN window. The returned value is the content of the new variable(entered in “Name”).
If the condition entered in the IF window is FALSE, the program calculates the condition
entered in the OTHERWISE window. The returned value is the content of the new variable(entered in “Name”).
The reset value is always set for the new variable (entered in “Name”):– before the If-condition becomes TRUE for the first time after power-up– when the If-condition changes state from FALSE to TRUE.
An example of a condition to set up the maximum front brake pressure is given on thenext page.
The conditional function is displayed in the CAS-M 3 EVO math channel window.

Example: Setting up a condition for maximum front brake pressure
Brake pressure ‘front p_br_front’
Brake pressure front p_br_front
40
30
20
10
Condition ‘p_br_front > 20’
Time
Max brake pressure of the variable ‘front p_br_front_mx’
40
30
20
10

Time
Reset
value
is used

Hold
max.
value

ThresholdreachedFollowmax.
value
Hold max.
value

Reset
value
is usedHold max.
value– At power-up, the reset value (10) is used for ‘p_br_front_mx’.

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Bosch MotorsportProject Configuration | 7– ‘p_br_front’ rises to 30. As ‘p_br_front’ is > 20 (condition is TRUE), the condition ‘max
(p_br_front, p_br_front_mx)’ in the THEN window is triggered. The condition sets thebigger value as new value for ‘p_br_front_mx’. As ‘p_br_front’ (30) is bigger than‘p_br_front_mx’ (10), the new value for ‘p_br_front_mx’ is set to 30.
– Although ‘p_br_front’ falls to 25, the value of ‘p_br_front_mx’ stays 30. This is causedby the THEN-condition, because p_br_front_mx’ (30) is still bigger than p_br_front’(25).
– ‘p_br_front’ rises to 40. As ‘p_br_front’ (40) is bigger than ‘p_br_front_mx’ (30), the newvalue for ‘p_br_front_mx’ is set to 40.
– As ‘p_br_front’ falls below 20, the IF-condition turns to FALSE. Now the OTHERWISEcondition is triggered. Because the condition ‘p_br_front_mx’ sets the value of‘p_br_front_mx’ and the value is already set to 40, nothing changes.
– When ‘p_br_front’ rises to 40, the IF-condition changes to TRUE again and triggers the
THEN-condition. Now the reset value (10) is used for ‘p_br_front_mx’ in the THENcondition.
– The new value of ‘p_br_front_mx’ is 40 because 40 is bigger than 10.

7.3 Conditional Channels– Logical operations on measurement channel(s)– If-Else structure with reset– Logical result– Result can be used as input source for alarm display elements and further calculationsin the whole RaceCon project.

Creating a new Conditional Channel
1.

Follow the steps shown in the screenshot. The “Create/edit condition” window appears.

2.

Bosch Motorsport

Define the condition channel, using the following configuration possibilities:

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7 | Project Configuration

a)
b)

c)

d)
e)

f)

a) Enter the name of the conditional channel.
b) Select the comparing mode:– Constant: Compare a measurement channel with a constant value.
– Channel: Compare a measurement channel with a measurement channel.
– Range: Compare a measurement channel with a defined value range.
– Multiple: Compare a measurement channel with up to 5 constant values.
c) Depending on the chosen comparing mode, you can enter the following values:– Constant: Choose the measurement channel or condition, the operator and enter thevalue of the channel.
– Channel: Choose the measurement channel or condition, the operator and the measurement channel or condition to be compared.
– Range: Choose the measurement channel or condition, the operator and define theminium and maximum value.
– Multiple: Choose the measurement channel or condition, the operator and enter thevalue of up to 5 constants.
d) Enter the minimal time to detect the signal of the measurement channel, to avoid highfrequent switchovers.
e) Enter the time by which the signal of the measuring channel is delayed after its end.
f) Choose the output setting of the result.
– Constant TRUE/FALSE: Result is as a constant with the value TRUE or FALSE.
– Blinking: Result is a blinking, if the condition is fulfilled.
– Pulse: Result is a short one-time pulse, if the condition is fulfilled.
– Toggling output: Result is a pulse that lasts until the next condition is fulfilled.
– Click ‘Ok’ when done. The conditional channel is displayed in the CAS-M 3 EVO condition channel window.

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Bosch MotorsportProject Configuration | 7

7.4 Condition Combination– Combination of several (up to 16) conditional channels for more complex calculations– Logical results– All conditions can be used globally in the whole CAS-M 3 EVO project.

Creating a new Condition Combination
Follow the steps shown in the screenshot.

The ”Create/edit condition combination” window appears. Define the condition combination, using the following configuration possibilities:a) Enter the name of the condition combination.
b) Create the condition combination in the window.
– Choose a channel (condition, conditional function, math, measurement channel withbinary values) to be compared.
– Combine multiple conditions, by adding 'AND' or 'OR' relations.
– To negate a condition, click with the right mouse-button on the condition and select'Negation (!)'.
– Combine several (up to 16) conditions.
Click ‘Next’ to go to the next page. Choose the output setting of the result:

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7 | Project Configuration– Constant TRUE/FALSE: Result is as a constant with the value TRUE or FALSE.
– Blinking: Result is a blinking, if the condition is fulfilled.
– Pulsing: Result is a short one-time pulse, if the condition is fulfilled.
– Toggling output: Result is a pulse that lasts until the next condition is fulfilled.
Click ‘Finish’ when done. The conditional combination is displayed in the CAS-M 3 EVO
condition channel window.

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Bosch MotorsportProject Configuration | 7

7.5 Display Switch Module
You can use the Display Switch Module to switch display pages and brightness. The output is a display page or brightness output that can be used in display configurations. The
value sustains over a power cycle.
The conditions for incrementing/decrementing the value can be set freely. The maximum
value can be set as constant or read from a measurement.
The page can be configured to wrap around. In this case, no page down condition isneeded.

The resulting outputs are the display switch value and the input conditions.
Measurement label

Function

namepage or brightness value

name_dn

input condition for decrement

name_upinput condition for increment

Example:Bosch Motorsport

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7 | Project Configuration

7.6 Timer Module
The Timer Module is designed to implement timing triggers, i.e. for rallye stage timing or
minimum pit time calculations. Any event in the system can be used for starting, stopping
and resetting the timer.
Up counting mode and down counting mode are available, triggers are fired at set time(up counting) or at zero (down counting). The running timer will keep its state over a
power cycle.

The output channels for this module depend on the name used for the module and arecalled …_time and …_trig.
Measurement label

Function

name_time

actual timer value

name_trig

trigger set by timer alarm

In this example, the module is named “Timer_Module”. Resulting channels are:

7.7 GPS Trigger Module
The GPS Trigger Module triggers depending on GPS-position, like the GPS-laptrigger.
There are 50 GPS trigger points for parameter application of latitude/longitude coordinates, as well as 10 macro-based coordinates.
If the car passes one of the trigger points, an output signal is set to 1 shortly. Each trigger
requires a defined latitude, longitude, and detection range.

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Bosch MotorsportProject Configuration | 7

The parameter-based trigger points need to be set manually in RaceCon, the macrobased trigger points will store latitude and longitude values when the configurable trigger
condition comes true (i.e., steering wheel button). This trigger condition and the detection
range need to be configured in RaceCon.

The GPS trigger points can also be used for segment triggering. If used as segment triggers and i.e., 3 trigger points are selected, the laptrigger module will use the first 3 trigger
points on the list.

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7 | Project Configuration

The channel names depend on the name used for the module, in this example GPS_Trigger. Each trigger has a distance and a trigger channel with the abbreviation m for macroor p for parameter based. The trigger channel will be set to 1, when the lowest distance tothe trigger point is detected. For the macro-based trigger, the stored latitude and longitude values can be seen with the channels.
Measurement label

Function

name_lat

interpolated gps latitude

name_longinterpolated gps longitude

name_ptrig_1..50

trigger output of parameter based trigger (n)name_pdist_1..50

distance to trigger of parameter based trigger (n)name_mtrig_1..10

trigger output of macro based trigger (n)name_mdist_1..10

distance to trigger of parameter based trigger (n)name_macro_lat_1..10

stored latitude for macro based trigger (n)name_macro_long_1..10

stored longitude for macro based trigger (n)Example:7.8 CPU Load Limits
As all microprocessors, the two processors of the CAS-M 3 EVO have limited capacities.
The current load of the processors can be monitored using the channel “cpu_load_001” or“cpu_load_002”. When configuring your device, please make sure the used CPU load is ina save range below 100 %.
Bosch recommends a maximum CPU load of 85 % (averaged). Exceeding this limit might
result in the CAS-M 3 EVO not being able to fulfill its required measuring/logging/display
tasks or even in crashing and rebooting.
Main factors influencing the CPU load are:– Number and complexity of math channels– Number and complexity of conditions– CAN traffic on both CAN lines– Logger configuration (total logging rate [kB/s], conditional measurement rates)
To help respecting the limit of 85 % CPU load, the CAS-M 3 EVO creates an error memory
entry. To trigger this error entry, the CPU load must exceed the limit for 5 minutes without
interruption.
When being confronted with this error memory entry (see ‘Error info’ in RaceCon) or whenbeing confronted with CAS-M 3 EVO resets due to complex configuration setups, pleaseconsider reducing the demands on the CAS-M 3 EVO adapting the influencing factors
mentioned above.

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8 Display Configuration
8.1 Overtake Warning
Warning position
Value

Valid data

Default

CASM_OVTK_POSITION_DISP

Top

Top

MiddleBottomOFF
This value sets the position of the red overtake warning arrow on the display.

Warning display duration
Value

Valid data

CASM_OVTK_TURNOFF_DELAY 0 to 5 s

Default
1sThis value sets the duration of the warning signal on the display after an object has
passed due to overtaking. As long as the object which is below the time to overtake (TTO)
threshold is tracked the warning signal is enabled.

Warning threshold
Value

Valid data

CASM_OVTK_THRESHOLD_TTO 0 to 5 s

Default
1sThis value sets the trigger for the overtake warning based on the TTO of the tracked object behind. I.e. the time before the calculated overtaking moment of another object.

Warning signal size
Value

Valid data

Default

CASM_OVTK_SIZE_DISP

Small

Small

MediumLarge
This value sets the size of the red overtake warning arrow.

Illustration 1: Small overtake arrow

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8 | Display Configuration

Illustration 2: Medium overtake arrow

Illustration 3: Large overtake arrow

8.2 Vehicle Markings
Threshold for color gradient
Value

Valid data

Default

CASM_WARN_YELLOW_THRS 0 to 100 km/h

10 km/h

CASM_WARN_RED_THRS

20 km/h0 to 100 km/h

These values define the color of the object marking. Based on its delta speed thresholdthe objects will be marked as follows:
Green

Delta speed ≤ CASM_WARN_YELLOW_THRS

Yellow

CASM_WARN_YELLOW_THRS ≤ Delta speed≤ CASM_WARN_RED_THRS

Red

Delta speed ≥ CASM_WARN_RED_THRS

Z Position offset of markings
Value

Valid data

CASM_OFFSET_Z_ABSOLUTE -240 to 240 pixel

Default
0 pixelThis value sets the Z offset position of the object marking in Z direction with pixel stepsize. Reference level is the horizontal center of the display.

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Display Configuration | 8

Shape of the vehicle markings
Value

Valid data

Default

CASM_MARKER_SHAPE

Triangle

Triangle

ChevronThis value defines the shape of the vehicle marking.

Illustration 4: Triangle vehicle marking

Illustration 5: Chevron vehicle marking

8.3 Side gauges
Value

Valid data

Default

CASM_GAUGE_LEFT

Off

Off

Distance
Real time gap
Time to overtake
CASM_GAUGE_RIGHT

Off

Off

Distance
Real time gap
Time to overtake
With the side gauges, you can display one of the following information on each side of
the screen.
Off: No side gauge
Distance: Distance to the currently marked vehicles behind you in meters

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8 | Display Configuration

Real time gap: Gap to the currently marked vehicles behind you in seconds
Time to overtake: Estimated time to overtake of the currently marked vehicles behind you
in seconds
The vehicles will be displayed as small rectangles in the same color of their markings on
the scale.

Illustration 6: Side gauges example

8.4 Own Vehicle Information
Invalid values
Value

Valid data

Default

MRR_EGOVEHSPEED_INVLD 0 to 6.553,5 km/h

6.553,5 km/h

MRR_YAWRATE_INVLD-163,84°/s-163,84 to 163,835°/s

These calibration values can be used to mark specific values as invalid, disabling thevehicle overlays if these values are present. The main intention is to react to time-outs of
CAN input signals (see section “Default values [} 12]”).

8.5 Camera Temperature Warning
Value

Valid data

CASM_HIDE_TEMPERR_THRS 0 to 6553,5 km/h

Default
6553,5 km/h

This calibration value sets the speed threshold above which to hide the camera temperature warning. Recommendation for a warning which appears just in Pit Lane or stopped
vehicle is ≥20 km/h.

8.6 LEDs
8.6.1 Configuring shift LEDs
To use shift LEDs, you need a channel with the unit RPM. It is also possible to use gear depending shift light.
You can configure the shift LEDs only in the ‘LEDs Top’.
1.

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Double-click on ‘LEDs Top’ in the project tree.

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Display Configuration | 8

You will find them under ‘Display’.

2.

Alternatively, click on the ‘Display’ tab and then click on the colored LEDs at the top of
the display image.

Tab 'Display'

Tab 'LEDs'

3.

Click on the button ‘Add shift lights’.

Button 'Add
shift lights'

4.

The ‘shift light configuration’ window appears. Set up the shifting lights using the following configuration possibilities:

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8 | Display Configuration

a)
b)

e)

c)

d)

f)

a) Choose the measurement channel for 'Revolution'. Revolution must have 1/min quantization.
b) Enter the limit value when the RPM hysteresis function is active. The RPM hysteresis function avoids
the high-frequent switchover of the measurement channel value.
c) Choose a predefined Pattern style.
d) Define the rpm thresholds to show the LED pattern.
e) Choose the measurement channel for 'Gear'. Gear must have an ASCII quantization (1st gear='1' = 49,
2nd gear='2' = 50, ...). (ASCII quantization is standard for the 'gear' channel of Bosch ECUs.
If you get the gear information of a different control unit as the Bosch ECU (e.g. a gearbox control unit),
use the Gear Lookup Table to translate numeric values to ASCII format.
For more information see chapter "Converting a gear channel to ASCII representation".)f) Click with the right mouse button on the LEDs to reconfigure the LED patterns.

5.

Click ‘OK’ when done. The configuration is displayed in the CAS-M 3 EVO LED Configuration window.

8.6.2 Creating customized LED pattern
You can create your own LED pattern with an individually created condition, using the top
LEDs and the ones on the sides. The LEDs illuminate or flash if the condition becomes
true.
Click on the button ‘Add pattern’ in the display view. The LED pattern configuration window appears.

a)
b)

d)

c)

a) Choose the needed LEDs by clicking or via multiselect with ctrl + clicking
and define the color of the LEDs by right-clicking on one of the selected LEDsb) Select if the LEDs blink or do not blink.
c) Choose the condition when the LEDs will flash.
- Create a condition using the Condition Creator. For more information see chapter "Creating a new
condition channel".
- Choose an existing condition.
d) Check the box to show a demo of the LEDs. (Important to check blinking)To create a LED that alternately blinks in two different colors, choose 'Display "on" pattern' and define
the LEDs in the first color. Then choose 'Display "off" pattern' and define the LEDs in the second color.

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Display Configuration | 8

The direction of the pattern changes for each side. For the LEDs on the left side the pattern starts at the bottom LEDs (right side of pattern is for the top LEDs), and for the LEDs
on the right side the pattern starts at the top LEDs (left side of the pattern is for the topLEDs).

Click ‘OK’ when done.
The configuration is displayed in the CAS-M 3 EVO LED Configuration window.

8.6.3 Assigning display pattern priority
You can assign the priority of the created display pattern and shift lights.
The pattern with a higher priority will always cover patterns with a lower priority, when it
becomes active. If a transparent (grey) LED is used in a pattern, the LEDs of lower patterns
will be visible. Please ensure that for example shift lights do not cover important warnings.
Click the ‘Move up’ or ‘Move down’ button to change the priority. The pattern with thelowest number will have the highest priority.

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8 | Display Configuration

8.6.4 Using LED sidebar for Overtaking warning
Additionally the LED sidebars of the CAS-M 3 EVO display can be used for overtake warnings.
Trigger conditions for the overtake warnings are the following channels:
casm_ovtkLeft
casm_ovtkRight
These signals reflect the activation of the overtake-warning arrows on the display.
Example for overtake warning on the left:

Documents about this

2 LEDs [} 28]

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Display Configuration | 8

8.7 Display + LED brightness
Any “event” can be used to change display brightness. This can be a math channel etc.

CAN input signal and math channel
Select Display and Setting.

Check “Use a channel to switch brightness:” and select CAN channel or math channel.
Change value for Background and LEDs for each switch position if it is needed.

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8 | Display Configuration

The channel has to include value from 0.5 to 5.5.
Switch 1 is shown with the value <1.5
Switch 2 is shown with 1.5< = the value <2.5
Switch 3 is shown with 2.5< = the value <3.5
Switch 6 is shown with 5.5< = the value

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CAN Configuration | 9

9 CAN Configuration
The CAS-M 3 EVO has 1 (plus 1 private, hands off here!) fully configurable CAN bus(es).
– Baudrate 125 kbaud to 1 Mbaud– 11 Bit or 29 Bit identifiers– Input configuration: Read messages from CAN bus and convert to CAS-M 3 EVO
measurement/display variables. CAN bus supports row counter configuration.
– Output configuration: Write RaceCon measurement variables to CAN messages; output frequency and row counter are configurable, CAN gateway functionality (transferfrom one bus to another).

9.1 CAN Bus Trivia
CAN Message– 11 Bit (standard) or 29 Bit (extended) identifier– Up to 8 bytes of data payload

CAN Bus– Needs termination resistors in wiring harness– All devices connected to the bus must use identical data rate
– Configuration of bus data rate in the ‘CAN messages overview’ menu. To access themenu, double-click on one of the CAN bus items of the project tree

Row Counter Concept– Re-use (multiplex) of message identifiers– One byte of message contains row counter– 7 bytes payload remaining– Position of row counter is configurable

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9 | CAN Configuration

Payload Area
Row
Counter
Message
Id

Row
Counter

Payload Area

9.2 CAN input
9.2.1 Input configuration
Click with the right mouse button on the desired CAN bus to open the CAN bus dropdown menu.
Create new channel to read from CAN bus
Create new CAN output message
Import Vector CAN database (DBC)
channel configuration
Export Vector CAN database (DBC)
channel configuration
Export RaceCon CAN configuration to file
Import RaceCon CAN configuration from file

Display CAN bus properties (Baudrate)

9.2.2 Create new CAN Input channel

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1.

Double-click on any CAN bus item, to open the "CAN messages overview".

2.

Select ‘Add CAN-IN’ and choose the desired CAN bus for the new input channel.

3.

A CAN channel configuration window opens.
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CAN Configuration | 94.

Insert the name and description of the channel.

5.

Click ‘OK’ when done.
The channel is listed in the Data window.

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9 | CAN Configuration

CAN channel configuration

9.2.3 Extracting data from CAN bus
Representation: Byte
Some CAN devices need to be addressed by a byte represented CAN channel. The address can be assigned in this window and is illustrated by a bargraph.

a)
b)

c)

d)

e)

a) Enter CAN message ID. If extended IDs (29 bit) are used, check the box.
b) If replacement values are used, specify time-out period and raw value.
c) If a multiplexer (row counter) is used, check the box.

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CAN Configuration | 9d) Enter data position, length and format.
e) The bargraph shows assignment of the bytes.
– Red colored fields show the assignment of the data bytes.
– Orange colored fields show the assignment of the multiplexer bytes.

Representation: Bit
Some CAN devices need to be addressed by a bit represented CAN channel. The address
can be assigned in this window and is illustrated by a matrix table.

a)
b)

c)

d)

e)

a) Enter CAN message ID. If extended IDs (29 bit) are used, check the box.
b) If replacement values are used, specify time-out period and raw value.
c) If a multiplexer (row counter) is used, check the box.
d) Enter data position, length and format.
e) The bargraph shows assignment of the bytes.
– Red colored fields show the assignment of the data bytes.
– Orange colored fields show the assignment of the multiplexer bytes.

Conversion to physical value
e)

a)
b)
c)

f)
g)

d)

a) Enter factor (gain) for conversion to physical value.
b) Enter offset for conversion to physical value.
c) Select type of physical value.
d) Select unit of physical value.
e) Enter minimum physical limit of the channel. (for manual setup)f) Enter maximum physical limit of the channel. (for manual setup)
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9 | CAN Configurationg) Check the box to automatically adjust the limits of the channel.

CAN analyzer functionality
This functionality is only available, if a MSA-Box (I or II) is used to connect the CAS-M 3
EVO to the PC. Choose the CAN bus that is connected to the MSA-Box to display the raw
value and the converted physical value here.

Automatic creation of online measurement sheets
The CAN channel can be automatically inserted into a measurement sheet. Insert a namefor a new sheet or select an existing sheet from the list box.
For an online view of the value measured by the CAS-M 3 EVO, insert the channel in an
online measurement sheet which is described in the chapter Setting up an online measurement.

9.2.4 Online view of CAN channels in vehicle

1.

Double-click on ‘Sheet 1’ in Project Tree. Measurement Sheet 1 is displayed in Main
Area.

2.

Click on ‘Measurement elements’ in the Toolbox.

3.

Drag the desired Measurement element (e.g. Numeric Indicator) and drop it on the
Measurement Sheet.

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CAN Configuration | 9

Drag + Drop

4.

Click on folder ‘CAN Input’ of desired CAN bus to display available channels.

5.

Drag desired Measurement channel and drop it on the Measurement element.

Drag + Drop

6.

The measurement element displays the values of the assigned channel.

7.

Connect PC to the vehicle and switch to ‘Race Mode’ by clicking ‘F11’ on the keyboard to display online data.

9.2.5 Import a CAN database (DBC) file

Bosch Motorsport

1.

Right-click on CAN Input of desired bus (CAN1 or CAN2).

2.

Select ‘Import DBC file’ from menu. A file browser opens.

3.

Select DBC file to import and click ‘OK’ when done. A channel import window opens.

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9 | CAN Configuration4.

Select desired channels on the left and use the ‘Add’ button to add them to import
list.

5.

Click ‘OK’ when complete. The channels are inserted in the Data window.

9.3 CAN output
9.3.1 Output configuration

Create new CAN output message
Export RaceCon CAN output configuration
to fileImport RaceCon CAN out configurationfrom file
Display CAN bus properties (Baudrate)

9.3.2 Create a new CAN output message channel– Double-click on any CAN bus item to open the "CAN messages overview".
– Select ‘Add CAN-OUT’ and choose the desired CAN bus for the new output channel.

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CAN Configuration | 9– The ‘New CAN-OUT message’ window opens.

– Enter name of message, description, CAN-Id, and Grid (output interval). Optionally,
specify a multiplexer.

Definition of
CAN message

Content of
message– Click on ‘Add channel…’ or ‘Add constant…’, this opens the ‘Add new CAN out channel’ window.
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9 | CAN Configuration– Select the desired measurement channel and specify the message settings.

Click here

The measurement channel is now assigned to the CAN message.

9.3.2.1 Add CAN out constant
To send a constant value on the CAN, perform the following steps:
1.

Create a new CAN output message or edit an existing message.

2.

Click small arrow beside ‘Add channel…’ and select ‘Add constant…’. The ‘Add new
CAN Out constant’ window appears.

3.

Define the name of the constant, the required value in hex and define the CAN channel settings.

4.

Click ‘OK’ when done.

9.3.2.2 Adding CAN out counterTo send a counter value on the CAN, perform the following steps:
1.

Create a new CAN output message or edit an existing message.

2.

Click small arrow beside ‘Add channel…’ and select ‘Add counter…’. The ‘Add new
CAN out counter’ window appears.

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Define the name of the counter, define the CAN channel settings.

4.

Click ‘OK’ when done.

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9.3.2.3 Adding CAN out checksum
To send a checksum on the CAN, perform the following steps:
1.

Create a new CAN output message or edit an existing message.

2.

Click small arrow beside ‘Add channel…’ and select ‘Add checksum…’. The ‘Add new
CAN out checksum’ window appears.

3.

Define the name of the checksum, the algorithm, the byte which should be coveredby the checksum and define the CAN channel settings.

4.

Click ‘OK’ when done.

9.4 Multiplexer
Row counter concept
If certain channel messages are not time-critical and can be imported or exported slowly,
you can use a multiplexer to put several channel messages on one message identifier.
– Re-use (multiplex) of message identifiers by splitting it into several rows.
– Every row is assigned to a unique value of the multiplexer.
– One byte of message contains row counter.
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9 | CAN Configuration– 7 bytes payload remaining. A multiplexer does not have to consist of one byte only, it
can consist of several bytes as well as single bits.
– Position of row counter is configurable.
To use a multiplexer perform the following steps:
1.

Double-click on any CAN bus item to open the “CAN messages overview”.

2.

Select ‘Add CAN-IN’ and choose the desired CAN bus for the new input channel.

3.

Check the box ‘Use Multiplexer’ and configure the multiplexer for the new CAN-IN
channel.

4.

To configure the multiplexer for a CAN-OUT channel, select ‘Add CAN-OUT’.

5.

Check the box ‘Use Multiplexer’ and click on the button ‘Add row…’ to split the message identifiers into several rows.

6.

Click on one row and select ‘Add channel’ to assign a channel to the row.

7.

The ‘Add new CAN out channel’ dialog opens.

8.

Select a channel and configure it. To assign it to the row selected before, check thebox ‘Multiplexed’.

9.

To move the channel message, change the “Start” value or click and hold the green
field in the “Add new CAN out message” window.

10. Click ‘OK’ when done.

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CAN Configuration | 9

11. The channel message is assigned to the selected fields.
12. Click ‘OK’ when done.

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10 | System Messages and Troubleshooting

10 System Messages and Troubleshooting
In case of errors between the CAS-M 3 EVO display and the radar or camera, corresponding messages are shown on the display. Below is a list of the possible messages and theircauses.

10.1 Camera status messages casm_cameraStatus[0] OK[1] Link down; searching for link partner
The Ethernet link is down on the camera interface; if the message persists beyond a few
seconds after system power-up, this indicates an error condition.
Possible causes:– camera powered off or disconnected– cabling or connector issues– internal display / camera fault[2] Link up; searching for camera
The display has linked-up to an Ethernet network and is looking for a GigE-Vision camera;
if the message persists beyond a few seconds after system power-up this indicates an error condition.
Possible causes:– the display is connected to an unexpected Ethernet device– internal display / camera fault[3] Error: unknown camera– The display is connected to a GigE-Vision camera but the camera model is unknown.
Check / replace the connected camera.

[4] Error: locked camera– The display is connected to a supported GigE-Vision camera model, but the camera is
not unlocked for operation within the CAS-M 3 EVO system. Contact Bosch
Motorsport.

[5] Error: video stream unstable
The display is correctly connected to the camera but fails to receive a (stable) video
stream. The message can be permanent or indicate sporadic stream losses.
Possible causes:– cabling or connector issues (vibrations)– internal display / camera fault[6] Overheat
The internal camera temperature has exceeded 70°C

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System Messages and Troubleshooting | 10

For further information, see Camera Temperature Warning.

10.2 Radar status messages casm_radarStatus[0] OK[1] CAN bus error
This message indicates a physical error on the CAN bus to the radar sensor.
Possible causes:– radar powered off or disconnected– cabling or connector issues– internal display / radar fault[2] No data from radar
The display does not receive any CAN message from the radar sensor.
Possible causes:– radar powered off or disconnected– cabling or connector issues– internal display / radar fault[3] Incomplete data from radar
The display does not receive some CAN message from the radar sensor.
Possible causes:– cabling or connector issues– internal display / radar fault[4] vehSpeed / yawRate error
This message indicates an error in the sending of vehicle information to the radar sensor.
Possible causes:– Vehicle Speed / Yaw Rate signals are not configured (see section “Input Signals”)– Vehicle Speed / Yaw Rate signals are configured but not received by the display– Vehicle Speed / Yaw Rate signals are not received by the radar sensor– cabling or connector issues– internal display / radar fault[5] Overheat
The internal radar temperature has exceeded 120°C.

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11 | CAS-M 3 Signals

11 CAS-M 3 Signals
11.1 Main Signals - Function CASM_Main
Beyond the overlay configuration parameters (see section “Display Configuration”), thefunction CASM_Main contains the following signals:

casm_camerastate
An enumeration reflecting the camera state is outlined in section “Camera status messages casm_cameraStatus [} 48]”.

casm_radarstate
An enumeration reflecting the radar state is outlined in section “Radar status messages
casm_radarStatus [} 49]”.

casm_ovtk*
The current overtake warning states; see section “Using LED sidebar for Overtaking warning”.

11.2 Radar Signals - Function CASM_Radar
MRR_EgoVehSpeed
The ego vehicle speed as sent to the radar sensor.

MRR_EgoYawRate
The ego yaw rate as sent to the radar sensor.

MRR_Errors
A bitmask summarising possible errors on the CAN interface to the radar sensor:– Bit 0: ego vehicle speed error (display-side: not configured or not received)– Bit 1: ego yaw rate error (display-side: not configured or not received)– Bit 4: “race car 0” message time-out– Bit 5: “race car 1” message time-out– Bit 6: “race car 2” message time-out– Bit 7: “race car 3” message time-out– Bit 8: “Object ID” message time-out– Bit 12: “status” message time out– Bit 16: ego vehicle speed error (radar-side: not received)– Bit 17: ego yaw rate error (radar-side: not received)

MRR_RaceCar*– The data on tracked race cars as received per CAN from the radar sensor.

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MRR_Status*– Radar sensor information (internal temperature + ego data acknowledgement).

11.3 Camera debug Signals - Function
CASM_Camera_debug
CASM_Camera_debug contains various GigE-Vision error flags and counters which can beused by Bosch Motorsport to analyse video issues in the CAS-M 3 EVO system. Their description is beyond the scope of this document.

Illustration 7: CASM Camera Debug list

11.4 Radar debug Signals - Function
CASM_Radar_debug
CASM_Radar_debug contains the radar CAN message counters.

Illustration 8: CASM Radar Debug list

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12 | Firmware

12 Firmware
12.1 Firmware and configuration
CAS-M 3 EVO holds 2 types of data:
Firmware: The software (PST program file) of the CAS-M 3 EVO.
Configuration: The default parameters for controlling the output of the CAS-M 3 EVO.

12.2 Firmware update
Firmware updates are performed via XCP. Following standards are supported:– ASAM MCD-1 (XCP); Version 1.5.0; Date: 2017-11-30– ASAM MCD-2 MC (ASAP2 / A2L); Version 1.7.1; Date: 2018-01-30
Additional files for firmware update (like ProF-Scripts for INCA) will be provided by
BOSCH.

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13 RaceCon Shortcuts
The table shows important shortcuts simplify controlling the CAS-M 3 EVO in RaceCon.
Shortcut

Function

General navigation
F1

Open RaceCon help

F2

Rename selected object

F3

Select Data Area

F4

Select Project Tree

F5

-

F6

Start the data comparison

F7

Start dataset manager

F8

Toggle WP/RP

F9Start measurement

CTRL + F9

Start recording

F10 or Alt

Go to menu bar

F11

Toggle display to fullscreen ‘Race Mode’

F12

Enlarge main screen

CTRL + Tab

Switch between opened windows

Project Tree
Plus (+) at numeric pad

Expand selected nodeor right cursor
Minus (-) at numeric pad

Close selected nodeor left cursor
Star (*) at numeric padOpen all nodes

DEL

Delete seleted object

Display page, measurement page
CursorMove selected display element one grid unit in chosen direction

Bosch Motorsport

SHIFT + cursor

Enlarge/reduce selected display element one grid unit

Tab

Switch between display elements

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14 | Disposal

14 Disposal
Hardware, accessories and packaging should be sorted for recycling in an environmentfriendly manner.
Do not dispose of this electronic device in your household waste.

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15 Order numbers and accessories
Parts

Order number

Collision Avoidance System CAS-M 3 EVO

F02U.V02.648-02

Acceleration Sensor MM5.10

F02U.V01.511-02

Without wire (1)Acceleration Sensor MM5.10

F02U.V01.511-92

Wire with open end (2)Acceleration Sensor MM5.10

F02U.V01.512-03

Wire with motorsport connector (3)Accessories
Display Unit

F02U.V02.660-02

Rear Module (Consisting of parts (A) to (E)F02U.V02.630-02

Radar Bracket (A)F037.D00.084-01

Radar Unit (B)F02U.V02.647-01

Camera Unit (C)F02U.V02.799-01

Wiring Harness for Radar and Camera (D)F02U.V02.802-02

Interface Module (Housing and Electronics) F02U.V02.639-01(E)

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16 | Legal

16 Legal
16.1 Legal Restrictions of Sale
The sale of this product in Mexico is prohibited.
Due to embargo restrictions, sale of this product in Russia, Belarus, Iran, Syria, and North
Korea is prohibited.

16.2 Open Source Software (OSS) Declaration for
the Camera of the Rear Module
These third party software components are used within the camera
COPYRIGHTS FOR mbedtls
Copyright (C) 2006-2015, ARM Limited, All Rights Reserved
LICENSES FOR mbedtls
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/

TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND
DISTRIBUTION

16.2.1 Definitions"License" shall mean the terms and conditions for use, reproduction, and distribution as
defined by sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by the copyright ownerthat is granting the license.
"Legal Entity" shall mean the union of the acting entity and all other entities that control,
are controlled by, or are under common control with that entity. For the purposes of thisdefinition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent(50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity exercising permissions grantedby this license.
"Source" form shall mean the preferred form for making modifications, including but notlimited to software source code, documentation source, and configuration files.
"Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or Object form, made available under the license, as indicated by a copyright notice that is included in or attached to
the work (an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object form, that is basedon (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the

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purposes of this license, Derivative Works shall not include works that remain separable
from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works
thereof.
"Contribution" shall mean any work of authorship, including the original version of thework and any modifications or additions to that work or Derivative Works thereof, that is
intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by
an individual or Legal Entity authorized to submit on behalf of the copyright owner. For
the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited tocommunication on electronic mailing lists, source code control systems, and issue tracking
systems that are managed by, or on behalf of, the licensor for the purpose of discussing
and improving the work, but excluding communication that is conspicuously marked orotherwise designated in writing by the copyright owner as "Not a Contribution.""Contributor" shall mean licensor and any individual or Legal Entity on behalf of whom acontribution has been received by licensor and subsequently incorporated within thework.

16.2.2 Grant of copyright license
Subject to the terms and conditions of this license, each Contributor hereby grants to You
a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form.

16.2.3 Grant of patent license
Subject to the terms and conditions of this License, each Contributor hereby grants to You
a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as
stated in this section) patent license to make, have made, use, offer to sell, sell, import,
and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone
or by combination of their Contribution(s) with the Work to which such Contribution(s)was submitted. If You institute patent litigation against any entity (including a cross-claim
or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within
the Work constitutes direct or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate as of the date such litigation is filed.

16.2.4 Redistribution
You may reproduce and distribute copies of the Work or Derivative Works thereof in any
medium, with or without modifications, and in Source or Object form, provided that You
meet the following conditions:– You must give any other recipients of the Work or Derivative Works a copy of this License; and– You must cause any modified files to carry prominent notices stating that Youchanged the files; andBosch Motorsport

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16 | Legal– You must retain, in the Source form of any Derivative Works that You distribute, allcopyright, patent, trademark, and attribution notices from the Source form of theWork, excluding those notices that do not pertain to any part of the Derivative Works;
and– If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative
Works that You distribute must include a readable copy of the attribution notices
contained within such NOTICE file, excluding those notices that do not pertain to any
part of the Derivative Works, in at least one of the following places: within a NOTICE
text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated
by the Derivative Works, if and wherever such third-party notices normally appear.
The contents of the NOTICE file are for informational purposes only and do not
modify the License. You may add Your own attribution notices within Derivative
Works that You distribute, alongside or as an addendum to the NOTICE text from theWork, provided that such additional attribution notices cannot be construed as modifying the License.
You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution ofYour modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated inthis License.

16.2.5 Submission of contributions
Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothingherein shall supersede or modify the terms of any separate license agreement you may
have executed with Licensor regarding such Contributions.

16.2.6 Trademarks
This License does not grant permission to use the trade names, trademarks, service marks,
or product names of the Licensor, except as required for reasonable and customary use indescribing the origin of the Work and reproducing the content of the NOTICE file.

16.2.7 Disclaimer of warranty
Unless required by applicable law or agreed to in writing, Licensor provides the Work (andeach Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIESOR CONDITIONS OF ANY KIND, either express or implied, including, without limitation,
any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated withYour exercise of permissions under this License.

16.2.8 Limitation of liability
In no event and under no legal theory, whether in tort (including negligence), contract, orotherwise, unless required by applicable law (such as deliberate and grossly negligentacts) or agreed to in writing, shall any Contributor be liable to You for damages, including

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any direct, indirect, special, incidental, or consequential damages of any character arising
as a result of this License or out of the use or inability to use the Work (including but notlimited to damages for loss of goodwill, work stoppage, computer failure or malfunction,or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages.

16.2.9 Accepting warranty or additional liability
While redistributing the Work or Derivative Works thereof, You may choose to offer, andcharge a fee for, acceptance of support, warranty, indemnity, or other liability obligations
and/or rights consistent with this License. However, in accepting such obligations, You
may act only on Your own behalf and on Your sole responsibility, not on behalf of any
other Contributor, and only if You agree to indemnify, defend, and hold each Contributor
harmless for any liability incurred by, or claims asserted against, such Contributor byreason of your accepting any such warranty or additional liability.

16.2.10 Note
How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following boilerplate notice, with thefields enclosed by brackets "[]" replaced with your own identifying information. (Don't include the brackets!) The text should be enclosed in the appropriate comment syntax forthe file format. We also recommend that a file or class name and description of purpose
be included on the same "printed page" as the copyright notice for easier identification
within third-party archives.

Copyright
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file
except in compliance with the License. You may obtain a copy of the License at http://
www.apache.org/licenses/LICENSE-2.0. Unless required by applicable law or agreed to inwriting, software distributed under the License is distributed on an "AS IS" BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See
the License for the specific language governing permissions and limitations under the License.

16.3 Open Source Software (OSS) Declaration for
the Display
These third party software components are used within the Graphic Rendering Engine.

16.3.1 antlr-2.7.7.jar License
ANTLR-2.7.7

SOFTWARE RIGHTSANTLR 1989-2006 Developed by Terence Parr
Partially supported by University of San Francisco & jGuru.com
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16 | Legal

We reserve no legal rights to the ANTLR--it is fully in the public domain. An individual orcompany may do whatever they wish with source code distributed with ANTLR or thecode generated by ANTLR, including the incorporation of ANTLR, or its output, into commercial software.

We encourage users to develop software with ANTLR. However, we do ask that credit isgiven to us for developing ANTLR. By "credit", we mean that if you use ANTLR or incorporate any source code into one of your programs (commercial product, research project,
or otherwise) that you acknowledge this fact somewhere in the documentation, research
report, etc... If you like ANTLR and have developed a nice tool with the output, pleasemention that you developed it using ANTLR. In addition, we ask that the headers remain
intact in our source code. As long as these guidelines are kept, we expect to continue enhancing this system and expect to make other tools available as they are completed.

The primary ANTLR guy:

Terence Parr
parrt@cs.usfca.edu
parrt@antlr.org

16.3.2 antlr311runtime.jar License
ANTLR-3.1.1

ANTLR 3 License[The BSD License]
Copyright (c) 2010 Terence Parr
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.
Neither the name of the author nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior written permission.

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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANYWAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.

16.3.3 BSD 3-Clause License (getsubopt)
The NetBSD getsubopt argument parsing function is used by Graphic Engine plugins toparse plugin options.
Applies To:
libgre.dll, libgre.a
The Graphic Runtime engines used on most operating systems, including all Windows
platforms (win32).
Copyright (c) 1990, 1993
The Regents of the University of California. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

3.

Neither the name of the University nor the names of its contributors may be used toendorse or promote products derived from this software without specific prior written
permission.

THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIEDWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

16.3.4 BSD 4-Clause License (getopt)
The NetBSD getopt argument parsing function is used to parse command line arguments.

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16 | Legal

The Graphic Runtime engines used on all Windows platforms (win32, wince, wincompact7,
wec2013) includes the getopt source from the NetBSD operating system distribution.
Copyright (c) 1987, 1993, 1994
The Regents of the University of California. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

3.

All advertising materials mentioning features or use of this software must display thefollowing acknowledgement:This product includes software developed by the University of California, Berkeley andits contributors.

4.

Neither the name of the University nor the names of its contributors may be used toendorse or promote products derived from this software without specific prior written
permission.

THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIEDWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

16.3.5 crc32 License
Copyright (c) 2003 Markus Friedl. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR “AS IS” AND ANY EXPRESS OR IMPLIEDWARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISEDOF THE POSSIBILITY OF SUCH DAMAGE.

16.3.6 EZXML License
The ezxml library (ezxml.sourceforge.net) provides XML model parsing support for theGraphic Engine.
Applies To:
libgre.dll, libgre.a
The ezxml xml parsing library is used by all Graphic Engine runtime configurations
Copyright 2004-2006 Aaron Voisine aaron@voisine.org

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom
the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies orsubstantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALLTHE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.

16.3.7 FreeType License
The FreeType Project's www.freetype.org) library is used by the Graphic Engine for nonbitmap font rendering.
Applies To:
All Graphic Runtime Engines using sbfreetype libraries
Applies To:
librender-plugin-*.dll, librender-plugin-*.a
Unless explicitly configured, all Graphic Engine render plugins link against the FreeTypelibraries.
Portions of this software are copyright © <2011> The FreeType Project (www.freetype.org). All rights reserved.

Legal Terms
0. Definitions

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16 | Legal

Throughout this license, the terms `package', `FreeType Project', and `FreeType archive'
refer to the set of files originally distributed by the authors (David Turner, Robert Wilhelm,
and Werner Lemberg) as the `FreeType Project', be they named as alpha, beta or final release.
`You' refers to the licensee, or person using the project, where `using' is a generic term including compiling the project's source code as well as linking it to form a `program' or`executable'. This program is referred to as `a program using the FreeType engine'.
This license applies to all files distributed in the original FreeType Project, including all
source code, binaries and documentation, unless otherwise stated in the file in its original,
unmodified form as distributed in the original archive. If you are unsure whether or not aparticular file is covered by this license, you must contact us to verify this.
The FreeType Project is copyright (C) 1996-2000 by David Turner, Robert Wilhelm, andWerner Lemberg. All rights reserved except as specified below.
1.

No Warranty
THE FREETYPE PROJECT IS PROVIDED `AS IS' WITHOUT WARRANTY OF ANY KIND,
EITHER EXPRESS OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT WILLANY OF THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY DAMAGESCAUSED BY THE USE OR THE INABILITY TO USE, OF THE FREETYPE PROJECT.

2.

Redistribution
This license grants a worldwide, royalty-free, perpetual and irrevocable right and license to use, execute, perform, compile, display, copy, create derivative works of, distribute and sublicense the FreeType Project (in both source and object code forms)
and derivative works thereof for any purpose; and to authorize others to exercise
some or all of the rights granted herein, subject to the following conditions:– Redistribution of source code must retain this license file (`FTL.TXT') unaltered;any additions, deletions or changes to the original files must be clearly indicatedin accompanying documentation. The copyright notices of the unaltered, original
files must be preserved in all copies of source files.
– Redistribution in binary form must provide a disclaimer that states that the software is based in part of the work of the FreeType Team, in the distribution documentation. We also encourage you to put an URL to the FreeType web page inyour documentation, though this isn't mandatory.
These conditions apply to any software derived from or based on the FreeType Project, not just the unmodified files. If you use our work, you must acknowledge us.
However, no fee need be paid to us.

3.

Advertising
Neither the FreeType authors and contributors nor you shall use the name of theother for commercial, advertising, or promotional purposes without specific priorwritten permission.
We suggest, but do not require, that you use one or more of the following phrases torefer to this software in your documentation or advertising materials: `FreeType Project', `FreeType Engine', `FreeType library', or `FreeType Distribution'.
As you have not signed this license, you are not required to accept it. However, as the
FreeType Project is copyrighted material, only this license, or another one contractedwith the authors, grants you the right to use, distribute, and modify it. Therefore, byusing, distributing, or modifying the FreeType Project, you indicate that you understand and accept all the terms of this license.

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16.3.8 GNU LESSER GENERAL PUBLIC LICENSE (pthreadwin32)
Applies To:
All Graphic Runtime Engines using Windows operating systems
Applies To:
pthreadVC2.dll, pthreadVC2.lib
This provides POSIX pthread API functionality in a Windows environment (win32, wince,
wincompact7, wec2013).
Project Page: https://www.sourceware.org/pthreads-win32/
pthreads-win32 - a POSIX threads library for Microsoft Windows

This file is Copyrighted
This file is covered under the following Copyright:
Copyright (C) 2001,2006 Ross P. Johnson
All rights reserved.
Everyone is permitted to copy and distribute verbatim copies of this license document,
but changing it is not allowed.

Pthreads-win32 is covered by the GNU Lesser General Public
LicensePthreads-win32 is open software; you can redistribute it and/or modify it under the termsof the GNU Lesser General Public License as published by the Free Software Foundation
version 2.1 of the License.
Pthreads-win32 is several binary link libraries, several modules, associated interface definition files and scripts used to control its compilation and installation.
Pthreads-win32 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU Lesser General Public License for more details.
A copy of the GNU Lesser General Public License is distributed with pthreads-win32 under
the filename:
COPYING.LIB
You should have received a copy of the version 2.1 GNU Lesser General Public Licensewith pthreads-win32; if not, write to:Free Software Foundation, Inc.
59 Temple Place
Suite 330
Boston, MA 02111-1307
USA
The contact addresses for pthreads-win32 is as follows:
Web: http://sources.redhat.com/pthreads-win32

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16 | Legal

Email: Ross Johnson
Please use: Firstname.Lastname@homemail.com.au

Pthreads-win32 copyrights and exception files
With the exception of the files listed below, Pthreads-win32 is covered under the following GNU Lesser General Public License Copyrights:
Pthreads-win32 - POSIX Threads Library for Win32
Copyright(C) 1998 John E. Bossom
Copyright(C) 1999,2006 Pthreads-win32 contributors
The current list of contributors is contained in the file CONTRIBUTORS included with thesource code distribution. The current list of CONTRIBUTORS can also be seen at the following WWW location:
http://sources.redhat.com/pthreads-win32/contributors.html
Contact Email: Ross Johnson
Please use: Firstname.Lastname@homemail.com.au
These files are not covered under one of the Copyrights listed above:
COPYINGCOPYING.LIB
tests/rwlock7.cThis file, COPYING, is distributed under the Copyright found at the top of this file. It is important to note that you may distribute verbatim copies of this file but you may notmodify this file.
The file COPYING.LIB, which contains a copy of the version 2.1 GNU Lesser General Public
License, is itself copyrighted by the Free Software Foundation, Inc. Please note that theFree Software Foundation, Inc. does NOT have a copyright over Pthreads-win32, only the
COPYING.LIB that is supplied with pthreads-win32.
The file tests/rwlock7.c is derived from code written by Dave Butenhof for his book 'Programming With POSIX(R) Threads'. The original code was obtained by free download fromhis website http://home.earthlink.net/~anneart/family/Threads/source.html and did notcontain a copyright or author notice. It is assumed to be freely distributable.
In all cases one may use and distribute these exception files freely. And because one may
freely distribute the LGPL covered files, the entire pthreads-win32 source may be freely
used and distributed.

General Copyleft and License info
For general information on Copylefts, see:
http://www.gnu.org/copyleft/
For information on GNU Lesser General Public Licenses, see:
http://www.gnu.org/copyleft/lesser.html
http://www.gnu.org/copyleft/lesser.txt

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Why pthreads-win32 did not use the GNU General Public License
The goal of the pthreads-win32 project has been to provide a quality and complete implementation of the POSIX threads API for Microsoft Windows within the limits imposed byvirtue of it being a stand-alone library and not linked directly to other POSIX compliant
libraries. For example, some functions and features, such as those based on POSIX signals,
are missing.
Pthreads-win32 is a library, available in several different versions depending on supported
compilers, and may be used as a dynamically linked module or a statically linked set ofbinary modules. It is not an application on it's own.
It was fully intended that pthreads-win32 be usable with commercial software not coveredby either the GPL or the LGPL licenses. Pthreads-win32 has many contributors to it's code
base, many of whom have done so because they have used the library in commercial or
proprietry software projects.
Releasing pthreads-win32 under the LGPL ensures that the library can be used widely,while at the same time ensures that bug fixes and improvements to the pthreads-win32
code itself is returned to benefit all current and future users of the library.
Although pthreads-win32 makes it possible for applications that use POSIX threads to beported to Win32 platforms, the broader goal of the project is to encourage the use ofopen standards, and in particular, to make it just a little easier for developers writing
Win32 applications to consider widening the potential market for their products.

16.3.9 log4j.jar License
The Apache Software License, Version 1.1
Copyright (C) 1999 The Apache Software Foundation. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

3.

The end-user documentation included with the redistribution, if any, must include thefollowing acknowledgment: "This product includes software developed by the Apache
Software Foundation (http://www.apache.org/)." Alternately, this acknowledgment
may appear in the software itself, if and wherever such third-party acknowledgments
normally appear.

4.

The names "log4j" and "Apache Software Foundation" must not be used to endorse
or promote products derived from this software without prior written permission. For
written permission, please contact apache@apache.org.

5.

Products derived from this software may not be called "Apache", nor may "Apache"appear in their name, without prior written permission of the Apache Software Foundation.

THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES,INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
APACHE SOFTWARE FOUNDATION OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT,INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDBosch Motorsport

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ING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSSOF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THISSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
This software consists of voluntary contributions made by many individuals on behalf of
the Apache Software Foundation. For more information on the Apache Software Foundation, please see <http://www.apache.org/>.
/

16.3.10 Lua License
The Lua engine (http://www.lua.org) provides a script interface for manipulating content
in a Graphic application.
Applies To:
libgre-plugin-lua.dll, libgre-plugin-lua.a
The Lua Graphic Engine plugin
License for Lua 5.0 and later versions
Copyright © 1994-2008 Lua.org, PUC-Rio. Permission is hereby granted, free of charge, toany person obtaining a copy of this software and associated documentation files (the"Software"), to deal in the Software without restriction, including without limitation therights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
Software, and to permit persons to whom the Software is furnished to do so, subject tothe following conditions: The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALLTHE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.

16.3.11 opencsv License
opencsv http://opencsv.sourceforge.net sconway@users.sourceforge.net arjones@t-online.de

Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/

TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION

1.

Definitions.
"License" shall mean the terms and conditions for use, reproduction, and distribution

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as defined by Sections 1 through 9 of this document.
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END OF TERMS AND CONDITIONS

16.3.12 Sensor Driver for BMI160 Sensor
Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.

BSD-3-Clause

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

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2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

3.

Neither the name of the copyright holder nor the names of its contributors may be
used to endorse or promote products derived from this software without specificprior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANYWAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.

16.3.13 SharpZipLib License
SharpZipLib 0.86.0 © Mike Krueger and John Reilly https://github.com/icsharpcode/
SharpZipLib

MIT License=======================================

Copyright © 2000-2016 SharpZipLib Contributors

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom
the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies orsubstantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALLTHE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
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OTHER DEALINGS IN THE SOFTWARE.

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16.3.14 Simple OpenGL Library License (SOIL)
The SOIL library (http://www.lonesock.net/soil.html) is used to load images in a Graphic
application.
Applies To:
libgre.dll, libgre.a
The SOIL image library is used by all Graphic Engine runtime configurations
Jonathan Dummer
2007-07-26-10.36
Simple OpenGL Image Library
Public Domainusing Sean Barret's stb_image as a baseThanks to:* Sean Barret - for the awesome stb_image* Dan Venkitachalam - for finding some non-compliant DDS files, and patching some explicit casts* everybody at gamedev.net

16.3.15 stringtemplate License[The "BSD licence"]
Copyright (c) 2003-2008 Terence Parr
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1.

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.

Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution.

3.

The name of the author may not be used to endorse or promote products derived
from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIEDWARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISEDOF THE POSSIBILITY OF SUCH DAMAGE.

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16.3.16 xml_io_tools License
xml_io_tools

Copyright (c) 2007, Jaroslaw Tuszynski
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

– Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
– Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials
provided with the distribution

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANYWAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.

16.3.17 Avalonia
The MIT License (MIT)Copyright (c) .NET Foundation and Contributors All Rights Reserved
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom
the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies orsubstantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALLTHE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.

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16.4 Radar Sensor
16.4.1 Regulations
The CAS-M 3 EVO radar sensor is based on the Bosch Engineering MRRe14HBW radar
sensor. The MRRe14HBW meets the following statutory requirements for ground-based
vehicles.
Country

Regulations

Austria, Belgium, Bulgaria,

Radio Equipment Directive 2014/53/EU

Croatia, Cyprus, Czech Re-

Restriction of the use of certain hazardous substances

public, Denmark, Estonia,(RoHS) Directive 2011/65/EU Chemical substances

Finland, France, Germany,(REACH) Regulation (EC) No 1907/2006

Greece, Hungary, Ireland,

ETSI EN 301 091-1 V2.1.1 (2017-01)

Italy, Latvia, Lithuania, Lux-ETSI EN 301 091-3 V1.1.1 (2017-02)

embourg, Malta, Nether-

ETSI EN 303 396 V1.1.1 (2016-12)

lands, Poland, Portugal, Ro-ETSI EN 301 489-1 V2.2.3 (2019-11)

mania, Slovakia, Slovenia,

ETSI EN 301 489-3 V2.1.1 (2019-03)

Spain, Sweden, Iceland,

ETSI EN 301 489-51 V2.1.1 (2019-04)

Liechtenstein, Norway,

EN 62368-1:2014/AC:2015

Switzerland

IEC 62368-1:2014(2nd Edition) + Cor. 1: 2015
EN 62311 (2008-01)
DIN EN ISO 13849-1:2015
DIN EN ISO 13849-2:2012

USA

47 CFR §2.925
47 CFR §15.19
47 CFR §15.21
47 CFR §15.105
47 CFR §95.3331
47 CFR §95.3361
47 CFR §95.3367
47 CFR §95.3379
47 CFR §95.3385 UL 94
40 CFR §761.185
Dodd-Frank Wall Street Reform and Consumer Protection
Act of 2010 - Sect. 1502. Conflict minerals

CanadaCanadian Environmental Protection Act, 1999 (CEPA,
1999) from 19.08.2018
RSS-GEN Issue 4
RSS-102 Issue 5 Section 2.6
RSS-251 Issue 2

Japan

ARIB STD-48 V2.2

Australia

Radiocommunications (Low Interference Potential
Devices) Class License 2015 - F2016C00432 - Radiodetermination - sensors using radar for measurement, 69.
Radiodetermination transmitters 76 - 77 GHz.

New ZealandRadiocommunications Regulations (Radio Standards) Notice 2016 - Road Transport and Traffic Telematics (76 GHz)
– Level A1 conformity based on the ETSI EN 301 091-1
V2.1.1 standard.

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Country

Regulations

United Kingdom

Radio Equipment Regulations 2017
The Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations
2012

If the MRRe14HBW and hence the CAS-M 3 EVO radar sensor SCU is not operated within
this context, it lies within the customer’s responsibility to ensure compliance of the application with national regulations and standards, e.g., electromagnetic compatibility and radio spectrum matters.
Link to the up-to-date EU Declaration of Conformity DoC:
http://eu-doc.bosch.com(Please enter the model MRRe14HBW on which CAS-M sensors are based on to find thecorrect DoC in the database.)

16.4.2 Intended Use
The application of the MRRe14HBW-based CAS-M 3 EVO radar sensor under the conditions described in this technical customer documentation and the associated arranged
documents to described conditions (environment, application, installation conditions andloads) is a prerequisite for a warranty on the part of Bosch Engineering GmbH, that the
product is suitable for the intended or usual application assumed after the contract, or hasa certain state or quality.
All contractual requirements - including the aforementioned - are considered as fulfilled if
the product passes the test range according to the technical customer documentation andthe arranged documents. The safety of the application of the product in the vehicle is in
the responsibility of the customer.
All changes in the surroundings of the product, which deviate from the technical customer
documentation and the arranged documents, as well as use for applications not released
by Bosch Engineering GmbH, are to be indicated to Bosch Engineering GmbH. Such an
application or deployment of the product may take place only after release by Bosch Engineering GmbH on the basis of the changed surroundings or variance.
The product safety is ensured only if the permissible conditions are kept.
In the case of failure, the product needs to be replaced exclusively by an authorized bodyand is not serviceable.
The intended use of the CAS-M 3 EVO radar sensor is being mounted on ground based
vehicles. These include but are not limited to construction equipment (excavators, dump
trucks, bulldozers etc.), agriculture equipment (tractors, combine harvesters etc.), material
handling equipment (forklifters, mobile industrial robots, cranes etc.), mobile work platforms, trains, trams, light rail vehicles, and automotive vehicles (passenger cars, trucks,
busses).
It is not permitted to hand BOSCH ENGINEERING GmbH CAS-M 3 EVO radar sensors,
any documentation about BOSCH ENGINEERING GmbH CAS-M 3 EVO radar sensors,or any measurements using them to anyone who has not directly obtained the material from Bosch ENGINEERING GmbH.
It is not permitted to re-sell BOSCH ENGINEERING CAS-M 3 EVO radar sensors unlessotherwise agreed upon.

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It is not permitted to publish any results using the data from the BOSCH ENGINEERING GmbH CAS-M 3 EVO radar sensor, where it is publicly available unless otherwise
agreed upon.
It is not permitted to use the CAS-M 3 EVO radar sensor as fixed infrastructure
equipment.
It is not permitted to use the CAS-M 3 EVO radar sensor for military applications.
It is not permitted to operate the CAS-M 3 EVO radar sensor in any country where
frequency homologation type approval is not available.
In the case, frequency homologation is available in a country, it is not permitted tooperate the CAS-M 3 EVO radar sensor in applications not covered by this frequency
homologation in said country.

16.4.3 Radio Frequency Homologation
16.4.3.1 Basic information on radio frequency homologation andimport requirements
Definitions– In radio frequency homologation, the MRRe14HBW radar on which the CAS-M 3 EVO
radar sensor is based on falls into the group of Short Range devices (SRD). This classification does not have any relation to the functional classification used for theseradars.
– e.g.: a long range radar from Bosch also comes under the Short Range device classification.
– The radar sensor is a component that is part of a ground-based vehicle. The sensor as
a component is not brought on to the market. This means that the sensor is not available for purchase by the target user.
– The radar sensor as a component cannot be operated stand alone. For the intended
use of the component, a connection to the ground-based vehicle is required (dataconnection, supply voltage).
– In some countries, components that cannot be operated stand alone and also aredesignated to be mounted in a vehicle, are exempted from radio frequency licensing.
– The radar sensor intentionally radiates RF energy. Therefore, a radio frequency typeapproval license may be required for any country in which the sensor is intended to
be operated.
– A ground-based vehicle consists of a number of components. Depending on the
country, the vehicle may be subject to additional homologation requirements (e.g. registration of components).
– Type approval is the process by which any radio equipment is authorized to be used
in a specific country. The equipment’s compliance with the applicable standards andregulations has to be checked by the customer (upon request, BEG may assist in thisprocess).

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Overview Homologation: tasks and responsibilities

Required for
Responsible

Radio frequency homo-

Equipment Type Approval / Im-

logation (component)

port license (vehicle)

Legal operation of theImport and sale of a device in a

device in a country

country

Bosch Engineering for

OEM / (local registered) importer

countries specified in(Bosch Engineering customer)

Chapter Regulations [} 75]
Certificate holder

Bosch Engineering

Responsible for main- Bosch Engineering fortaining the certificate

OEM / local agent / entity of OEMOEM

countries specified in
Chapter Regulations [} 75]

TimingAvailable with Bosch En-

Must be obtained prior to importing

gineering SOP of theof ground-based vehicles in a coun-devicetry

Responsibilities of the vehicle manufacturer– It is in the responsibility of the ground-based vehicle manufacturer to obtain the required equipment type approvals or import licenses for bringing a ground-based
vehicle into the market in a specific country.
– On customer request, Bosch Engineering will provide the necessary technical radio
frequency related documentation to the OEM that is required for applying and obtaining the component (equipment) type approval / import license for the radar
sensor as a component of the ground-based vehicle in a specific country.
– The maintenance and renewal for the ground-based vehicle type approval certificatesand import licenses for the relevant vehicle platforms is in the responsibility of thevehicle manufacturer.

Impact of import destinations– Depending on the location of the OEM´s manufacturing plants, it needs to be clarified
who will act as the importer of the radar sensor component into these countries.
– The importer responsibilities relevant to that country have to be fulfilled by the party
accordingly

Responsibilities of Bosch Engineering– Bosch Engineering only provides radio frequency homologation for the sensor in the
countries mentioned in Chapter Regulations [} 75].
The radio frequency homologation certificates for the specific sensor for the countries
mentioned in Chapter Regulations [} 75] are maintained by Bosch Engineering.

16.4.4 Remarks on the Radio Frequency Homologation
16.4.4.1 General Points– Radio frequency homologation is required to operate 76-77 GHz radar sensors in acountry. Frequency homologation in a country must be granted and available prior to
selling in a country.

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– Granting and defining the requirements for obtaining radio frequency type approvals
is a task in the responsibility of a country´s telecommunication authority. Rejections ofapprovals or country specific restrictions are administrative decisions and cannot be
influenced by Bosch Engineering.
– Bosch Engineering cannot control the elements involved in the radio frequency typeapproval process of a country:– Incurring costs and fees
– Lead-time for obtaining the type approval– Validity of a type approval certificate– Content and requirements for obtaining a type approval certificate– Availability of the frequency band for radar sensor operation, as regulation may
change– The requirements and procedures for obtaining radio frequency type approval in acountry may change. In case of uncertainty, reconfirmation of the requirements that
apply may be necessary.

16.4.4.2 Markings on the Component and Manual Phrases
With receiving frequency homologation for a specific country, certain requirements haveto be satisfied regarding– Marking of the device– Reproducing specific statements and labels in the vehicle user manual– The markings to satisfy the homologation requirements of the Bosch Engineering focus countries are printed on the label on the back-cover of the CAS-M 3 EVO radar
sensors– Some of the countries listed in chapter Regulations [} 75] of this document have requirements regarding specific markings and phrases for the vehicle´s user manual,
which are described in chapter Country Specific User Manual Statements [} 80].
– For any country in which no type approval of the CAS-M 3 EVO radar sensor is available through Bosch Engineering, additional requirements regarding markings anduser manual phrases may exist.
– A country may require additional product registration and/or markings to be addedon the device or in the user manual, for a ground-based vehicle equipped with aradar sensor. Obtaining this information and the implementation of these requirements is the responsibility of the ground-based vehicle manufacturer.
– ExampleCAS-M 3 EVO radar sensor label (located on the back side of the sensor;
measures are in millimeters):

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Illustration 9: Markings on the CAS-M 3 EVO Radar Sensor

Label area Description
Area 0

Data matrix code

Area 1

Manufacturing date

Area 2

Product part number

Area 3

Designation of origin

Area 4

Business facility

Area 5

NamingArea 6

Serial number

Area 7

Type naming

Area 8

CE conformity markArea 9Bosch symbol and logotype

Area 10

Manufacturer address

Area 11Frequency certification label / number USA

Area 12Frequency certification label / number Canada

Area 13Frequency certification label / number Japan

Area 14Frequency certification label / number New Zealand

Area 15Frequency certification label / number Australia

16.4.4.3 Countries where no type approval is obtained
Application for type approval in countries that are not listed in chapter Regulations [} 75]of this document may be handled on customer request and charged separately. In thiscase, the availability of the 76 GHz frequency range for ground-based vehicular radar, administrative requirements and incurring costs have to be confirmed by the customer prior
to filing an application.

16.4.5 Country Specific User Manual Statements
The below mentioned countries have requirements regarding specific phrases that have tobe reproduced in the vehicle user’s manual. The specific phrases and labels result from theradio type approval requirements of those countries. The phrases have to be included in aconspicuous location in the vehicle user manual and accurately reprinted as indicated in
the following sub-chapters:

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16.4.5.1 Europe
16.4.5.1.1 Registration Name
MRRe14HBW
16.4.5.1.2 Required owner manual entry (DoC translations mentioned below)
Hereby, Bosch Engineering GmbH declares that the radio equipment type CAS-M 3 EVO
radar sensor is in compliance with Directive 2014/53/EU.
The full text of the EU declaration of conformity is available at the following internet address: http://eu-doc.bosch.com
Please enter the model MRRe14HBW to find the correct DoC in the database. The CAS-M
3 EVO radar sensor is based on the MRRe14HBW sensor mentioned in the declaration ofconformity.
This Radio Equipment can be operated without member country restrictions related to
Article 10(10) of the RE-D in the EU.
This Radio Equipment is constructed so that it can be operated in all EU member states
without infringing applicable requirements with regard to the requirements on the use ofradio spectrum.
Declaration of the technical parameters of the Radio Equipment under RE-D Article 10(8).
Frequency band

76-77 GHz

Nominal radiated power: e.i.r.p.

32 dBm(peak detector)
Nominal radiated power: e.i.r.p.

27 dBm(RMS detector)

16.4.5.1.3 Declaration of Conformity Translations
Following are the translations of the simplified DoC above in all EU languages.
Hereby, Bosch Engineering GmbH declares that the radio equipment type MRRe14HBW isin compliance with Directive 2014/53/EU.
The full text of the EU declaration of conformity is available at the following internet address: http://eu-doc.bosch.com
С настоящото Bosch Engineering GmbH декларира, че този тип радиосъоръжение
MRRe14HBW е в съответствие с Директива 2014/53/ЕС.
Цялостният текст на ЕС декларацията за съответствие може да се намери на следния
интернет адрес: http://eu-doc.bosch.com
Por la presente, Bosch Engineering GmbH declara que el tipo de equipo radioeléctrico
MRRe14HBW es conforme con la Directiva 2014/53/UE.
El texto completo de la declaración UE de conformidad está disponible en la dirección Internet siguiente: http://eu-doc.bosch.com
Tímto Bosch Engineering GmbH prohlašuje, že typ rádiového zařízení MRRe14HBW je v
souladu se směrnicí 2014/53/EU.
Úplné znění EU prohlášení o shodě je k dispozici na této internetové adrese: http://eudoc.bosch.com

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Hermed erklærer Bosch Engineering GmbH, at radioudstyrstypen MRRe14HBW er i overensstemmelse med direktiv 2014/53/EU.
EU-overensstemmelseserklær ingens fulde tekst kan findes på følgende internetadresse:
http://eu-doc.bosch.com
Hiermit erklärt Bosch Engineering GmbH, dass der Funkanlagentyp MRRe14HBW derRichtlinie 2014/53/EU entspricht.
Der vollständige Text der EU-Konformitätserklärung ist unter der folgenden Internetadresse verfügbar: http://eu-doc.bosch.com
Käesolevaga deklareerib Bosch Engineering GmbH, et käesolev raadioseadme tüüp
MRRe14HBW vastab direktiivi 2014/53/EL nõuetele.
ELi vastavusdeklaratsiooni täielik tekst on kättesaadav järgmisel internetiaadressil: http://
eu-doc.bosch.com
Με την παρούσα ο/η Bosch Engineering GmbH, δηλώνει ότι ο ραδιοεξοπλισμός
MRRe14HBW πληροί την οδηγία 2014/53/ΕΕ.
Το πλήρες κείμενο της δήλωσης συμμόρφωσης ΕΕ διατίθεται στην ακόλουθη ιστοσελίδαστο διαδίκτυο: http://eu-doc.bosch.com
Le soussigné, Bosch Engineering GmbH, déclare que l'équipement radioélectrique du type
MRRe14HBW est conforme à la directive 2014/53/UE.
Le texte complet de la déclaration UE de conformité est disponible à l'adresse internet
suivante: http://eu-doc.bosch.com
Bosch Engineering GmbH ovime izjavljuje da je radijska oprema tipa MRRe14HBW u skladu s Direktivom 2014/53/EU.
Cjeloviti tekst EU izjave o sukladnosti dostupan je na sljedećoj internetskoj adresi: http://
eu-doc.bosch.com
Il fabbricante, Bosch Engineering GmbH, dichiara che il tipo di apparecchiatura radio
MRRe14HBW è conforme alla direttiva 2014/53/UE.
Il testo completo della dichiarazione di conformità UE è disponibile al seguente indirizzo
Internet: http://eu-doc.bosch.com
Ar šo Bosch Engineering GmbH deklarē, ka radioiekārta MRRe14HBW atbilst Direktīvai
2014/53/ES.
Pilns ES atbilstības deklarācijas teksts ir pieejams šādā interneta vietnē: http://eudoc.bosch.com
Aš, Bosch Engineering GmbH, patvirtinu, kad radijo įrenginių tipas MRRe14HBW atitinka
Direktyvą 2014/53/ES.
Visas ES atitikties deklaracijos tekstas prieinamas šiuo interneto adresu: http://eudoc.bosch.com
Bosch Engineering GmbH igazolja, hogy a MRRe14HBW típusú rádióberendezés megfelel
a 2014/53/EU irányelvnek.
Az EU-megfelelőségi nyilatkozat teljes szövege elérhető a következő internetes címen:http://eu-doc.bosch.com
B'dan, Bosch Engineering GmbH, niddikjara li dan it-tip ta' tagħmir tar-radju MRRe14HBW
huwa konformi mad-Direttiva 2014/53/UE. It-test kollu tad-dikjarazzjoni ta' konformità
tal-UE huwa disponibbli f'dan l-indirizz tal-Internet li ġej: http://eu-doc.bosch.com
Hierbij verklaar ik, Bosch Engineering GmbH, dat het type radioapparatuur MRRe14HBW
conform is met Richtlijn 2014/53/EU.
De volledige tekst van de EU-conformiteitsverklaring kan worden geraadpleegd op het
volgende internetadres: http://eu-doc.bosch.com

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Bosch Engineering GmbH niniejszym oświadcza, że typ urządzenia radiowego
MRRe14HBW jest zgodny z dyrektywą 2014/53/UE.
Pełny tekst deklaracji zgodności UE jest dostępny pod następującym adresem internetowym: http://eu-doc.bosch.com
O(a) abaixo assinado(a) Bosch Engineering GmbH declara que o presente tipo de equipamento de rádio MRRe14HBW está em conformidade com a Diretiva 2014/53/UE.
O texto integral da declaração de conformidade está disponível no seguinte endereço deInternet: http://eu-doc.bosch.com
Prin prezenta, Bosch Engineering GmbH declară că tipul de echipamente radio
MRRe14HBW este în conformitate cu Directiva 2014/53/UE.
Textul integral al declarației UE de conformitate este disponibil la următoarea adresă internet: http://eu-doc.bosch.com
Bosch Engineering GmbH týmto vyhlasuje, že rádiové zariadenie typu MRRe14HBW je v
súlade so smernicou 2014/53/EÚ.
Úplné EÚ vyhlásenie o zhode je k dispozícii na tejto internetovej adrese: http://eudoc.bosch.com
Bosch Engineering GmbH potrjuje, da je tip radijske opreme MRRe14HBW skladen z
Direktivo 2014/53/EU.
Celotno besedilo izjave EU o skladnosti je na voljo na naslednjem spletnem naslovu:
http://eu-doc.bosch.com
Bosch Engineering GmbH vakuuttaa, että radiolaitetyyppi MRRe14HBW on direktiivin
2014/53/EU mukainen.
EU-vaatimustenmukaisuusvakuutuksen täysimittainen teksti on saatavilla seuraavassa internetosoitteessa: http://eu-doc.bosch.com
Härmed försäkrar Bosch Engineering GmbH att denna typ av radioutrustning
MRRe14HBW överensstämmer med direktiv 2014/53/EU.
Den fullständiga texten till EU-försäkran om överensstämmelse finns på följande webbadress: http://eu-doc.bosch.com

16.4.5.1.4 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

16.4.5.2 United Kingdom
16.4.5.2.1 Registration Name
MRRe14HBW
16.4.5.2.2 Required owner manual entry
Hereby, Bosch Engineering GmbH declares that the radio equipment type CAS-M 3 EVO
radar sensor is in compliance with the relevant statutory requirements.
The full text of the EU declaration of conformity is available at the following internet address: http://gb-doc.bosch.com
Please enter the model MRRe14HBW to find the correct DoC in the database. The CAS-M
3 EVO radar sensor is based on the MRRe14HBW sensor mentioned in the declaration ofconformity.

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This Radio Equipment can be operated without restrictions on putting into service or requirements for authorisation of use in the United Kingdom with respect to Section 14 of
the Radio Equipment Regulations 2017.
This radio equipment has been constructed so that it can be operated without causing an
infringement of the applicable requirements on the use of the radio spectrum according
to Section 8 of the Radio Equipment Regulations 2017
Declaration of the technical parameters of the Radio Equipment according to Section 13of the Radio Equipment Regulations 2017.
Frequency band

76-77 GHz

Nominal radiated power: e.i.r.p.

32 dBm(peak detector)
Nominal radiated power: e.i.r.p.

27 dBm(RMS detector)

16.4.5.2.3 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

16.4.5.3 USA
16.4.5.3.1 Registration Name
2AM6A-MRRE14HBW
16.4.5.3.2 Required owner manual entry
User manual statement according to §15.19:
NOTICE:
This device complies with Part 15 of the FCC Rules
Operation is subject to the following two conditions:1.

this device may not cause harmful interference, and2.

this device must accept any interference received, including interference that may
cause undesired operation.

User manual statement according to §15.21:
Changes or modifications made to this equipment not expressly approved by Bosch Engineering GmbH may void the FCC authorization to operate this equipment.

User manual statements according to §15.105:
This equipment has been tested and found to comply with the limits for a Class A digital
device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause
harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required tocorrect the interference at his own expense.

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RF Exposure Information according 2.1091 / 2.1093 / KDB 447498 /OET bulletin 65:
Radiofrequency radiation exposure Information:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolledenvironment. This equipment should be installed and operated with minimum distance of
20 cm between the radiator and your body.
This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.

16.4.5.3.3 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

16.4.5.4 Canada
16.4.5.4.1 Registration Name
23203-MRRE14HBW
16.4.5.4.2 Required owner manual entry
User manual statement according to RSS-GEN
NOTICE:
This device complies with Industry Canada license-exempt RSS standard(s). Operation is
subject to the following two conditions: (1) this device must not cause interference, and(2) this device must accept any interference, including interference that may cause undesired operation of the device.
Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils
radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes: (1)l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter
tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement.

RF Exposure Information according to RSS-102
Radiofrequency radiation exposure Information:
This equipment complies with FCC and IC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body.
This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.
Cet équipement est conforme aux limites d'exposition aux rayonnements IC établies pourun environnement non contrôlé. Cet équipement doit être installé et utilisé avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps.
Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un
autre transmetteur ou antenne.

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16.4.5.4.3 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

16.4.5.5 Japan
16.4.5.5.1 Registration Name
202-LSF075
16.4.5.5.2 Required owner manual entry
This device is granted pursuant to the Japanese Radio Law (電波法) under the grant ID n°(認証番号): 202-LSF075
This device should not be modified (otherwise, the granted designation number will become invalid)
本製品の改造は禁止されています。（適合証明番号などが無効となります。）

16.4.5.5.3 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

16.4.5.6 Australia
16.4.5.6.1 Registration Namen/a
16.4.5.6.2 Required owner manual entry
The minimum height of the RCM mark should be 3 mm.

16.4.5.6.3 Homologation Label of Device
The homologation label is placed on the sensor label on its back side.

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Bosch Engineering GmbH
Motorsport
Robert-Bosch-Allee 174232 Abstattwww.bosch-motorsport.com