User Manual

3
Table of Contents
Introduction ..................................................................... 6
1.1. Description ....................................................................................... 6
1.2. SPI Carrier Board ............................................................................. 8
1.3. USB, CAN and SERIAL Carrier Board .................................................... 9
1.4. Working Diagram ............................................................................ 14
1.4.1. SPI Carrier Board .................................................................................... 15
1.4.2. USB, CAN and SERIAL Board .................................................................... 16
Underlying Principles ...................................................... 17
Getting Started ............................................................... 18
3.1. Optional power supply ..................................................................... 18
3.2. Optional SPI cable ........................................................................... 19
3.3. Setup ............................................................................................ 19
3.4. Connecting to the LeddarVu Module ................................................... 22
Measurements and Settings ............................................ 25
4.1. Distance Measurement ..................................................................... 25
4.2. Data Description ............................................................................. 26
4.3. Acquisition Settings ......................................................................... 28
4.4. Measurement Rate .......................................................................... 34
4.5. CPU Load ....................................................................................... 35
Communication Interfaces .............................................. 37
5.1. SPI Interface .................................................................................. 37
5.1.1. SPI Basics .............................................................................................. 37
5.1.2. SPI Protocol ........................................................................................... 38
5.1.3. Memory Map .......................................................................................... 41
5.1.4. SPI Operation ......................................................................................... 47
5.2. I2C Interface .................................................................................. 48
5.3. USB Interface ................................................................................. 48