LeddarVu 8-Segment Solid-State LiDAR Module USER GUIDE
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© 2019 LeddarTech Inc. All rights reserved. The Company shall not be liable for any errors contained herein or for any damages arising out of or related to this document or the information contained therein, even if the Company has been advised of the possibility of such damages. The information contained herein is the property of LeddarTech Inc. and shall not be reproduced in whole or in part without prior written approval of LeddarTech Inc. LeddarTech Inc.
DISCLAIMER LeddarTechTM Inc. reserves the right to modify the products and/or specifications described herein at any time, without notice, at LeddarTech’s sole discretion. Performance specifications and operating parameters of the described products are determined in an independent state and are not guaranteed to perform the same way when installed in customer products.
Table of Contents LIST OF FIGURES ............................................................................................... 7 LIST OF TABLES ................................................................................................. 9 INTRODUCTION .......................................................................................... 11 1.1. Description ........................................................................................................................ 11 1.2.
.3.1. Toolbar ........................................................................................................................ 85 6.3.2. Fit to Window ............................................................................................................... 85 6.3.3. Force Equal Horizontal and Vertical Scales ................................................................ 85 6.3.4. Zoom in ........................................................................................................
List of Figures Figure 1: General elements of the LeddarVu module ................................................................... 12 Figure 2: Board of the SPI LeddarVu module ............................................................................... 13 Figure 3: Board of the USB, CAN and SERIAL LeddarVu module ............................................... 14 Figure 4: LeddarVu module working diagram ...............................................................................
Figure 53: File menu .................................................................................................................... 100 Figure 54: File menu to stop data recording ................................................................................ 101 Figure 55: Carrier board firmware update ................................................................................... 101 Figure 56: Carrier board firmware update warning ...............................................................
List of Tables Table 1: Communication port configuration (for 6 positions DIP switch)....................................... 15 Table 2: Communication port configuration (for 8-position DIP switch) ........................................ 15 Table 3: Communication link configuration ................................................................................... 16 Table 4: S3 push button functionalities .........................................................................................
Table 53: Answers ......................................................................................................................... 73 Table 54: CAN message IDs ......................................................................................................... 73 Table 55: CAN bus request message............................................................................................ 74 Table 56: CAN bus request message (Get input data) ......................................................
Introduction The LeddarVu module enables developers and integrators to make the most of Leddar™ technology through integration in detection and ranging systems. The purpose of the LeddarVu module is to easily and rapidly be integrated in various applications. The module can be configured to be used in very simple applications or to perform more complex tasks depending on the hardware and software settings. 1.1.
Figure 1: General elements of the LeddarVu module Receiver assembly The receiver assembly contains the photodetector array (8 elements), the circuit receiver, and a processor (MCU). The module generates a full waveform per segment at its measurement rate. NOTE: Lens coating color for 47.5° configuration may change from one sample to another from greenish to bluish, but the inherent properties of the lens are not affected in the field of application of this product.
1.2. SPI Carrier Board The following presents the description of the SPI board. Figure 2: Board of the SPI LeddarVu module NOTE: Power outputs can supply up to 15 mA. Page 13 of 129 54A0028-6 042019 © LeddarTech Inc.
1.3. USB, CAN and SERIAL Carrier Board The following presents the description of the USB, CAN and SERIAL board. Figure 3: Board of the USB, CAN and SERIAL LeddarVu module NOTE: Power outputs can supply up to 15 mA.
DIP Switches The DIP switches are used for the configuration of the serial port number 1.
NOTES: • DIP switch position 6 on ‘ON’ position enables a 121Ω termination resistor to RS-485 twowire configuration only (must be kept on ‘OFF’ position in any other configuration). • DIP switch position 8 on ‘ON’ position enables a 121Ω termination resistor to CAN port. Configurable serial link 1 Depending on the DIP switch positions, the configurable serial link pin functionalities differ (refer to Table 3).
Push buttons The S1 push button is used for a hard-reset purpose; a short press resets the module. The S3 push button is used for special purposes (refer to Table 4). Table 4: S3 push button functionalities Description Action Resets the carrier board configuration to the default values: CAN port configuration Long press during module operation (longer than 10 seconds) • • • • • 1Mbsp, standard frame format Base Rx: 0x740 Base Tx: 0x750 No delay Distance in cm and a max.
1.4. Working Diagram The working diagram explains how the module works in the standard and optional configurations.
1.4.1. SPI Carrier Board The SPI carrier board includes the following elements: SPI and control interface The SPI serial port functionalities are available via pins 3, 5, 7, and 9. The port has a standard signal level of 0 V through 3.3 V.
1.4.2. USB, CAN and SERIAL Board The optional carrier board includes the standard elements and the following ones: Serial ports (TTL, RS-232, RS-422, and RS-485) The TTL port is used for the short-range transmission of data. The port has a standard signal level of 0 V through 3.3 V. The RS-232 is used for the transmission of data. It defines the signals connection between the data terminal equipment (such as a computer) and the data circuit-terminating equipment (such as a modem).
Underlying Principles Created by LeddarTech, LEDDAR™ (light-emitting diode detection and ranging) is a unique sensing technology based on light (infrared spectrum) and the time-of-flight of light principle. The light source illuminates the area of interest (pulsed typically at 10 kHz for the LeddarVu8 47.5° module) and the multichannel module receiver collects the backscatter of the emitted light and measures the time taken for the emitted light to return back to the module.
Getting Started This chapter presents the steps to install Leddar™ Configurator and start using the LeddarVu. 3.1. Optional Power Supply The power supply included with the Starter Kit version of the LeddarVu8 has a pluggable terminal block that connects to the 12V header connector of the LeddarVu sensor. Location of the 12V header pin can be found on Figure 2 (LeddarVu SPI) or Figure 3 (LeddarVu USB, UART, CAN Bus).
3.2. Optional SPI cable The table below shows the pinout of the optional SPI cable sold by LeddarTech. Refer to Figure 2 for connection information. Table 6: Optional SPI Cable Pinout Wire Color Function Black Ground Blue Reset_N Orange SCLK Green MISO Yellow MOSI Brown CS# 3.3. Setup This section presents the Leddar™ Configurator installation and the procedure to set up the LeddarVu module. All software operations are described in chapter 6. To install Leddar™ Configurator: 1.
Figure 7: Welcome to the Leddar™ Software 3 Setup Wizard dialog box In the End-User License Agreement dialog box, read the terms of the agreement, select the I accept the terms in the License Agreement check box, and click Next. Figure 8: End-User License Agreement dialog box In the Product Types dialog box, the Leddar™ Software Development Kit check box is selected by default.
Figure 9: Product Types dialog box 1. Click Next. 2. In the Destination Folder dialog box, click Next to select the default destination folder. OR Click the Change button to choose a destination folder. 3. In the Ready to Install Leddar™ Software 3 dialog box, click the Install button. 4. In the Completed the Leddar™ Software 3 Setup Wizard dialog box, click Finish. Leddar™ Configurator creates an icon on the computer desktop. Page 25 of 129 54A0028-6 042019 © LeddarTech Inc.
3.4. Connecting to the LeddarVu Module The first time the module is connected to a computer, a few seconds are required for Windows™ to detect it and complete the installation. Once the installation is completed, you can connect to the LeddarVu module to create your configuration. To connect to the module: 1. Connect the power cable to the module and to a power source. 2. Connect the USB cable to the module and to the computer. 3. On the computer desktop, double-click the Leddar™ Configurator icon. 4.
Figure 11: Connection dialog box 6. In the Available ports list, select the product and click the Connect button. Page 27 of 129 54A0028-6 042019 © LeddarTech Inc.
The main window displays the detections (green lines) in the segments (white lines). Figure 12: Main window A complete description of Leddar™ Configurator features and parameters for the LeddarVu module can be found at chapter 6. NOTE: Refer to Section 6 LeddarTM Configurator for details on how to use the software.
Measurements and Settings This chapter presents measurements, settings, and zone definition for the LeddarVu module. 4.1. Distance Measurement Distance is measured from the base of the standoffs for the LeddarVu module. Figure 13: Distance measurement The dashed lines illustrate 1 of the 8 segments and the solid line indicates the distance measured by the module in that segment. Page 29 of 129 54A0028-6 042019 © LeddarTech Inc.
4.2. Data Description Data displayed in the Raw Detections dialog box allow the user to precisely define the desired detection parameters (View menu > Raw Detections). Figure 14: Raw Detections dialog box An object crossing the beam of the module is detected and measured. It is qualified by its distance, segment position, and amplitude. The quantity of light reflected back to the module by the object generates the amplitude. The bigger the reflection, the higher the amplitude will be.
Table 7: Raw detection table description Field Description Segment (Seg) Beam segment in which the object is detected. Distance Position of the detected object. Amplitude Quantity of light reflected by the object and measured by the module. Flags 8-bit status (bit field). See Table 8. The Flag parameter provides the status information that indicates the measurement type.
4.3. Acquisition Settings Acquisition settings allow you to define parameters to use for detection. To open the Acquisition Settings dialog box, select Device > Configuration > Acquisition. 4.3.1. General Settings Figure 15: General tab – Acquisition Settings dialog box To apply new acquisition settings, click LeddarVu – User Guide .
Table 10: Acquisition settings description Parameter Description Range Number of accumulations. Higher values enhance the range and reduce the measurement rate and noise. Accumulation When you increase the accumulation value, you reduce the noise as well as the measurement rate. Depending on your application, a reduction of the noise might be more important than a high measurement rate. 1 2 4 8 16 32 64 128 256 512 1024 Number of oversampling cycles.
Parameter Threshold Offset Description Range Modification to the amplitude threshold. Higher values decrease the sensitivity and reduce the range. −50.00 to 500.00 See below for more details. Smoothing Object smoothing algorithm. Smooths the LeddarVu module measurements. The behavior of the smoothing algorithm can be adjusted by a value ranging from -16 to 16. Higher values enhance the module precision but reduce the module reactivity.
Parameter Description Range Inter-segment interference noise removal. Crosstalk Removal Crosstalk is a phenomenon inherent to all multiple segments time-of-flight sensors. It causes a degradation of the distance measurement accuracy of an object when one or more objects with significantly higher reflectivity are detected in other segments at a similar distance. This option enables an algorithm to compensate the degradation due to crosstalk.
Threshold offset The threshold offset is a value that modifies the detection amplitude threshold. A default detection threshold table was determined to provide robust detection and minimize false detections caused by noise in the input signal. Figure 16 below presents the threshold table for a light source intensity of 16. This table is effective when the threshold offset value is 0.
filter out the false measurements at the application level. For example, this can be useful in applications that require long detection ranges or detection of small or low reflectivity targets. Smoothing The smoothing algorithm increases the precision of the measurement at the cost of the LeddarVu module reactivity. The history length of the filter is defined as a function of the measurement noise level. It also changes according to the oversampling and accumulation settings.
Light Source Control There is a total of 5 light source power levels. Their approximate relative power is evenly distributed between 0 through 100%. There were three power control mode: manual, automatic mode 1 and automatic mode 2. With the manual mode, the light power source of the sensor is set to a fixed value. This mode can be used in a controlled environment of sensor FOV.
Object Demerging The sensor can detect up to 4 objects per channel, as long as there is enough infrared light coming back from each target. There is also the possibility to activate the Active Demerging which will allow to demerge one pair of objects which closer together than normal. With the active demerging enabled, the sensor can also detect up to 4 objects per channel with the advantage of having 2 of these 4 objects to be detected while being close to each other. When the Active demerging is disabled.
4.3.2. Enabling and Disabling Segments To open the Acquisition Settings dialog box, select Device > Configuration > Acquisition. Segments are enabled by default. Deactivating a segment can target what needs to be identified in a field of view. This has an impact on the measurement rate which will be faster. Figure 18: Segments tab – Acquisition Settings dialog box When you uncheck segments, the corresponding segments will appear with gray square lines in the main window as shown in the image below.
Figure 19: Disabled segments example To apply new acquisition settings, click the apply button Page 41 of 129 in the main window. 54A0028-6 042019 © LeddarTech Inc.
4.4. Measurement Rate The LeddarVu module acquires a base input waveform for all segments at a rate between 10 kHz and 40 kHz, depending on the sensor field of view (see Table 11). Multiple acquisitions are used to perform accumulations and oversampling and generate a final waveform that is then processed to detect the presence of objects and measure their position. Table 11: Base Acquisition Rate Based on the Field of View LeddarVu8 FOV Base Acquisition Rate 16° 10 kHz 47.5° 20 kHz 98.
Table 12: Measurement rate for LeddarVu8 Accumulation Oversampling 1024 8 0.1356 0.2713 0.5425 512 8 0.2713 0.5425 1.0851 256 8 0.5425 1.0851 2.1701 128 8 1.0851 2.1701 4.3403 64 8 2.1701 4.3403 8.6806 32 8 4.3403 8.6806 17.3611 1024 4 0.2713 0.5425 1.0851 512 4 0.5425 1.0851 2.1701 256 4 1.0851 2.1701 4.3403 128 4 2.1701 4.3403 8.6806 64 4 4.3403 8.6806 17.3611 32 4 8.6806 17.3611 34.
4.5. CPU Load The measurement rate varies with the accumulations and oversampling settings. The higher the rate, the higher the processing load is on the source and control assembly microcontroller. The Point parameter, in the Acquisition Settings dialog box, (Device menu, Configuration > Acquisition) also has an impact on the processing load since it impacts the number of sample points to process for each segment.
Communication Interfaces The interfaces and links are optional and are implemented depending on your configuration. 5.1. SPI Interface The SPI interface on the SPI board is a direct link to the receiver module. The SPI interface available with the USB, CAN and SERIAL board is a port connected to MCU but not implemented for the moment. 5.1.1. SPI Basics The SPI interface uses the configuration mode 0; where, data is captured on the rising edge of the clock signal and outputted on the falling.
Table 13: Basic modes Mode Clock Polarity CPOL Clock Phase CPHA 0 0 0 1 0 1 2 1 0 3 1 1 5.1.2. SPI Protocol The universal SPI protocol uses a combination of standard commands for FLASH and SRAM memories. Each SPI packet contains a header, a payload, and a cyclic redundancy check (CRC). The first byte of the header corresponds to an instruction opcode. It is followed by a 24-bit address and the 16-bit size of the payload. The payload contains several user-data bytes.
The supported opcodes are presented in Table 15. Table 15: SPI opcode commands Mnemonic Opcode Operation Description READ 0x0B Read data The read command returns data from memory starting at the selected address. It needs a delay between the group containing the opcode, address, and size data, and the return data stream to let the receiver module to decode the request and get the ready data to the clock.
The status register and bit flags are presented in Table 16. Table 16: Status register Bit Name Access 7:2 Reserved R/W 1 Write enable latch R 0 Module ready R Description Future use 0 = Write disabled 1 = Write enabled 0 = Module ready 1 = Module busy (programming, erasing) Data chronograms are represented in Figure 22 and Figure 23, and opcode and register chronograms are presented in Figure 24 and Figure 25 below.
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5.1.3. Memory Map The memory map is divided in four memory banks. This section presents the description of the four memory banks in a table format.
Offset Length Type Description 67 1 int8_t Precision (smoothing): Stabilizes the module measurements. The behavior of the smoothing algorithm can be adjusted by a value ranging from –16 through 16. 68 1 uint8_t Precision enabled 69 1 uint8_t Saturation compensation enabled 70 1 uint8_t Overshoot management enabled 71 4 int32_t Sensitivity (detection threshold) setting expressed in a raw amplitude scale.
Device Information and Constants Table 20: Device information and constants bank Offset Length Type 0 32 char Module part number as an ASCII string 32 32 char Software part number as an ASCII string 64 32 char Module serial number as an ASCII string 96 32 char Manufacturer name as an ASCII string 128 32 char Group identification number as an ASCII string 160 32 char Build date as an ASCII string 192 32 char Firmware version as an ASCII string 224 32 char Bootloader version
Offset Length Type Description Module type 0x00000000: Invalid Device 0x00000007: M16 Evaluation Kit 320 2 uint16_t 0x00000008: IS16 0x00000009: M16 0x0000000A: LeddarOne 0x0000000D: LeddarVu8 322 4 uint32_t Internal Use 326 1 uint8_t Accumulation exponent min. 327 1 uint8_t Accumulation exponent max. 328 1 uint8_t Oversampling exponent min. 329 1 uint8_t Oversampling exponent max. 330 1 uint8_t Base point sample min. 331 1 uint8_t Base point sample max.
Offset Length Type Description 378 2 uint16_t Auto frame average max. 380 1 uint8_t Auto light source power percent min. 381 1 uint8_t Auto light source power percent max. 382 1 uint8_t Auto detections average min. 383 1 uint8_t Auto detections average max.
Detection List Table 24: Detection list bank Offset Length Type 0 4 uint32_t Timestamp: in ms since the power up Description 4 2 uint16_t Number of detection (N) 6 2 uint16_t Current percentage of light source power 8 4 uint32_t Acquisition options 12 N* detection structure size Array of detection structure Start of detection list array Refer to Table 25 for details.
Transaction Configuration Table 26: Transaction configuration bank Offset Length Type Description Secure-transaction enabled flags: 0 1 uint8_t 1 = Enables the CRC calculation and validation on any transaction. This flag is enabled by default. 0 = No CRC validation. The CRC field is still required in SPI protocol but can be set to any value. Transaction modes: 0 = Free run. The READY pin is asserted on each ready detection frame. The host must be able to read data on time.
5.1.4. SPI Operation The SPI operation includes four parameters: SPI port configuration, speed and timing, access, and modification. 5.1.4.1. SPI Port Configuration The SPI port must be configured in the 0 mode (see section 5.1.1 SPI Basics 45) to communicate with the receiver module. 5.1.4.2. Sensor Hard Reset A hard-reset pin is available to reboot the sensor. The standard hard reset chronogram is shown on Figure 26 below: the nCS must not be asserted during this reset sequence.
The SPI clock frequency can be in the range between 500 kHz and 25 MHz. 5.1.4.4. Access To access a parameter, you need to add a parameter offset to the associated bank start base address. Use the parameter length to get or set the whole parameter field. 5.1.4.5. Modification To modify a parameter: 1. Disable the write protection of the module by sending the write enabled command. 2. Poll the status register to get the ready state and write enabled flag asserted. 3. Send the new parameter value. 4.
Table 27: Read input register messages Address 1 Description Detection status for polling mode: 0 = Detections not ready 1 = Detections ready: this status flag is reset to 0 after reading this register 2 Number of segments (N) 11 Number of detections 12 Current percentage of light source power 13 Bit field of acquisition status: Reserved 14 Low 16 bits of timestamp (number of milliseconds since the module was started) 15 High 16 bits of timestamp 16 to 16 + N-1 Distance of first detection f
Address Description 16 + (9*N) to 16 + (10*N) - 1 Distance of the fourth detection 16 + (10*N) to 16 + (11*N) - 1 Amplitude of the fourth detection 16 + (11*N) to 16 + (12*N) - 1 Flag of the fourth detection 16 + (12*N) to 16 + (13*N) - 1 Distance of fifth detection 16 + (13*N) to 16 + (14*N) - 1 Amplitude of fifth detection 16 + (14*N) to 16 + (15*N) - 1 Flag of the fifth detection 16 + (15*N) to 16 + (16*N) - 1 Distance of the sixth detection 16 + (16*N) to 16 + (17*N) - 1 Amplitude of th
Address Description 5 Light source power in percentage of the maximum. A value above 100 is an error. If a value is specified that is not one of the pre-defined values, the closest pre-defined value will be used. Refer to the detection reading to verify the LED intensity value as seen in Table 27 and Table 31.
NOTE: As per the Modbus protocol, register values are returned in big-endian format. A request for a register that does not exist will return error code 2. Trying to set a register to an invalid value will return error code 3. If an error occurs while trying to execute the function, error code 4 will be returned.
Report server ID (function code 0x11) This function returns information on the LeddarVu module in the following format: Table 29: Report server ID messages Offset Length Description 0 1 Number of bytes of information (excluding this one). Currently 0x99 since the size of information returned is fixed. 1 32 Serial number as an ASCII string 33 1 Run status 0: OFF, 0xFF: ON. Should always return 0 FF, otherwise the module is defective.
Table 30: Get detection messages (detection fields) Offset Length 0 2 2 2 Description The distance (little-endian).
Read module data (function code 0x42) Table 32 and Table 33 present the request and answer codes for reading data. This function is an encapsulation of the SPI protocol. See section 5.1.3 Memory Map.
Table 36: Requests Offset Length Description Opcode, supported opcodes: Read status = 0x05 Write enabled = 0x06 0 1 Write disabled = 0x04 Reset configuration = 0x C7 Soft reset = 0x99 1 1 Argument: optional value (must be set to 0x00) Table 37: Answers Offset Length 0 1 Opcode 1 1 Return value: optional return value (read status opcode = Status value) LeddarVu – User Guide Description Page 66 of 129
Get serial port settings (function code 0x45, 0x00) Table 38, Table 39, and Table 40 present the requests and answers of the get serial port settings.
Table 40: Answers serial port settings field Offset Length 0 1 Description Logical serial port number Baud rate, supported rates: 1 4 5 1 9,600 19,200 38,400 57,600 115,200 Date size: 8 = 8-bit size Parity: 0 = None 1 = Odd 2 = Even 6 1 7 1 8 1 Stop bit: 1 = 1 stop bit 2 = 2 stop bits Flow control: 0 = None 9 1 Modbus address: 1 through 247 10 1 Max. echoes per transactions. Used for the Get Detection command (function code 0x41), max. of 40 echoes.
Table 42: Requests serial port setting field Offset Length 0 1 Description Settings of corresponding logical serial port number to set. Baud rate, supported rates: 1 4 5 1 9,600 19,200 38,400 57,600 115,200 Date size: 8 = 8-bit size Parity: 0 = None 1 = Odd 2 = Even 6 1 7 1 8 1 Stop bit: 1 = 1 stop bit 2 = 2 stop bits Flow control: 0 = None 9 1 Modbus address: 1 through 247 10 1 Max. echoes per transactions. Used for the Get Detection command (function code 0x41), max. of 40 echoes.
Get carrier firmware information (function code 0x45, 0x02) Table 44 and Table 45 present the registers for the firmware information commands. Table 44: Requests Offset Length 0 1 Description Sub-function code: 0x02 Table 45: Answers Offset Length Description 0 1 Sub-function code: 0x02 1 32 Firmware part number ASCII string 33 8 Firmware version in four units for format A, B, C, and D.
Table 49: Answers header field Offset Length Description 0 1 Sub-function code: 0x04 1 1 Number of CAN port Table 50: Answers CAN port settings field Offset Length 0 1 Description Logical CAN port number settings Baud rate, supported rates: • • • • • • • • 10,000 20,000 50,000 100,000 125,000 250,000 500,000 1,000,000 1 4 5 1 6 4 Frame format: 0 = Standard 11 bits 1 = Extended 29 bits Tx base ID 10 4 Rx base ID 14 1 Maximum number of detections (measurements) returned per CAN dete
Set CAN port settings (function code 0x45, 0x05) Table 51 and Table 52 present the requests and answers for the CAN port commands.
Table 53: Answers Offset Length 0 1 Description Sub-function code: 0x05 5.5. CAN Bus Interface The CAN bus interface uses two default message IDs that can be modified by the user: 1856 (0x740) and 1872 (0x750).
Table 55: CAN bus request message Function Request (Byte 0) 1 Function Request Description Function Arguments (Byte 1) Stop sending detections continuously Send detection once Bit field of operation mode Bit-0: 0 = Return detection in single message mode 2 1 = Return detection in multiple message mode Start sending detections continuously (that is, the module will send a new set of detections each time they are ready without waiting for a request).
Table 56: CAN bus request message (Get input data) Input Data Type (Byte 1) Input Data Description 0 Number of segments 1 Device identification and option 2 and 3 Firmware version 4 and 5 Bootloader version 6 FPGA version 7 through 12 Serial number 13 through 18 Device name 19 through 24 Hardware part number 25 through 30 Software part number Table 57: CAN bus request message (Get holding data) Holding Data Type (Byte 1) Page 75 of 129 Holding Data Description 0 Acquisition configura
Table 58: CAN bus request message (Set holding data) Holding Data Type (Byte 1) Holding Data Description Acquisition configuration 0 Smoothing and detection threshold Argument Byte 2 Exponent for the number of accumulation (that is, if the content of this register is n, 2n accumulations are performed). Byte 3 Exponent for the number of oversampling (that is, if the content of this register is n, 2n oversamplings are performed).
Holding Data Type (Byte 1) Holding Data Description Distance resolution and acquisition options Argument Argument Description Bytes 2 and 3 Distance units: Bytes 4 and 5 Bit field of acquisition options: • • • • 1=m 10 = dm 100 = cm 1,000 = mm Bit-0: Automatic light source power enabled Bit-1: Demerge object enabled Bit-2: Static noise removal enabled 3 Bit-3: Precision (smoothing) enabled Bit-4: Saturation compensation enabled Bit-5: Overshoot management enabled Bit-6: Automatic light source po
7 Reserved - - 8 Segment enabled Bytes 4 through 7 Bit-field of the enabled segments Table 59: CAN bus request message (Set base address) Data Description Base address Argument Argument Description Bytes 4 through 7 Base address to access Read module date and Write module date commands (from 0x00000000 to 0x00FFFFFF) Table 60: CAN bus request message (Read module data) Data Description Read module data Argument Byte 1 Bytes 2 and 3 Argument Description Data length (1, 2, or 4) Offset from 0x0
1872 (0x750) (Tx base ID) These are 8-byte answer messages to the host command requests. Table 63: CAN bus answer message Answer Data (Byte 0) 1 2 3 4 5 6 7 8 9 10 Page 79 of 129 Answer Data Description Additional Answer Data (Byte 1 to Byte 7) Answer to stop continuously sending detection requests. Success: Return echo from the command request. Answer to send once a detection request. Success: Return echo from the command request. Answer to continuously sending a detection request.
Table 64: CAN bus answer message (Get input data) Input Data Type (Byte 1) Input Data Description Argument Arguments Description Number of segments Bytes 2 and 3 Number of segments Device identification and options Bytes 2 and 3 Device identification code (13 for LeddarVu8) Bytes 4 through 7 Device option flags (LeddarTech internal use) Bytes 2 and 3 The firmware build version (A) Bytes 4 and 5 The firmware build version (B) Bytes 6 and 7 The firmware build version (C) Firmware version in
Table 65: CAN bus answer message (Read module data) Data Description Argument Byte 1 Byte 2 Argument Description Data length (1, 2, or 4) Offset Byte 3 Read module opcode command Byte 4 Byte 5 Data to read Byte 6 Byte 7 Table 66: CAN bus answer message (Send module opcode request) Data Description Argument Send module opcode command Argument Description Byte 2 Opcode Byte 3 Optional argument Byte 4 Optional return value 1873 (0x751) (Tx base ID + 1) These are 8-byte messages that indicates
1874 (0x752) (Tx base ID + 2) These are the detection messages with flag information, which contains one detection presented in the following format: • • • • Data bytes 0 and 1 contain the distance in units defined by the distance-units holding data. Data bytes 2 and 3 contain the amplitude. This value must be divided by 64 to get the amplitude (that is, 6 bits for fractional part). Data bytes 4 and 5 contain the flag information as described in the table below. Bytes 6 and 7 contain the segment number.
Leddar™ Configurator Leddar™ Configurator provides configuration parameters and operation functionalities for LeddarTech products. 6.1. Introduction to Configurator Software The Configurator interface can be resized manually or set to full screen view. All dialog boxes that do not include a selection of action buttons at the bottom, such as Connect, OK, Cancel, etc. are dockable at the top, the bottom, or on the right side of the main window.
6.2. Connection Window The following is a description of the information shown in the Connection dialog box. Figure 28: USB connection dialog box Figure 29: SPI connection dialog box Select a connection Type The connection type you are using. There are four connection types: 1. 2. 3. 4. IS16/M16/Evaluation Kit USB LeddarVu SPI LeddarVu USB/Serial LeddarOne Available ports The list of available ports displays the modules currently detected.
6.3. Leddar™ Configurator Main Window After connecting to the device, the main window opens. Vertical scale setting areas Horizontal scale setting areas Figure 30: Leddar™ Configurator main window The measurements are plotted in a symbolic graph containing the 16 segments (white lines) originating from the LeddarVu module. Detections are drawn as arcs in their corresponding segments. Only valid measurements are displayed.
NOTE: When in equal scaling mode, you cannot zoom the display horizontally or vertically, that is, holding the or key down while zooming in or out will have no effect. The scales cannot then be modified by entering values in the fields shown in Figure 30 above. 6.3.4. Zoom in Click the zoom in button 6.3.5. Zoom out Click the zoom out button 6.3.6. to zoom in vertically and horizontally around the center of the display.
Figure 31: Zooming in (left) and out (right) horizontally To zoom the display vertically, hold the key down while using the mouse wheel. NOTE: The equal scaling button must be not selected (not highlighted). Figure 32: Zooming in (left) and out (right) vertically The measurements of a detection point appear as a pop-up when you point to it with the mouse cursor for a more accurate assessment of the detection.
Figure 33: Detection point coordinates 6.3.8. Changing the LeddarVu Module Origin The module origin can be modified by clicking the module origin at the bottom of the segments. To do so, use the mouse cursor to point to the bottom of the segments (a red dot appears); click and drag it in the desired position.
If you click and drag the module origin, its position is displayed in the status bar as shown in Figure 35. Figure 35: Module position changed To apply the changes, click the apply button . The origin is saved in the module and it can also be modified by editing the parameters in the module position settings window. 6.3.9. Changing the LeddarVu Module Orientation The module origin may be rotated to match its physical position.
Figure 36: Red bar to rotate the module position To apply the changes, click the apply button . The module orientation is saved in the module and can also be modified by editing the parameters in the module position settings window. 6.4. Settings The LeddarVu module stores many settings. Once saved in the module, these parameters are effective at each power up. The Leddar™ Configurator software loads these parameters upon each connection.
6.4.1. Module Name When you connect to a LeddarVu module for the first time, it has a default name. You can change that name at any time. To change the module name: 1. Connect to a module. 2. On the Device menu, point to Configuration and click Device Name. Figure 37: Device menu and the Configuration menu items 3. In the Device Name dialog box, in the Name field, type the new name of the module and click OK. Figure 38: Device Name dialog box 4.
6.4.2. Acquisition Settings The acquisition settings allow you to define parameters to use for detection and distance measurement. To open the Acquisition Settings dialog box, select Device > Configuration > Acquisition. Figure 39: Acquisition Settings dialog box To apply the changes, click the apply button in the main window. Refer to Section 3.3 Acquisition Settings for more details on all the parameters. 6.4.3.
1. On the Device menu, point to Configuration, point to Communication, and click Serial Ports. Figure 40: Device menu 2. In the Serial Port Setting dialog box, use the arrows or type numbers to modify the values. Figure 41: Serial Port Settings dialog box Table 69 describes the serial port settings. Table 69: Serial port setting description Parameter Value Port number Select 1 for the configurable serial link number 1. Select 2 for the TTL serial link number 2. Select 3 for the USB VCP serial link.
6.4.4. CAN Port The CAN port settings of the USB, CAN and SERIAL board are configurable. To configure the CAN port: 1. On the Device menu, point to Configuration, point to Communication, and click CAN Ports. Figure 42: Device menu 2. In the Serial Port Setting dialog box, use the arrows or type numbers to modify the values. Figure 43: CAN Port Settings dialog box Table 70 describes the CAN port settings.
Table 70: CAN port setting description Parameter Value Port number Select 1 for CAN communication Baud rate 10,000 bps, 20,000 bps, 50,000 bps, 100,000 bps, 125,000 bps, 250,000 bps, 500,000 bps, and 1,000,000 bps Base Tx ID The base CAN arbitration ID used for data messages coming from the USB, CAN and SERIAL to host (see the protocol documentation). Base Rx ID The base CAN arbitration ID used for data messages sent to the USB, CAN and SERIAL board (see the protocol documentation).
6.6. Configuring Detection Records Detection records provide a playback of detections recorded by a device. This visual information can be useful for verification, troubleshooting, or training purposes. Detection records allow for a full data playback stored in a *.ltl file that can later be reloaded and replayed. To configure the detection record: 1. In Leddar™ Configurator, on the Settings menu, click Preferences. Figure 45: Settings menu 2.
On the File menu, click Start Recording. Figure 47: File menu To stop a recording manually: On the File menu, click Stop Recording. Figure 48: File menu to stop a recording The following is a description of the elements available in the Preferences for recording dialog box. Record directory The record directory is the folder in which all record files will be saved. These files are in a proprietary format, with the extension *.ltl, and can only be opened and viewed with the Leddar™ Configurator software.
6.7. Using Detection Records Once you have completed a recording, you can review it and extract part of the recording. The Record Replay dialog box offers the same functions as a regular video player: there is a stop button, a play button, and frame-by-frame forward and backward buttons. The Position slider lets you move directly to a desired position. The Playback Speed slider lets you adjust the speed of the recording playback; faster is to the left.
1. Set the Position slider to the position where you want the file segment to start and click the Start button. 2. Set the Position slider to the position where you want the file segment to stop and click the End button. OR Play the record and stop it at a position of interest and then click the Start button; restart playing the record and stop it again at a position of interest and click the Stop button. 3. Click the Extract button to extract and save that file segment. 6.8.
To use the data logging function: 1. In Leddar™ Configurator, on the Settings menu, click Preferences. Figure 51: Settings menu 2. In the Preferences dialog box, click Recording and click Data Logger. Figure 52: Preferences dialog box for logging data 3. Under Directory, click the browse button to select the path where you want to save the log and click OK. 4. On the File menu, click Start Data Logging. Figure 53: File menu 5. To stop recording, on the File menu, click Stop Data Logging.
Figure 54: File menu to stop data recording A .txt file is saved in the selected directory. 6.9. Firmware Update Follow the steps below to update the firmware. 1. Connect the LeddarVu module to its power supply and to your computer by USB or SPI. 2. Launch Leddar Configurator and connect to your sensor. 3. You will get a prompt indicating that the carrier board firmware is outdated. Figure 55: Carrier board firmware update 4. Follow the on-screen instructions to perform the firmware update.
For reference, here are the S3 and S1 buttons: S3 S1 Figure 57: Carrier board S3 and S1 buttons 5. At the end of the update, you will have to power-cycle the sensor and connect again. 6. Upon the second connection, you will get a prompt saying that the software is not up to date. Figure 58: Updating the latest version window 7. Perform the second phase of the update, and power-cycle the sensor again.
To verify the update, on the View menu, click the State command. The Device State window opens, and you can verify the following versions. Firmware version Validation of the calibration backup Carrier Board firmware version Figure 59: Device state window 8. Once the update is done, you can create a backup of your sensor’s calibration and current acquisition settings. In the Device menu, click Action, Calibration Backup, and Create.
6.10. Device State Information about a device is accessible when connecting to a device in the Connection window or by clicking the State command on the View menu. Figure 61: View menu The Device State window opens.
This feature gives information in days, hours, minutes, and seconds about two types of activities of a device. The first line indicates the time elapsed since the last device reset, the second since the last power cut or outage. Measurement Rate This parameter indicates the rate at which the module measures the speed and dimension of static or moving surfaces. Automatic Parameter Values This parameter indicates the intensity of the light source.
This parameter indicates the serial number of the USB, CAN and SERIAL carrier board as assigned by LeddarTech. Software Version This parameter indicates the software version, which is specific to USB, CAN and SERIAL carrier board of your unit. Hardware Part Number This parameter indicates the hardware part number of the USB, CAN and SERIAL carrier board as assigned by LeddarTech.
Temperature The unit used when displaying the temperature. Recording The Recorder parameter lets you choose how data files are recorded. The Data Logger parameter lets you select a directory to store logs. Display The Detection Arc Thickness parameter allows a user to modify the pixel width of the displayed green detections arcs in the main window. 6.12. Raw Detections The Raw Detections dialog box allows you to view detection values in many ways.
Figure 65 presents an example of raw detections. When there is no detection in some segments, only the segments where a detection occurred appear in the list. Figure 65: Example of detection filters The following is a description of the parameters available in the Raw Detections dialog box. Min and Max Amplitude The value entered in the Min Amplitude box shows only detections of amplitude higher or equal to that value.
Freeze When selected, the Freeze parameter freezes the values displayed in the Raw Detections dialog box. To return to the live display, clear the check box. Seg The Seg column lists the segment for which there is a detection according to the filters used. The segment numbers are read from left to right starting at 1. Distance and Amplitude The Distance column displays the distance of the detection and the Amplitude column displays its amplitude.
Specifications This chapter presents the LeddarVu module specifications. 7.1. General Table 72: General specifications Light Source pulse rate 51.2 kHz Photodetector array size 1x8 Photodetector acquisition rate 100 MHz Measurement rate See Table 12. USB (optional) 2.0, 12 Mbits/s CAN (optional) 10 to 1000 kbit/s, optional 120- termination Serial links (optional) TTL, RS-232, RS-422, and RS-485. 2-wire, 4-wire, 9600 to 115200 BPS Operating temperature -40°C to +85°C 7.2.
7.4. Optical Table 75: Optical specifications Wavelength 905 nm (infrared) Laser risk group IEC 60825-1:2014 (Third Edition); Class I laser product Beam width and height (HFOV and VFOV) Table 766. Table 76: HFOV and VFOV Horizontal FOV* Vertical FOV* 16 ± 1° 0.3 ± 0.2° 16 ± 1° 2.25 ± 0.6° 47.5 ± 3.5° 0.3 ± 0.15° 47.5 ± 3.5° 3 ± 0.6° 98.5 ± 5° 0.3 ± 0.15° 98.5 ± 5° 3 ± 0.
7.5. Performance Table 77: Module performances Performance Metrics Values Measurement accuracy ±5 cm Measurement precision 6 mm (amplitude >15) Resolution 1 cm Range (maximum light source intensity) Varies with beam optics and target properties (see amplitude vs range figures below) Data refresh rate Up to 100 Hz (standard board) Figure 67: 16° x 0.
Figure 68: 16° x 2.25° (maximum intensity, 256 accumulations, and 8 oversamplings) Figure 69: 47.5° x 0.3° (maximum intensity, 256 accumulations, and 8 oversamplings) Page 113 of 129 54A0028-6 042019 © LeddarTech Inc.
Figure 70: 47.5° x 3° (maximum intensity, 256 accumulations, and 8 oversamplings) Figure 71: 99.5° x 0.
Figure 72: 98.5° x 3° (maximum intensity, 256 accumulations, and 8 oversamplings) Page 115 of 129 54A0028-6 042019 © LeddarTech Inc.
7.6. Regulatory Compliance and Safety The module complies with FDA performance standards for laser products except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007. NOTE: Testing results are valid for a cable length shorter than 3 meters.
7.7. Dimensions This section presents the LeddarVu module dimensions. 7.7.1. 98.5° Module Figure 73: 98.5° module dimensions Page 117 of 129 54A0028-6 042019 © LeddarTech Inc.
7.7.2. 47.5° Module Figure 74: 47.
7.7.3. 16° Module Figure 75: 16° module dimensions Page 119 of 129 54A0028-6 042019 © LeddarTech Inc.
Technical Support For technical inquiries, please contact LeddarTech technical support by registering online at www.leddartech.com/support to easily: • • • Follow up on your requests Find quick answers to questions Get valuable updates Or by contacting us at: + 1 418 653-9000 + 1 855 865-9900 8:30 a.m. - 5:00 p.m. Eastern Standard Time To facilitate the support, please have in hand all relevant information such as part numbers, serial numbers. E-mail support@leddartech.
Appendix A ̶ Example of a 0x04 function (read input register) Transmitted message 01 04 00 01 00 27 E1 D0 Use the 0x04 command to read 39 consecutive registers starting at address 01. On device with Modbus address 01, using the CRC D0 E1.
Amplitude (first detection only): 23267, 23541, 24102, 25129, 25490, 29971, 31787, 23398 (Address 24) Segment #8 = 23267 / 64 = 363.55 counts (25) Segment #7 = 23541 / 64 = 367.83 counts (26) Segment #6 = 24102 / 64 = 376.59 counts (27) Segment #5 = 25129 / 64 = 392.64 counts (28) Segment #4 = 25490 / 64 = 398.28 counts (29) Segment #3 = 29971 / 64 = 468.30 counts (30) Segment #2 = 31787 / 64 = 496.67 counts (31) Segment #1 = 23398 / 64 = 365.
Appendix B ̶ Example of a 0x41 Modbus Function Transmitted data stream message 01 41 C0 10 Use the 0x41 command to read on device Modbus address # 01, using the CRC 10 C0.
(1) 25 00 52 81 09 07: Distance (cm): 00 25 hex = 37cm = 0.37m Amplitude (count): 81 52 hex = 33106 / 64 = 517.28 counts Flag: 09 hex = 9 (Saturation) Segment #: 07 hex = 7 (Segment #8) (2) 25 00 49 81 09 06: Distance (cm): 00 25 hex = 37cm = 0.37m Amplitude (count): 81 49 hex = 33097 / 64 = 517.14 counts Flag: 09 hex = 9 (Saturation) Segment #: 06 hex = 6 (Segment #7) (3) 24 00 4F 81 09 05: Distance (cm): 00 24 hex = 36cm = 0.36m Amplitude (count): 81 4F hex = 33103 / 64 = 517.
Amplitude (count): 47 CC hex = 18380 / 64 = 287.19 counts Flag: 01 hex = 1 (Valid) Segment #: 01 hex = 1 (Segment #2) (8) 39 00 64 33 01 00: Distance (cm): 00 39 hex = 57cm = 0.57m Amplitude (count): 33 64 hex = 13156/ 64 = 205.56 counts Flag: 01 hex = 1 (Valid) Segment #: 00 hex = 0 (Segment #1) Get detection messages (trailing fields): (1) F0 4C 1A 00 64 00 00: TimeStamp (ms): 00 1A 4C F0 hex = 1 723 632 ms = 1723 s Light source POWER (%): 64 hex = 100 = 100% Bit field acq.
Appendix C ̶ Example of a LeddarVu CAN Bus Detection Request A request is sent to the sensor, this request is an 8 bytes message that is addressed to the message ID 0x740, the sensor then replies with multiple 8 bytes message that is addressed to the message ID 0x750 +. There are two possible modes: 1.
0x752: 97 05 9F 00 01 00 00 00: detection of the channel #0 0x751: 08 64 00 00 41 8D 26 00: detection frame N+1 0x752: 77 05 8F 00 01 00 07 00 0x752: 0E 05 D3 00 01 00 06 00 0x752: 05 05 EC 00 01 00 05 00 0x752: 03 05 F9 00 01 00 04 00 0x752: 0D 05 F2 00 01 00 03 00 0x752: 1B 05 ED 00 01 00 02 00 0x752: 2D 05 B9 00 01 00 01 00 0x752: 97 05 9F 00 01 00 00 00 0x751: 08 64 00 00 41 8D 26 00: detection frame N+2 0x752: 77 05 8F 00 01 00 07 00 0x752: 0E 05 D3 00 01 00 06 00 0x752: 05 05 EC 00 01 00 05 00 0x752:
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