User Manual
Table Of Contents
- List of Figures
- List of Tables
- 1. Introduction
- 1.1. Description
- 1.2. SPI Carrier Board
- 1.3. USB, CAN and SERIAL Carrier Board
- 1.4. Working Diagram
- 1.4.1. SPI Carrier Board
- 1.4.2. USB, CAN and SERIAL Board
- 2. Underlying Principles
- 3. Getting Started
- 3.1. Optional Power Supply
- 3.2. Optional SPI cable
- 3.3. Setup
- 3.4. Connecting to the LeddarVu Module
- 4. Measurements and Settings
- 4.1. Distance Measurement
- 4.2. Data Description
- 4.3. Acquisition Settings
- 4.3.1. General Settings
- 4.3.2. Enabling and Disabling Segments
- 4.4. Measurement Rate
- 4.5. CPU Load
- 5. Communication Interfaces
- 5.1. SPI Interface
- 5.1.1. SPI Basics
- 5.1.2. SPI Protocol
- 5.1.3. Memory Map
- Configuration Data
- Product Configuration
- Device Information and Constants
- LeddarVu Device Information and Constants
- General Status
- LeddarVu Status
- Detection List
- Transaction Configuration
- 5.1.4. SPI Operation
- 5.1.4.1. SPI Port Configuration
- 5.1.4.2. Sensor Hard Reset
- 5.1.4.3. Speed and timing
- 5.1.4.4. Access
- 5.1.4.5. Modification
- 5.2. I2C Interface
- 5.3. USB Interface
- 5.4. Serial Link Interface
- 5.5. CAN Bus Interface
- 6. Leddar™ Configurator
- 6.1. Introduction to Configurator Software
- 6.2. Connection Window
- 6.3. Leddar™ Configurator Main Window
- 6.3.1. Toolbar
- 6.3.2. Fit to Window
- 6.3.3. Force Equal Horizontal and Vertical Scales
- 6.3.4. Zoom in
- 6.3.5. Zoom out
- 6.3.6. Scale
- 6.3.7. Panning and Zooming
- 6.3.8. Changing the LeddarVu Module Origin
- 6.3.9. Changing the LeddarVu Module Orientation
- 6.4. Settings
- 6.4.1. Module Name
- 6.4.2. Acquisition Settings
- 6.4.3. Serial Port
- 6.4.4. CAN Port
- 6.5. Saving and Loading a Configuration
- 6.6. Configuring Detection Records
- 6.7. Using Detection Records
- 6.8. Data Logging
- 6.9. Firmware Update
- 6.10. Device State
- General
- Device Information
- Carrier
- 6.11. Preferences
- 6.12. Raw Detections
- 7. Specifications
- 7.1. General
- 7.2. Mechanical
- 7.3. Electrical
- 7.4. Optical
- 7.5. Performance
- 7.6. Regulatory Compliance and Safety
- 7.7. Dimensions
- 7.7.1. 98.5 Module
- 7.7.2. 47.5 Module
- 7.7.3. 16 Module
- 8. Technical Support
- Appendix A ̶ Example of a 0x04 function (read input register)
- Appendix B ̶ Example of a 0x41 Modbus Function
- Appendix C ̶ Example of a LeddarVu CAN Bus Detection Request
LeddarVu – User Guide Page 126 of 129
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. For example, if we want to obtain a detection frame (polling), in the mode multiple message,
we send this request: 0x740: 02, 01, 00, 00, 00, 00, 00, 00
The sensor will then answer with the following sequence:
0x750: 02 01 00 00 00 00 00 00: echo of the successful request
0x751: 08 64 00 00 41 8D 26 00: number of detections (8), led power (100%), timestamp
(2526529msec)
0x752: 77 05 8F 00 01 00 07 00: detection of the channel #7, distance (0x0577 = 1399cm),
amplitude (0x008F = 143/64 = 2.2344 counts), flag info (0x0001 = valid)
0x753: 0E 05 D3 00 01 00 06 00: detection of the channel #6
0x754: 05 05 EC 00 01 00 05 00: detection of the channel #5
0x755: 03 05 F9 00 01 00 04 00: detection of the channel #4
0x756: 0D 05 F2 00 01 00 03 00: detection of the channel #3
0x757: 1B 05 ED 00 01 00 02 00: detection of the channel #2
0x758: 2D 05 B9 00 01 00 01 00: detection of the channel #1
0x759: 97 05 9F 00 01 00 00 00: detection of the channel #0
2. If we want the sensor to send data streaming in the mode simple message, we initiate the
communication with the request:
0x740: 03, 00, 00, 00, 00, 00, 00, 00
The sensor will then answer with the following sequence:
0x750: 03 00 00 00 00 00 00 00: echo of the successful request
0x751: 08 64 00 00 41 8D 26 00: detection frame N: number of detections (8), led power
(100%), timestamp (2526529msec)
0x752: 77 05 8F 00 01 00 07 00: detection of the channel #7, distance (0x0577 = 1399cm),
amplitude (0x008F = 143/64 = 2.2344 counts), flag info (0x0001 = valid)
0x752: 0E 05 D3 00 01 00 06 00: detection of the channel #6
0x752: 05 05 EC 00 01 00 05 00: detection of the channel #5
0x752: 03 05 F9 00 01 00 04 00: detection of the channel #4
0x752: 0D 05 F2 00 01 00 03 00: detection of the channel #3
0x752: 1B 05 ED 00 01 00 02 00: detection of the channel #2
0x752: 2D 05 B9 00 01 00 01 00: detection of the channel #1