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
Page 39 of 129 54A0028-6 042019 © LeddarTech Inc.
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.
▪ The normal demerging will happen on any objects who are separated by at least 5 meters.
This normal feature can give up to 4 detections.
When the Active demerging is enabled, the normal demerging will still occur in addition to demerge
a pair of objects which are significantly closer together
▪ The Accumulation needs to be of 64 and higher for the active demerging to be ON
▪ The Oversampling need to be of 8 and higher for the active demerging to be ON
▪ At 8 Oversampling the demerging will happen if the two objects are separated by 90cm
▪ At 16 Oversampling the demerging will happen if the two objects are separated by 70cm
▪ At 32 Oversampling the demerging will happen if the two objects are separated by 50cm
▪ The accuracy of the sensor can be slightly altered on these two objects.
The active demerging will not work if one of the targets has an amplitude which is 10 times higher
than the other target that is to demerge.
The minimum amplitude for targets to be demerged is of 10 counts each. There cannot be any
demerging if the detection is saturated.
If the targets cannot be demerged (from normal demerging or active demerging) i.e. if they are
closer than the minimum distance required if they do not meet the minimum or maximum amplitude
requirement, the two detections will be averaged as only one detection. This average will be
weighted by the amplitude and the range of the given detections.