User Manual

Page 5 of 129 54A0028-6 0402019 © LeddarTech Inc.
Table of Contents
LIST OF FIGURES ............................................................................................... 7
LIST OF TABLES ................................................................................................. 9
INTRODUCTION .......................................................................................... 11
1.1. Description ........................................................................................................................ 11
1.2. SPI Carrier Board .............................................................................................................. 13
1.3. USB, CAN and SERIAL Carrier Board ............................................................................ 14
1.4. Working Diagram .............................................................................................................. 18
1.4.1. SPI Carrier Board ........................................................................................................ 19
1.4.2. USB, CAN and SERIAL Board .................................................................................... 20
UNDERLYING PRINCIPLES ........................................................................ 21
GETTING STARTED .................................................................................... 22
3.1. Optional Power Supply .................................................................................................... 22
3.2. Optional SPI cable ............................................................................................................ 23
3.3. Setup .................................................................................................................................. 23
3.4. Connecting to the LeddarVu Module .............................................................................. 26
MEASUREMENTS AND SETTINGS ............................................................ 29
4.1. Distance Measurement ..................................................................................................... 29
4.2. Data Description ............................................................................................................... 30
4.3. Acquisition Settings ......................................................................................................... 32
4.3.1. General Settings .......................................................................................................... 32
4.3.2. Enabling and Disabling Segments .............................................................................. 40
4.4. Measurement Rate ............................................................................................................ 42
4.5. CPU Load ........................................................................................................................... 44
COMMUNICATION INTERFACES ............................................................... 45
5.1. SPI Interface ...................................................................................................................... 45
5.1.1. SPI Basics ................................................................................................................... 45
5.1.2. SPI Protocol ................................................................................................................. 46
5.1.3. Memory Map ................................................................................................................ 50
Configuration Data ................................................................................................................. 50
Product Configuration ............................................................................................................. 51
Device Information and Constants ......................................................................................... 52
LeddarVu Device Information and Constants ........................................................................ 54
General Status ....................................................................................................................... 54
LeddarVu Status ..................................................................................................................... 54
Detection List .......................................................................................................................... 55
Transaction Configuration ...................................................................................................... 56
5.1.4. SPI Operation .............................................................................................................. 57
5.1.4.1. SPI Port Configuration ............................................................................................. 57
5.1.4.2. Sensor Hard Reset .................................................................................................. 57
5.1.4.3. Speed and timing ..................................................................................................... 57
5.1.4.4. Access ..................................................................................................................... 58
5.1.4.5. Modification .............................................................................................................. 58
5.2. I2C Interface ...................................................................................................................... 58
5.3. USB Interface .................................................................................................................... 58
5.4. Serial Link Interface .......................................................................................................... 58
5.5. CAN Bus Interface ............................................................................................................ 73
LEDDAR™ CONFIGURATOR ..................................................................... 83
6.1. Introduction to Configurator Software ........................................................................... 83
6.2. Connection Window ......................................................................................................... 84
6.3. Leddar™ Configurator Main Window ............................................................................. 85