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 65 of 129 54A0028-6 042019 © LeddarTech Inc.
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 32: Requests
Offset
Length
Description
0
4
Base address: 0x00000000 to 0x00FFFFFF (little-endian)
4
1
Number of bytes to read: 1 through 247
Table 33: Answers
Offset
Length
Description
0
4
Base address: 0x00000000 to 0x00FFFFFF (little-endian)
4
1
Number of bytes read: 1 through 247
5
Nb * 1 byte
Data
Write module data (function code 0x43)
Table 34 and Table 35 present the request and answer codes for writing data. This function is an
encapsulation of the SPI protocol. See section 5.1.3 Memory Map.
Table 34: Requests
Offset
Length
Description
0
4
Base address: 0x00000000 to 0x00FFFFFF
4
1
Number of bytes written: 1 through 247
5
Nb * 1 byte
Data
Table 35: Answers
Offset
Length
Description
0
4
Base address: 0x00000000 to 0x00FFFFFF
4
1
Number of bytes written: 1 through 247
Send opcode command (function code 0x44)
Table 36 and Table 37 present the request and answer codes for sending the opcode. This function
is an encapsulation of the SPI protocol. See section 5.1.3 Memory Map.