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 82 of 129
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.
Table 68: Flag information about measurements
Data
Description
Bit 0
The detection is valid (always set).
Bit 1
The detection is the result of object demerging.
Bit 2
Reserved
Bit 3
The detection is saturated.
Bit 4-5
Reserved
Bit 6
The detection within the crosstalk zone
Bit 7-15
Reserved
Detection messages can be sent in two modes: as a single message ID or a multiple message ID.
For the single message ID mode, all detection messages are sequentially sent on the same
message ID; that is, 1874 (0x752).
For the multiple message ID mode, detections are send on a message IDs ranging from 1874
through the number of detections (1874 + number of detections). The range of message IDs can
be limited by the maximum number of detections to output to the CAN port (defined in CAN
configuration 3 holding data for a maximum configurable of 96 detections).
The following are examples of message IDs for the 1874 base (with a 19-detection frame):
• From 1874 through 1893.
• From 1874 through 1890, for a module setup with a maximum of 16 number of detections.
For an example of a LeddarVu Can Bus, refer to Appendix C.