Manual

Leddar™One Sensing Module 23
31
11
The hardware part number as an ASCII string
39
8
The full firmware version as 4 16-bit values
43
4
The firmware 32-bit CRC
47
2
The FPGA version
49
4
Device option flags (LeddarTech internal use)
51
2
Device identification code
Write Configuration (function code 0x46)
This function writes the current configuration registers to permanent memory.
There is no data in input or output.
Read Input Register (function code 0x4)
Here are the registers implemented for this command:
Table 8: Read Input Register Description
Address
Description
20
Least significant 16 bits of timestamp.
21
Most significant 16 bits of timestamp.
22
Temperature in 1/256
th
of a Celsius
23
Number of detections
24
Distance in millimeters of first detection
25
Amplitude of first detection
26
Distance in millimeters of second detection
27
Amplitude of second detection
28
Distance in millimeters of third detection
29
Amplitude of third detection
Note that as per the Modbus protocol, register values are returned in
big-endian format.
The timestamp is a 32 bit unsigned value giving the number of milliseconds
since the sensor was started.
Distance and amplitude are 0 for a detection that is not present (for example
if register 23 is 1, registers 26 to 29 will all be 0).