Vu 8 Channel LiDAR Module, 48°/0.3°, USB, CAN Bus, RS485 & UART - 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 58 of 129
The SPI clock frequency can be in the range between 500 kHz and 25 MHz.
5.1.4.4. Access
To access a parameter, you need to add a parameter offset to the associated bank start base
address. Use the parameter length to get or set the whole parameter field.
5.1.4.5. Modification
To modify a parameter:
1. Disable the write protection of the module by sending the write enabled command.
2. Poll the status register to get the ready state and write enabled flag asserted.
3. Send the new parameter value.
4. Poll the status register to get the ready state.
5. Send the write disabled command (write protection) to prevent any unwanted parameter
change.
NOTE: To prevent any data corruption or loss after modifying a parameter or a firmware update,
the module must be in the ready state before shutting it down or doing a hard reset.
5.2. I2C Interface
The I2C interface on the SPI board is a direct link to the receiver and source modules. For the
moment, only the temperature sensor is accessible. Refer to the LM75BIMM-3/NOPB temperature
sensor datasheet from Texas Instruments.
The I2C interface available with the enhance board is a port connected to MCU but not implemented
for the moment.
5.3. USB Interface
The USB interface available with the USB, CAN and SERIAL board is a VCP (virtual COM port)
serial emulation port. This port is used as a serial link with the Modbus protocol (refer to Section
5.4 Serial Link Interface). This interface can also be used to update the USB, CAN and SERIAL
board firmware in the bootloader mode.
5.4. Serial Link Interface
The serial links can be of the following electric signals: TTL, RS-232, RS-422, and RS-485.
The serial link ports use the Modbus protocol using the RTU transmission mode only. This section
describes the commands that are implemented.
For more information on the Modbus protocol, please visit www.modbus.org.
Read input register (function code 0x4)
The following table presents the registers for the read input commands.