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 77 of 129 54A0028-6 042019 © LeddarTech Inc.
Holding
Data Type
(Byte 1)
Holding Data
Description
Argument
Argument Description
3
Distance
resolution and
acquisition
options
Bytes 2 and
3
Distance units:
• 1 = m
• 10 = dm
• 100 = cm
• 1,000 = mm
Bytes 4 and
5
Bit field of acquisition options:
Bit-0: Automatic light source power enabled
Bit-1: Demerge object enabled
Bit-2: Static noise removal enabled
Bit-3: Precision (smoothing) enabled
Bit-4: Saturation compensation enabled
Bit-5: Overshoot management enabled
Bit-6: Automatic light source power mode:
0: Mode 1
1: Mode 2
Bit-7: Crosstalk Removal enabled
Bit-8: Crosstalk Echo Removal enabled
4
CAN port
configuration
1
Byte 2
Baud rate (kbps):
0 = 1000
1 = 500
2 = 250
3 = 125
4 = 100
5 = 50
6 = 20
7 = 10
Byte 3
Frame format:
0 = Standard 11 bits
1 = Extended 29 bits
Bytes 4
through 7
Tx base ID
5
CAN port
configuration
2
Bytes 4
through 7
Rx base ID
6
CAN port
configuration
3
Byte 3
Maximum number of detections
(measurements) returned per CAN detection
message transaction: 1 through 96
Bytes 4 and 5
Inter-message delay 0 through 65535
milliseconds
Bytes 6 and 7
Inter-cycle delay 0 through 65535 milliseconds