User Guide
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 42 of 129
4.4. Measurement Rate
The LeddarVu module acquires a base input waveform for all segments at a rate between 10 kHz
and 40 kHz, depending on the sensor field of view (see Table 11).
Multiple acquisitions are used to perform accumulations and oversampling and generate a final
waveform that is then processed to detect the presence of objects and measure their position.
Table 11: Base Acquisition Rate Based on the Field of View
LeddarVu8 FOV
Base Acquisition Rate
16°
10 kHz
47.5°
20 kHz
98.5°
40 kHz
The theoretical measurement rate is therefore:
𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 𝑟𝑎𝑡𝑒 =
𝐵𝑎𝑠𝑒 𝑅𝑎𝑡𝑒
(
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑠𝑒𝑔𝑚𝑒𝑛𝑡𝑠 𝑒𝑛𝑎𝑏𝑙𝑒𝑑 + 1
)
∗ 𝑎𝑐𝑐𝑢𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛𝑠 ∗ 𝑜𝑣𝑒𝑟𝑠𝑎𝑚𝑝𝑙𝑖𝑛𝑔
For example, LeddarVu 16° with 256 accumulations and an oversampling value of 8:
𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 𝑟𝑎𝑡𝑒 =
10000
(
8 + 1
)
∗ 256 ∗ 8
= 0.5425 Hz
Table 12 below presents the measurement rate for typical values of accumulations and
oversampling.
The data processing time is not taken into account in this calculation. Hence, the actual
measurement will almost always be lower than the theoretical value. The actual measurement rate
depends on the complexity of the scene and the algorithms enabled.