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 78 of 129
7
Reserved
-
-
8
Segment
enabled
Bytes 4
through 7
Bit-field of the enabled segments
Table 59: CAN bus request message (Set base address)
Data
Description
Argument
Argument Description
Base address
Bytes 4
through 7
Base address to access Read module date and Write module
date commands (from 0x00000000 to 0x00FFFFFF)
Table 60: CAN bus request message (Read module data)
Data
Description
Argument
Argument Description
Read
module data
Byte 1
Data length (1, 2, or 4)
Bytes 2 and 3
Offset from 0x0000 to 0xFFFF (final address to access is the
result of the base address plus this offset). This function is an
encapsulation of the SPI protocol. See section 5.1.3 Memory
Map.
Table 61: CAN bus request message (Write module data)
Data
Description
Argument
Argument Description
Write module
data
Byte 1
Data length (1, 2, or 4)
Bytes 2 and 3
Offset from 0x0000 to 0xFFFF (final address to access is the
result of the base address plus this offset).
Bytes 4
through 7
Data to write
This function is an encapsulation of the SPI protocol. See
section 5.1.3 Memory Map.
Table 62: CAN bus request message (Send module opcode command)
Data
Description
Argument
Argument Description
Send module
opcode
command
Byte 2
Opcode
This function is an encapsulation of the SPI protocol. See
section 5.1.2 SPI Protocol.
Byte 3
Optional argument (must be set to 0x00)