Cygbot CygLiDAR D1 User manual

Ver 0.2.2
2D/3D Dual CygLiDAR
CygLiDAR D1
User Manual

Ver 0.2.2
2
Table of Contents
1
Introduction
3
-
ToF (Time of Flight)
3
-
Solid State
3
-
2D / 3D Dual
3
2
Specification
4
3
Component
5
4
Hardware Design
5
5
How to Use
6
6
Serial Communication
7
-
UART
7
-
PINMAP
7
-
Packet Structure
7
-
Checksum
7
-
Packet
8
7
Verification & Install
13
8
CygLiDAR Viewer
14
9
CygLiDAR ROS Driver
18
10
Revision history
19

Ver 0.2.2
3
1. Introduction
ToF (Time of Flight)
CygLiDAR measures distance by light round trip time (ToF). ToF emits a pulse signal at the
light emitter and measures the phase change of the signal reflected by the object. This is the
Phase shift method that measures time and calculates distance.
Solid State
Solid State CygLiDAR has no vibration,heat or noise that is directly linked to the life of the
device.
Unlike the 360 °Scanning LiDAR, which uses a motor, a wide viewing angle is secured with a
wide-angle lens, so the light emitting part (laser, LED) does not have to operate for a long time.
This can reduce the heat generated by the light emitting part.
Solid State does not use a motor, so it can set smaller in size. CygLiDAR that use this method
are highly compatible.
2D / 3D Dual
CygLiDAR can measure 2D and 3D distance data at the same time. A delicate external
environment is possiblewith 3D data, enabling long-distance measurements with 2D data.
CygLiDAR allows for flexible system configurations.

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2. Specification
Detection range Range affected by reflectivity
2D : 200mm ~ 8,000mm
3D : 50mm ~ 2,000mm(*DRM)
Distance accuracy ±1%
Resolution (Measure in mm) 2D : 1°(Angle)
3D : 160 x 60 (Pixel)
FOV : Field of View 2D/3D Horizontal : 120°
3D Vertical : 65°
Wavelength *Laser Diode : NIR 808nm
LED : NIR 808nm
Measuring speed 2D : 15Hz
3D : 15Hz
Size ( W * H * D ) 37.4 * 37.4 * 24.5 (mm³)
Weight 28g
Interface UART TTL 3.3V
3,000,000bps
Input power source 5V, 500mA
Operating Temperature -10°C ~ 50°C
Use environment Indoor
*DRM : Dynamic Range Mode
*Laser Diode : Be Careful
Do not inject the Laser directly into your eyes.
The act of lookingat the laser with an optical measuring
instrument (magnifying glass, microscope, telescope, etc.)
can cause poor vision.

Ver 0.2.2
5
3. Component
4. Hardware Design
* Components other than CygLiDAR D1 are provided separately and may differ from the image above.

Ver 0.2.2
-This is the tool you need to get your Lidar working.
-Connect 1, 2, 3, 4 in order as shown below.
-Finally, connect 4 and 5 (PC or Raspberry Pi).
6
5. How to Use

Ver 0.2.2
UART
Data Bit : 8 bit
Parity : none
Stop Bit : 1 bit
Baud Rate : 3,000,000 bps
PINMAP
VCC : +5V
Rx : UART TTL Rx
Tx : UART TTL Tx
GND : GND
GPIO : Reserved
Packet structure
Header : Three fixed values assigned to every valid dataset, consisting of 0x5A, 0x77 and 0xFF.
Payload Length: Payload size in byte.
Payload Header : A unique value for a clarification of the device version.
Payload Data : A set of the significant bits of the pixel componentdata.
Checksum : The result of XOR of all values only except Headers from 1 to 3.
Checksum
Checksum is the last byte of a frame that is only used for an integrity check.
7
6. Serial Communication
Packet Payload Packet
Header1 Header2 Header3
Payload
Length
LSB
Payload
Length
MSB
Payload
Header Payload Data 0 Payload Data 1 ... Payload Data n
Checksum
1 byte 1 byte 1 byte 1 byte 1 byte 1 byte n byte 1 byte
#define PAYLOAD_LENGTH_LSB_INDEX 3
uint8_t CalcChecksum(uint8_t *buff, int buffSize)
{
uint8_t CheckSum = 0;
for(int i = PAYLOAD_LENGTH_LSB_INDEX; i < buffSize –1; i++)
{
CheckSum ^= buff[i];
}
return CheckSum;
}

Ver 0.2.2
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6. Serial Communication
Packet
Request Overview
Get Device Info Request
Both versions of firmware and hardware are provided.
Request Name
Payload
Header
Value
Payload
Length Response Packet LiDAR Operation Supported
Firmware
Version
Get Device Info 0x10 2 O Get the release versions of the
latest updateto F/W and H/W 0.0.1
Run 2D Mode 0x01 2 O Start 2D Data measurement. 0.0.1
Run 3D Mode 0x08 2 O Start 3D Data measurement. 0.0.1
Run Dual Mode 0x07 2 O Start Dual Data measurement. 0.0.1
Stop 0x02 2 X Change status to Idle. 0.0.1
Set 3D Light pulse
duration 0x0C 3 X
Control 3D Light pulse duration.
0.0.1
Set Frequency
Channel 0x0F 2 X Change frequencychannel. 0.0.1
Set Sensitivity 0x11 2 X Control measurement
sensitivity.
0.0.2
Set Baud Rate 0x12 2 X Change seral baud rate 0.2.4
0x5A
0x77
0xFF
0x02
0x00
0x10
0x00
0x12
0x5A
0x77
0xFF
0x07
0x00
0x10
F/W
1
F/W
2
F/W
3
H/W
1
H/W
2
H/W
3
Check
Sum
Request Packet
Response Packet
[Example] F/W version = 0.0.1, H/W Version = 0.2.0
0x00
0x00
0x00
0x01
0x00
0x02
F/W1 F/W2 F/W3 H/W1 H/W2 H/W3

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6. Serial Communication
Run 2D Mode Request (0x01)
Switch to 2D Mode in order to receive 2D datasetsfrom the device.
Sequence of 2D datasets is 0.75 ºresolution from -60º to +60º.
Run 3D Mode Request (0x08)
Switch to 3D Mode in order to receive 3D datasetsfrom the device.
0x5A
0x77
0xFF
0x02
0x00
0x01
0x00
0x03
0x5A
0x77
0xFF
0xF3
0x00
0x01
LSB
-60º
MSB
-60º
…LSB
+60º
MSB
+60º
Check
Sum
Request Packet
Response Packet
Error code list
16000 : Limit for valid data
16001 : Low Amplitude
16002 : ADC Overflow
16003 : Saturation
16004 : Bad Pixel
Light source : Laser, LED
FOV : 120º
Resolution : 0.75º
Range : 200 ~ 8,000mm
Data Type : 16 bit
0x5A
0x77
0xFF
0x02
0x00
0x08
0x00
0x0A
0x5A
0x77
0xFF
0x41
0x38
0x08
3D Data format
Check
Sum
Request Packet
Response Packet
Light source : LED
Resolution : 160 x 60
Horizontal FOV : 120°
Vertical FOV : 65°
Range : 50 ~ 2,000mm
Data Type : 12 bit
Error code list
4080 : Limit for valid data
4081 : Low amplitude
4082 : ADC Overflow
4083 : Saturation

Ver 0.2.2
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6. Serial Communication
3D Data format
Run Dual Mode Request (0x07)
Switch to Dual Mode in order to receive Dual datasetsfrom the device.
Whenswitching to Dual Mode device is measure 2D Data and 3D Data alternately.
0x5A
0x77
0xFF
0x02
0x00
0x07
0x00
0x05
0x5A
0x77
0xFF
0xF3
0x00
0x01
2D Data format
Check
Sum
Request Packet
Response Packet
0x5A
0x77
0xFF
0x41
0x38
0x08
3D Data format
Check
Sum
C0 C1 C2 C3 C159
R0
1500mm
(0x5DC)
2000mm
(0x7D0)
1600mm
(0x640)
1800mm
(0x708)
…
R1
1530mm
(0x5FA)
120mm
(0x078)
4083mm
(0xFF3)
Saturation
R2 256mm
(0x100)
126mm
(0x07E)
R3 210mm
(0x0D2)
…
R59 100mm
(0x064)
R0C0
R0C0
&
R0C1 R0C1 R0C2
R0C2
&
R0C3 R0C3
R59C159
0x5D
0xC7
0xD0
0x64
0x07
0x08
…
0x64

Ver 0.2.2
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6. Serial Communication
Stop (0x02)
Change the status to Idle.
Whenthe status is in Idle, device does nothing.
Set 3D Pulse Duration Request (0x0C)
3D Data is used in 3D Mode and Dual Mode.
You can adjust the pulse duration with the
Set 3D pulse duration packet. Adjustable
time is limited to 0-10,000us. Pulse Duration can be
Auto that LiDAR adjusts itself, or Fixed that uses a
user-specifiedvalue.
If Pulse Duration is fixed, 14 bits after the 2nd bit
are Pulse Duration Value.
0x5A
0x77
0xFF
0x02
0x00
0x02
0x00
0x00
Request Packet
0x5A
0x77
0xFF
0x03
0x00
0x0C
LSB
MSB
Check
Sum
Request Packet
LSB MSB
1st bit
2nd bit
1st bit 2nd bit Result
0 0 3D, Auto
0 1 3D, Fixed
1 0 Dual, Auto
1 1 Dual, Fixed
3D / Fixed / Runtime Value = 6000
[Example]
0 1 1 1 0 0 0 0
0 1 0 1 0 1 1 1

Ver 0.2.2
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6. Serial Communication
Frequency Setting Request (0x0F)
You can change the frequency of light source.
Interferenceerrors can increase if two or more devices measure
the same space.
You can avoid interferenceerrors by applying differentFrequency
Channels to differentdevices. CygLiDAR D1 has 16 Channels.
Sensitivity Setting Request (0x11)
You can adjust the measurementsensitivity of 2D Data. (Default = 20)
If the measurementsensitivity is low, you can see data over a long distance, but the measurement
error increases. The higher the sensitivity of measurement, the more accurate the distance measurement
is, but the smaller range of measurement is possible.
Set Serial Baud Rate (0x12)
Set the Serial Baud Rate.
Serial Baud Rate can be operated at 57600 bps,115200bps,
250,000bps, 3000000bps. Default setting is 3000000bps.
Whenbaud rate is set, the value is stored in flash ROM and
device is rebooted.
Frequency Channel
Channel 0 0x00
Channel 1 0x01
Channel 2 0x02
.
.
.
Channel 15 0x0F
0x5A
0x77
0xFF
0x02
0x00
0x0F
Freq
Ch
Check
Sum
Request Packet
0x5A
0x77
0xFF
0x02
0x00
0x11
Value
Check
Sum
Request Packet
0x5A
0x77
0xFF
0x02
0x00
0x12
Value
Check
Sum
Request Packet Baud Rate Packet
Packet
Baud Rate
unit
f/w
0x39

57,600
bps
0.3.3~
0xAA

115,200
bps
0.2.4~
0x77

250,000
bps
0.2.4~
0x55

3,000,000
bps
0.2.4~

Ver 0.2.2
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7. Verification & Install
⁕Connect CygLiDAR to PC in respect of page 6
1. Open Device Manager on your PC.
2. Check if CygLiDAR is successfully verified on your computer.
The serial driver is named ‘Prolific USB-to-Serial Comm Port(COM#)’ as below:
In case of not finding any port connectedto the USB, download a driver from the following website:
Window http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=225&pcid=41
MAC http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=229&pcid=41
LINUX(Ubuntu)
3. Download CygLiDAR Viewer
https://www.cygbot.com/downloads
4. Install CygLiDAR Viewer
1 2
$ lsusb
Bus 001 Device 005: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port
$ sudo modprobe usbserial vendor=0x067b product=0×2303
1
2
$dmesg
3

Ver 0.2.2
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8. CygLiDAR Viewer
1) Serial Port
- Select a baud rate and a serial port to use.
2) Device
- Check on the release version of the latest update to CygLiDAR firmware and hardware.
- Set up a device model and a display mode.
3) 3D Pulse Duration Control
- Choose Auto and press Apply for a completion of Auto mode.
- Choose Manual, put a preferable value for the duration to send and press Apply.
(The duration is +0 to the minimum and +10000 to the maximum availableto apply.)
4) Frequency Channel
- Assign a channel restricted from +0 to +15 for light sources.
5) Sensitivity Level
- Provide a specific level of the detection sensitivity, ranging from +10 to +100.
6) Color Scheme
- Set a color scheme of the following scales: Hue, RGB or Grey (Image samples on page 17).

Ver 0.2.2
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8. CygLiDAR Viewer
Example
1) Baud Rate : 3,000,000 bps
2) Serial Port : Choose an availableport for CygLiDAR.
3) Device Model : CygLiDAR D1
4) Display Mode :
Select one of the following modes: Hue, RGB and Grey.
After all sets up, press Receive button to turn on CygLiDAR.

Ver 0.2.2
16
8. CygLiDAR Viewer
2D Data
-Mouse cursor: each distance at the particular angle prints out on the preview.
-Mouse wheel: the canvas image zooms in and out as above.
Default Size
Extended Size

Ver 0.2.2
3D Data
Each of the measured distances per pixel determines a color to be visualized on both 2D and 3D
plans, and the color range is dependent on the selected Color Scheme.
1) Flat Image
- Moving a mouse cursor updates a distance at the coordinate.
2) Object (Point Cloud)
- Mouse Left button and mouse cursor changes the view
from the viewpoint.
17
8. CygLiDAR Viewer

Ver 0.2.2
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9. CygLiDAR ROS Driver
1) Copy ROS Package URL from the following Git repository page:
https://github.com/CygLiDAR-ROS/cyglidar_d1
2) Clone the remote repository to your local computer as below:
$ git clone https://github.com/CygLiDAR-ROS/cyglidar_d1.git

Ver 0.2.2
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10. Revision history
Document Revision History
29-Sep-20 0.1.0 Initial release.
20-Nov-20 0.1.1
Added:
- Packet
- ROS Package
Minor text edits across the whole document.
26-Jan-21 0.1.8
Added:
- Set Amplitude
Updated:
- Packet
- ROS Package
- Serial Communication design and description
- Hardware Design
- Software user interface and description on new functions
Minor text edits across the whole document.
25-May-21 0.1.9
Added:
- Usb Driver for Linux
- Set Serial Baud Rate
Updated:
- CygLiDARViewer DownLoad URL
09-Aug-21 0.2.2
Added:
- baud rate update function in software

Ver 0.2.2
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