LeddarTech LeddarOne User manual

LeddarOne
USER GUIDE

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© 2018 LeddarTech®Inc. All rights reserved.
LeddarTech®Inc., referred to as the Company shall not be liable for any errors contained herein
or for any damages arising out of or related to this document or the information contained therein,
even if the Company has been advised of the possibility of such damages.
The information contained herein is the property of the Company and shall not be reproduced in
whole or in part without prior written approval of the Company. The Company assumes no
responsibility for any errors or omissions in this document.
Leddar is a trademark of LeddarTech®Inc. All other trademarks are the property of their
respective owners.
Leddar™ Configurator software: this software is based in part on the work of the Independent
JPEG Group.

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Table of Contents
Introduction...............................................................................................6
1.1. Description ................................................................................................................... 6
1.2. Underlying Principles ................................................................................................. 11
1.3. Signal Processing Algorithm Overview...................................................................... 12
1.3.1. Signal Acquisition ................................................................................................................12
1.3.2. Static Noise Removal ..........................................................................................................12
1.3.3. Pulse Detection....................................................................................................................12
1.3.4. Saturation Compensation ....................................................................................................13
1.3.5. Temperature Compensation................................................................................................13
1.3.6. Smoothing............................................................................................................................13
1.3.7. Automatic LED Intensity Control..........................................................................................13
Getting Started........................................................................................14
2.1. Setup.......................................................................................................................... 14
2.2. Connecting to the Module.......................................................................................... 14
Measurement and Settings ....................................................................16
3.1. Distance Measurement.............................................................................................. 16
3.2. Data Description......................................................................................................... 16
3.3. Acquisition Settings.................................................................................................... 17
3.3.1. LED Intensity .......................................................................................................................19
3.3.2. Smoothing............................................................................................................................19
3.4. Measurement Rate..................................................................................................... 20
3.5. Serial Port Settings .................................................................................................... 21
3.6. Modbus Protocol........................................................................................................ 22
3.7. SDK............................................................................................................................ 24
LeddarTM Configurator............................................................................25
4.1. Installing LeddarTM Configurator ................................................................................ 25
4.2. Connecting to the Module.......................................................................................... 25
4.3. LeddarTM Configurator Main Window......................................................................... 27
4.3.1. Menu Bar.............................................................................................................................27
4.3.2. Toolbar.................................................................................................................................29
4.4. Using LeddarTM Configurator...................................................................................... 29
4.4.1. Configurating Serial Port......................................................................................................29
4.4.2. Acquisition Settings .............................................................................................................31
4.4.3. Saving and Loading a Configuration....................................................................................31
4.4.4. Configuring Detection Records............................................................................................32

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4.4.5. Using Detection Records.....................................................................................................33
4.4.6. Data Logging .......................................................................................................................35
4.4.7. Raw Detection .....................................................................................................................36
4.4.8. Update.................................................................................................................................38
4.4.9. Preferences .........................................................................................................................38
4.4.10. License Manager .................................................................................................................38
4.4.11. Device State ........................................................................................................................39
4.4.12. Calibration of the Static Noise..............................................................................................40
Specifications..........................................................................................42
5.1. General ...................................................................................................................... 42
5.2. Mechanical................................................................................................................. 42
5.3. Electrical..................................................................................................................... 42
5.4. Optical........................................................................................................................ 42
5.5. Performance............................................................................................................... 43
5.5.1. Accuracy..............................................................................................................................43
5.5.2. Supply Voltage Versus Accuracy.........................................................................................44
5.5.3. Range..................................................................................................................................44
5.5.4. Detection Threshold.............................................................................................................45
5.6. Regulatory Compliance.............................................................................................. 46
5.7. Dimensions ................................................................................................................ 47
Technical Support...................................................................................48
Index……………………………………………………………………………………49

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Introduction
The Leddar™One enables developers and integrators to make the most of Leddar™ technology
through integration in systems requiring detection and ranging. The Leddar™One Module is a
more compact and low-cost alternative that brings valuable sensing intelligence to a whole new
range of finished products.
1.1. Description
The Leddar™One package contains the sensor module with the following features:
•3° conic beam
•Beam height: 3°
•Real-time data acquisition (through serial port)
•3.3V UART or RS-485 link for measurement acquisition
•Leddar™ Software
oLeddar™ Configurator
▪Module configuration
▪Real-time display of detection and measurement data
▪Data recording and logging.
oLeddar™ Enabler SDK
Complete C example demonstrating parameter configuration and data acquisition using the
MODBUS protocol over the serial link.

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The following is a description of the main components of the Leddar™One.
Figure 1: Leddar™ One Module (3° optics)

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The power and interface signals are included on a six-pin standard 0.1” pitch header with the
following pinout:
Table 1: Pinout of the Power and Interface Signals Header
Pin –Function
Description
1 –GND
Ground.
2 –IRQ
Interrupt Signal, active high. Set when a new
measurement is available, reset when data
read from Modbus link.
3 –Supply
5V
4 –RX or RS-485+
Serial port input.
5 –TX or RS-485-
Serial port output.
6 –RESET_N
This is a pulled-up input that must be pulled
down below 0.8 V for at least 350 ns and then
released to reset the processor.
The pin 1 position is shown in Figure 1.

LeddarOne –User Guide Page 9 of 52
Push Button
The push button at the right of the six-pin interface has three functionalities:
Table 2: Push Button Functionalities
Description
Action
Short press during sensor
operation
Software reboot
Short press at power up
(less than 10 seconds)
Reset sensor configuration. The button must be
pressed before powering the sensor and released once
power is applied.
Long press at power up
(more than 10 seconds)
Upload a binary file at power-up.
WARNING: It is recommended to use the Leddar™
Configurator software for upgrading the module
firmware. Firmware upgrade using the following
procedure should be performed only when instructed
by LeddarTech’s technical support.
A PC with a serial terminal program supporting the
YMODEM protocol must be available. It must be set to
115200 bauds, 8 data bits, 1 stop bit and no parity and
connected to the serial port.
The button must be pressed before applying power and
then continuously held for at least 10 seconds, until the
text “Waiting… (press 'a' to abort)” appears in the
terminal.
You can then start the YMODEM transfer of the
firmware file. Once the transfer is completed, either
“Successful!” or “Failed!” will appear. On success the
sensor will automatically start.

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Leddar™One Architecture
The following diagram presents the architecture of the module.
Figure 2: Working Diagram
The Leddar™One module includes the photodetector, LEDs, MCU, the controller for LED pulsing
and data acquisition. Data acquisition is performed at a sampling frequency of 72131 Hz
(44 MHz/610).
The Leddar™One module processes the acquired data and produces measurements at a
configurable measurement rate. The measurements provide the distance of detected objects in
the conic beam.
Note: The sensor measurement rate varies according to the oversampling and accumulation
settings.
LED pulsing and receiver data acquisition timing is controlled by the FPGA. A temperature sensor
located near the LEDs is used to implement temperature compensation on the ranging results.
The MCU recovers the waveforms from the FPGA, performs full waveform analysis, and
generates detection and ranging data. The data can be acquired and displayed in software
through the serial port.