LeddarTech LeddarEngine LCA3 User manual
LeddarEngine LCA3
Evaluation Board
USER GUIDE
TF ID 020741
This page intentionally left blank
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 3 | 79
© 2022 LeddarTech Inc. All rights reserved.
The information contained herein is the property of the Company and shall not be reproduced in whole or
in part without the prior written approval of the Company.
Leddar, LeddarTech, LeddarSteer, LeddarEngine, LeddarVision, LeddarSP, LeddarCore, LeddarEcho,
VAYADrive, VayaVision, XLRator and related logos are trademarks or registered trademarks of
LeddarTech Inc. and its subsidiaries. All other brands, product names and marks are or may be trademarks
or registered trademarks used to identify products or services of their respective owners.
Please contact a LeddarTech sales representative if you have any questions regarding the information
contained in this document or regarding LeddarTech products. For the most recent version of this
es Terms
and Conditions, Product Warranty and End-User License Agreement carefully. Documentation available at
.
Group.
Keep this User Guide for future reference.
4 | 79 © 2022 LeddarTech Inc.
DISCLAIMER
LeddarTech®shall not be liable for any errors or omissions herein or for any damages arising out of or
related to this document or the information contained herein, even if LeddarTech has been advised of the
possibility of such damages.
Descriptions of products, including, but not limited to, specifications and drawings, and other related
information contained in this document, are provided only to illustrate their operation and application
examples. The illustrations shown, including screen captures, may differ from the appearance of the actual
product.
LeddarTech has made every effort to ensure that the information contained in the documentation
accompanying its products, including, without limitation, its Specification Sheet, is accurate. However,
LeddarTech will not be liable for any errors or omissions therein and reserves the right to modify the design
and characteristics of products at any time without notice. For the most recent version of any product
www.leddartech.com. In case of discrepancy, the web
version takes precedence over any printed literature.
LeddarTech may expressly designate certain products as completing a particular qualification (e.g., AEC-
Q100). Customer agrees that it has the necessary expertise to select the product with the appropriate
own risk. The
customer is solely responsible for compliance with all legal and regulatory requirements in connection with
such selection.
LeddarTech does not control the installation and use of its products and shall have no liability if a product
is used
authorized for safety, life support, medical applications, applications involving hazardous, corrosive or
radioactive substances or for any use or application in which the failure of a component could cause
personal injury, loss of life or substantial harm to the environment or property. Where LeddarTech
specifically promotes products as facilitating functional safety or as compliant with functional safety
standards, such products are intended to help enable customers to design and create their own applications
that meet applicable functional safety standards and requirements. Using products in an application does
not by itself establish any safety features in the application.
Any technical advice provided by LeddarTech with reference to the use of its products is given without
assumption by LeddarTech of any liability, and LeddarTech assumes no obligation or liability for the advice
given or results obtained, all such
LeddarTech reserves the right to modify its products at any time, without notice, at its sole discretion. The
endent state
and are not guaranteed to perform the same way if installed in a customer product.
NOTICE
This device is intended for evaluation under laboratory conditions. It has not been tested against vibration
or shocks.
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 5 | 79
Table of Contents
1. LABEL EXPLANATION AND SAFETY INFORMATION ...............................................................14
1.1. LABELS...........................................................................................................................................14
1.2. REGULATORY COMPLIANCE .............................................................................................................14
2. DEFINITIONS ..................................................................................................................................15
3. INTENDED USE AND DESCRIPTION............................................................................................17
3.1. PACKAGE CONTENTS ......................................................................................................................17
3.2. HARDWARE AND SOFTWARE REQUIREMENTS ...................................................................................18
3.2.1. System and Software Package .............................................................................................18
3.2.2. Test Equipment (Signal Generator) ......................................................................................18
4. SPECIFICATIONS...........................................................................................................................21
4.1. MAIN SPECIFICATIONS.....................................................................................................................21
4.2. MECHANICAL SPECIFICATIONS.........................................................................................................22
4.3. RENESAS R-CAR V3H STARTER KIT...............................................................................................24
4.4. LCA3 EVALUATION BOARD BLOCK DIAGRAM....................................................................................25
4.5. INTERFACES ...................................................................................................................................26
4.5.1. Interface Connector Types and Mating .................................................................................26
4.5.2. Main Power In (J25) ..............................................................................................................28
4.5.3. Module Power Outputs (J1000, J2000, J3000, J4000, J5000) .............................................28
4.5.4. Photodiode Interface (J48) ....................................................................................................29
4.5.5. Signal Injection PD00 and PD01 (J53 & J57) .......................................................................33
4.5.6. Photodiode Power Supply Interface (J7)...............................................................................34
4.5.7. Laser Module Interface (J58) ................................................................................................35
4.5.8. MEMS Mirror Interface (J59) .................................................................................................37
4.5.9. Beam Steering Interface (J64) ..............................................................................................40
4.5.10. Laser Monitoring Interface (J20000) .....................................................................................41
4.5.11. Laser Trigger (J51) ................................................................................................................42
4.6. ENVIRONMENTAL SPECIFICATIONS ...................................................................................................42
5. SETUP AND FIRST DETECTIONS ................................................................................................43
5.1. INSTALLING LEDDARVIEWER............................................................................................................43
5.2. POWERING THE EVALUATION BOARD ASSEMBLY...............................................................................43
5.3. CONFIGURING NETWORK PARAMETERS ON THE COMPUTER..............................................................45
5.4. CONNECTING THE EVALUATION BOARD ASSEMBLY TO THE COMPUTER..............................................47
5.5. CONNECTING TO LEDDARVIEWER ....................................................................................................48
5.6. CONNECTING THE SIGNAL GENERATOR TO THE EVALUATION BOARD AND FIRST DETECTIONS ............49
5.7. FIRST DETECTIONS .........................................................................................................................52
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5.8. ACQUISITION PROCESS DESCRIPTION ..............................................................................................52
6. LEDDARVIEWER............................................................................................................................54
6.1. MAIN WINDOW................................................................................................................................54
6.2. 3D VIEWER AND PARAMETERS ........................................................................................................57
6.3. PANNING AND VIEWING ...................................................................................................................60
6.4. FILE MENU /PLAY RECORD MENU ...................................................................................................62
6.5. DISPLAY MENU ...............................................................................................................................63
6.5.1. Waveform Display Window ...................................................................................................66
6.5.2. Detection Display Window.....................................................................................................73
6.5.3. Acquisition Display Window ..................................................................................................75
6.6. SETTINGS/PREFERENCES................................................................................................................76
6.7. HELP MENU /ABOUT WINDOW.........................................................................................................77
7. LEDDARENGINE DEVELOPMENT PACKAGE ............................................................................78
8. TROUBLESHOOTING ....................................................................................................................78
9. TECHNICAL SUPPORT..................................................................................................................78
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Table of Figures
Fig. 1: Saturation........................................................................................................................................ 15
Fig. 2: Channel index definition.................................................................................................................. 15
Fig. 3: Optical crosstalk.............................................................................................................................. 16
Fig. 4: Electrical crosstalk .......................................................................................................................... 16
Fig. 5: Gaussian pulse requirement ........................................................................................................... 19
Fig. 6: Rigol DG4202 function/waveform arbitrary signal generator .......................................................... 20
Fig. 7: LCA3 Evaluation Board / V3H Starter Kit assembly ....................................................................... 22
Fig. 8: LCA3 Evaluation Board assembly dimensions and mounting holes .............................................. 23
Fig. 9: Renesas R-CAR V3H Evaluation Board (front and rear view without fan) ..................................... 24
Fig. 10: Renesas R-CAR V3H Evaluation Board dimensions and mounting holes ................................... 24
Fig. 11: LCA3 Evaluation Board block diagram.......................................................................................... 25
Fig. 12: Main interfaces on LCA3 Evaluation Board................................................................................... 26
Fig. 13: MEMS interface mode 1 ............................................................................................................... 37
Fig. 14: MEMS interface mode 2 ............................................................................................................... 38
Fig. 15: LeddarViewer folder content ......................................................................................................... 43
Fig. 16: Powering the LCA3 Evaluation Board assembly........................................................................... 44
Fig. 17: LED states following the Evaluation Board assembly powering on .............................................. 44
Fig. 18: Changing network adapter settings ............................................................................................... 45
Fig. 19: Ethernet network option ................................................................................................................ 46
Fig. 20: Ethernet properties........................................................................................................................ 46
Fig. 21: IP address and subnet mask ........................................................................................................ 47
Fig. 22: Connecting the Evaluation Board to the computer........................................................................ 47
Fig. 23: LT Connection window.................................................................................................................. 48
Fig. 24: Main 3D display window following connection to the Evaluation Board ........................................ 48
Fig. 25: Example of pulse generated from the waveform generator .......................................................... 49
Fig. 26: Connection of the signal generator on PD00 (J57) and LTRIG (J51) ........................................... 49
Fig. 27: Recommended test setup using a waveform generator................................................................ 50
Fig. 28: Example of delay… ....................................................................................................................... 50
Fig. 29: Measurement comparison of the generated pulses ...................................................................... 51
Fig. 30: Measurement comparison of the generated pulses ...................................................................... 51
Fig. 31: First detections - Main 3D display window .................................................................................... 52
Fig. 32: Distance display limits (3D parameter panel)................................................................................ 52
Fig. 33: LeddarEngine LCA3 acquisition process ...................................................................................... 53
Fig. 34: Open window checkmark example ............................................................................................... 54
Fig. 35: LeddarViewer main window with a 3D view (Internal Trigger mode) ............................................ 54
8 | 79 © 2022 LeddarTech Inc.
Fig. 36: LeddarViewer main window with a 3D view (External Software Trigger mode)............................ 55
Fig. 37: LeddarViewer main window with a 3D view and the 3D display parameter window open............ 57
Fig. 38: 3D display parameters .................................................................................................................. 58
Fig. 39: Display segment information (hold <Alt> key) ............................................................................... 60
Fig. 40: Scene rotation (left-click) .............................................................................................................. 60
Fig. 41: Scene rotation in the screen plan, around the visualization window center (<Ctrl> + left-click) ... 61
Fig. 42: Scene translation (<Shift> + left-click)........................................................................................... 61
Fig. 43: Zoom in/out in scene (mouse wheel up/down or right-click) ......................................................... 61
Fig. 44: Play record window ....................................................................................................................... 62
Fig. 45: Display windows from the display menu ....................................................................................... 64
Fig. 46: Drag the isolated display window into the main 3D display window to reattach ........................... 65
Fig. 47: Waveform display window ............................................................................................................ 66
Fig. 48: Waveforms displayed without offset .............................................................................................. 68
Fig. 49: Waveforms displayed without offset .............................................................................................. 68
Fig. 50: Waveforms displayed (lighter weight on left, heavier weight on right) .......................................... 69
Fig. 51: Waveforms displayed, with smaller spacing (left) and larger spacing (right) ................................ 69
Fig. 52: Waveform displayed with square markers (left) and circle markers (right)................................... 70
Fig. 53: Waveform displayed without (left) and with (right) background grid ............................................. 70
Fig. 54: Region of interest dialog ............................................................................................................... 71
Fig. 55: Region of interest success message ............................................................................................ 71
Fig. 56: Region of interest failure message ............................................................................................... 72
Fig. 57: Examples of raw waveforms (left) and processed waveforms (right) ........................................... 72
Fig. 58: Detection display window.............................................................................................................. 73
Fig. 59: Acquisition window. Predefined acquis. parameters (left), custom acquis. parameters (right) .... 75
Fig. 60: Preferences window...................................................................................................................... 76
Fig. 61: Directory browser window ............................................................................................................. 77
Fig. 62: New recording directory displayed in the Directory field............................................................... 77
Fig. 63: About window, showing the LeddarViewer release version number ............................................ 77
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List of Tables
Table 1: Explanation of labels .................................................................................................................... 14
Table 2: Definitions .................................................................................................................................... 15
Table 3: Package contents (EVALBOARD-LCA3-A1) ............................................................................... 17
Table 4: LCA3 Evaluation Board electrical specifications.......................................................................... 21
Table 5: Main interface connector types and mating ................................................................................. 27
Table 6: Main power-in connector overview (J25) ..................................................................................... 28
Table 7: Main power in connector pinout (J25).......................................................................................... 28
Table 8: Main power out connector overview (J1000, J2000, J3000, J4000, J5000) ............................... 28
Table 9: Main power out connector pinout (J1).......................................................................................... 29
Table 10: Photodiode interface overview (J48).......................................................................................... 30
Table 11: Photodiode interface pinout (J48) .............................................................................................. 30
Table 12: Signal injection PD00 and PD01 overview (J57 & J53) ............................................................. 34
Table 13: Signal injection PD00 and PD01 pinout (J57 & J53) ................................................................. 34
Table 14: Photodiode power supply interface overview (J7) ..................................................................... 34
Table 15: Photodiode power supply interface pinout (J7).......................................................................... 35
Table 16: Laser module interface overview (J58) ...................................................................................... 35
Table 17: Laser module interface pinout (J58) .......................................................................................... 36
Table 18: MEMS mirror interface overview (J59)....................................................................................... 38
Table 19: MEMS mirror interface pinout (J59) ........................................................................................... 39
Table 20: Beam steering interface overview (J64) .................................................................................... 40
Table 21: Beam steering interface pinout (J64) ......................................................................................... 40
Table 22: Laser monitoring interface overview (J2000)............................................................................. 41
Table 23: Laser monitoring interface pinout (J20000) ............................................................................... 41
Table 24: Laser trigger overview (J51) ...................................................................................................... 42
Table 25: Laser trigger pinout (J51) ........................................................................................................... 42
Table 26: LCA3 Evaluation Kit environmental specifications..................................................................... 42
Table 27: Main LeddarEngine LCA3 process parameters......................................................................... 53
Table 28: Main window menus................................................................................................................... 55
Table 29: Main window toolbar .................................................................................................................. 56
Table 30: 3D display parameters ............................................................................................................... 58
Table 31: File menu ................................................................................................................................... 62
Table 32: Play record toolbar ..................................................................................................................... 63
Table 33: Display menu ............................................................................................................................. 63
Table 34: Waveform display window menu ............................................................................................... 67
Table 35: Actions feature (Waveform window) .......................................................................................... 67
10 | 79 © 2022 LeddarTech Inc.
Table 36: Settings (Waveform window) ..................................................................................................... 69
Table 37: Waveform window –Commands ............................................................................................... 70
Table 38: Waveform window –Display...................................................................................................... 72
Table 39: Acquisition parameters window ................................................................................................. 73
Table 40: Acquisition parameters display window ..................................................................................... 75
Table 41: Preferences window................................................................................................................... 76
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 11 | 79
Version History
Version
Description
Date (YYYY-MM-DD)
54A0055_1.0_EN
Initial release
2020-06-12
54A0057_2.0_EN
•Corrected document ID number (see left)
•Major updates throughout the document (too many
changes to be listed in this table)
•Reorganized some sections as per new User Guide
template
2020-11-25
54A0057_2.1_EN
•Updated Disclaimer information
2021-03-04
54A0057_2.2_EN
•Table 5: corrected mating information for J48
2022-02-10
12 | 79 © 2022 LeddarTech Inc.
Contact Information
LeddarTech Inc.
Address
Head Office
Production & Shipping
4535, boulevard Wilfrid-Hamel, Suite 240
Québec (Québec) G1P 2J7, Canada
4535, boulevard Wilfrid-Hamel, Suite 140
Québec (Québec) G1P 2J7, Canada
Phone
+ 1-418-653-9000
1-855-865-9900
8:30 a.m. 5:00 p.m. EST
Fax
+ 1-418-653-9099
Support
Website
www.leddartech.com
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 13 | 79
Document Conventions
This document uses the following conventions.
Name of menu >
name of window
Shows the access path to menus under each section of the LeddarViewer
software.
Arial bold
The names of buttons, menus, dialog boxes and elements of the interface are in
bold type.
Note: Contains helpful suggestions and references to information included
within this User Guide.
Warning: Refers to a warning or important information to follow.
This document uses the metric system (SI).
14 | 79 © 2022 LeddarTech Inc.
1. Label Explanation and Safety Information
1.1. Labels
Table 1: Explanation of labels
Label
Location
Description
Front side of the LCA3
Evaluation Board
Evaluation Board part number (P/N), starting
with 70Aand serial number (S/N), starting with
AM
This information is useful when contacting
LeddarTech support.
Back of the device
Packaging
ESD caution
ESD (electrostatic discharge) sensitive device.
Charged devices and circuit boards can dis-
charge without detection. Although this product
features patented or proprietary protection cir-
cuitry, damage may occur on devices subjected
to high-energy ESD. Therefore, proper ESD pre-
cautions should be taken to avoid performance
degradation or loss of functionality.
1.2. Regulatory Compliance
This device is intended for evaluation under laboratory conditions and is not intended for outdoor operation.
This device has not been tested against vibrations or shocks.
Any other certification or regulatory compliance information to come.
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 15 | 79
2. Definitions
Table 2: Definitions
Term
Definition
Accumulation
Accumulation is the averaging of acquired signal over multiple acquisitions. It is a sig-
nal processing technique that aims to reduce the noise and, consequently, increase
the signal-to-noise ratio (SNR).
Depending on your application, a reduction of the noise might be more important than
a high measurement rate.
Amplitude
The amplitude is expressed in counts and represents the quantity of light reflected
and captured by the sensor. This measure defines the strength of the digital signal.
Fig. 1: Saturation
Saturation occurs when an object is very close to the LiDAR or has a high reflec-
tance. The power of the received signal can be very high and saturates the analog-to-
digital converter.
Channel
.segment.
Channel index
Channel index starts from 0 at the top left of the FoV (field of view) and increases
from left to right and from the top line to the bottom of the FoV. Range: 0 to 255.
Fig. 2: Channel index definition
A segment can be identified either by:
•its channel index, or
•its coordinates within the field of view [V Channel, H Channel] in the viewer
software (LeddarViewer).
16 | 79 © 2022 LeddarTech Inc.
Crosstalk
The phenomenon by which an optical or electrical signal transmitted in one channel
creates an undesired effect in an adjacent channel.
Fig. 3: Optical crosstalk
Fig. 4: Electrical crosstalk
Detection
,
timestamp and flag.
Distance
Distance to an object measured in the segment (in meters) from the reference point.
Range: 0 to Instrumented Range.
Flag
Information relative to detection quality (bit field). Range: 0 to 255.
FWHM
Full width at half maximum
FoV
Field of view
LCA
LeddarCore Automotive product family
Oversampling
A signal processing method that aims to increase the effective sampling rate without
modifying the actual sampling rate of the ADC.
PMIC
Power management integrated circuit
Segment
A vertical (V) and horizontal (H) index in the Fo.
Timestamp
Time, in milliseconds (ms), elapsed since the sensor was started. Range: 0 to 232 1
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 17 | 79
3. Intended Use and Description
The LeddarEngineLCA3 Evaluation Board enables the demonstration and evaluation of the
LeddarEngine performance as a LiDAR component for the automotive industry or other key markets.
The goal of this document is to help you use this evaluation tool as well as the LeddarViewersoftware
to the best of their capabilities.
This User Guide is intended for developers and integrators.
The LeddarEngine LCA3 Evaluation Board is hereinafter referred to as the LCA3 Eval. Board.
With the LeddarEngine Evaluation Board, you will be able to:
•Validate the detection of pulses using an external instrument like a function/arbitrary waveform
generator;
•Validate the detection of pulses using an external photodetector and a laser module (not provided);
•Interface with external MEMS mirror or other beam steering devices;
•Integrate the Evaluation Board to your own LiDAR architecture and
•Interface with the LeddarEngine through the LeddarViewer software in order to:
oRun, record and view in 3D point cloud acquisition;
oValidate all supported configuration parameters;
oUpdate the LeddarSP signal processing library and
oBuild your own LiDAR software interfaced with the LeddarEngine through the Application
Programming Interface (API).
3.1. Package Contents
Table 3: Package contents (EVALBOARD-LCA3-A1)
Qty
Description
Manufacturer
Manufacturer P/N
1 x
Evaluation Board assembly:
•Main board
•Acquisition board
•Renesas V3H Starter Kit
•Xilinx Artix-7 FPGA module
•LeddarTech Inc.
•LeddarTech Inc.
•Renesas Electronics
•Trenz Electronic GmbH
75K0022-3
•70A0127
•70A0128
•Y-ASK-RCAR-V3H-WS11
•TE0712-02-200-2I
1 x
AC-DC power supply
Input: 100-240 VAC
50-60 Hz / 1.2 A max.
Output: 12 VDC / 7 A
CUI Inc.
SDI90-12-U-P5
1 x
14 AWG power cord
GlobTek Inc.
3011041F0701(R)
1 x
Power supply harness (jack
connector to 8-pos connector)
LeddarTech Inc.
71A0048-1
1 x
Ethernet cable (3 ft)
Generic
N/A
1 x
Mini USB cable
Generic
N/A
3 x
SMA to BNC adapter
Cal Test Electronics Inc.
CT3328
18 | 79 © 2022 LeddarTech Inc.
2 x
Coaxial U.FL (UMCC) to SMA
cable assembly, female to male,
1.37 mm)
Cinch Connectivity
Solutions Inc.
415-0091-250
1 x
SMA male to SMP female cable
Amphenol SV Microwave
7012-1322
LeddarTech provides the hardware to connect the client’s board to the acquisition board (see
Fig. 7 on page 22).
3.2. Hardware and Software Requirements
3.2.1. System and Software Package
Operating system
Windows 7 and up
Memory
1 GB
Disk space
150 MB
Other
Microsoft Visual C++ redistributable for Visual Studio 2015,
2017 and 2019
To download the latest version, refer to the Microsoft
website (see section 5.1 on page 43 for more details).
3.2.2. Test Equipment (Signal Generator)
In this section, we will describe the minimum specifications of the signal generator to evaluate the
LeddarEngine LCA3 through the two SMP connectors (J57 & J53) respectively connected to PD00 and
PD01, via a signal injection circuit. Refer to the electrical schematics of the Evaluation Board for details.
3.2.2.1. Pulse Requirements
The LeddarEngine is optimized to detect pulses in an electrical signal having a Gaussian shape, with a
duration between 10 ns and 20 ns at FWHM (full width at half maximum), i.e., having a bandwidth between
44 MHz and 22 MHz respectively.
The LCA3 Evaluation Bpulse l signal, as shown in the figure below. On PD00
(SMP J53) and PD01 (SMP J57), the pulse amplitude could be up to H = 2.3 V max. without damaging the
Evaluation Board assembly or the LeddarEngine.
54A0057_2.2_EN / LeddarEngine LCA3 Evaluation Board User Guide 19 | 79
Fig. 5: Gaussian pulse requirement
3.2.2.2. Timing/Synchronization Requirements
To build a LiDAR based on time-of-flight measurement, it is essential to have a reference signal to
synchronize all components and signals. A synchronization signal is accessible on the Evaluation Board:
the laser trigger signal or the sync signal (through SMP connectors J51 and J43 respectively).
The pulse generator must have a trigger input to precisely control the time at which the pulse is generated.
The accuracy of the measurement output by the LeddarEngine will be affected by the ability of the signal
generator to provide stable and timed pulses.
The jitter on the pulse emission must be considered, as it will introduce an error on the distance measured
by the LeddarEngine.
All the experiment results presented in this User Guide were performed with the Rigol DG4202
function/waveform arbitrary signal generator. Any other waveform generator with similar specifications (or
better) can be used.
Titre du graphique
FWHM
5 ns to 20 ns
H
H
2
Time
Amplitude
0 V
20 | 79 © 2022 LeddarTech Inc.
Fig. 6: Rigol DG4202 function/waveform arbitrary signal generator
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