Garmin LIDAR-Lite v4 LED Handleiding

Garmin Niet gecategoriseerd LIDAR-Lite v4 LED

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LIDAR-LITE V4 LED

OPERATION MANUAL AND

TECHNICAL SPECIFICATIONS

Specifications

Specification Measurement

Unit dimensions (L × W × H)

NOTE: Measurements do not

include an attached connector.

52.2 x 24 x 21.2 mm (2.1 x 0.9 x

0.8 in.)

Weight 14.6 g (0.5 oz.)

Operating temperature -20 to 60°C (-4 to 140°F)

Storage temperature -40 to 85°C (-40 to 185°F)

Power (operating voltage) 4.75 to 5.25 Vdc

Current consumption 2 mA idle

85 mA during an acquisition

Input voltage (VIN) 3.3 V Max

Range 5 cm (1.97 in.) to 10 m (32.8 ft.)

Resolution 1 cm (0.4 in.)

Beam divergence 4.77 degrees

LED wavelength 940 nm

Optical aperture 14.9 mm

Update rate I2C: Greater than 200 Hz typical

ANT: Up to 200 Hz to a 90%

reflective target indoors at 2 m in

normal operating mode

Interface I2C or ANT®

Configurable for SPI with user

applications

Measurement repeatability

NOTE: As measured indoors to a

90% reflective target; 1 cm is

equivalent to 1 standard deviation.

Measurements were obtained

using high accuracy mode.

± 1 cm to 2 m

± 2 cm to 4 m

± 5 cm to 10 m

Device Dimensions

52.17 mm (2.05 in.)

44.98 mm (1.77 in.)

10.6 mm (0.42 in.)

24.03 mm (0.95 in.)

1 mm (0.04 in.)

18 mm (0.71 in.)

21.35 mm (0.84 in.)

21.2 mm (0.83 in.)

Mounting Options

Cable tie: You can secure the device to your application using a

3.6 mm (0.14 in.) wide cable tie. You should route the cable

tie through the channel in the center of the device.

Double-sided tape: You can secure the bottom of the device to

your application using double-sided tape. For best results,

you should select a tape that has a high-strength bond.

Labeling Requirements

The LIDAR-Lite v4 LED device is an FCC-certified transmitter. If

you are integrating the device with another product, you must

ensure the FCC ID is visible from the outside of your product.

You are responsible for meeting any other labeling requirements

imposed by the FCC rules and any rules related to the

compliance of your end product.

Connections

LIDAR-Lite v4 LED Connection Diagram

The through-holes on the LIDAR-Lite v4 LED device are

arranged in 2 rows of 5 holes each, with a 2 mm pitch between

each connection.

NOTICE

The LIDAR-Lite v4 LED maximum signal level is 3.3 V. A signal

greater than 3.3 V will damage the device.

Pin Pin Name Function V Max

VIN 5 V Power 5 V

GND Ground --

I2C SDA I2C Data 3.3 V

GUID-48127269-EFD8-41FF-93EC-D21B0A1EFE74 v2September 2020

Pin Pin Name Function V Max

I2C SCL I2C Clock 3.3 V

GPIOA General Purpose I/O 3.3 V

GPIOB General Purpose I/O 3.3 V

VRETURN nRF52840 DBG 3.3 V

nRESET nRF52840 DBG 3.3 V

SWCLK nRF52840 DBG 3.3 V

SWDIO nRF52840 DBG 3.3 V

Operational Information

Technology

This device measures distance by calculating the time delay

between the transmission of a near-infrared light and its

reception after reflecting off of a target, using the known speed

of light.

The LIDAR-Lite v4 LED contains an nRF52840 SoC from Nordic

Semiconductor. This SoC pairs an ARM Cortex-M4 processor

with 1 MB of flash memory and 256 KB of RAM. The included

2.4GHz multiprotocol radio and S340 SoftDevice support Ultra

Low Power (ULP) wireless technologies, including ANT and

Bluetooth® 5 LE.

The LIDAR-Lite v4 LED comes preloaded with an application

that allows the developer to communicate with the device using

several methods. An I2C interface allows the device to be

connected to an external micro-controller, or it can be controlled

and operated wirelessly using the ANT wireless protocol in

accordance with the ANT Ranging Profile.

The LIDAR-Lite v4 LED also comes preloaded with a Bluetooth

LE secure DFU bootloader, which enables wireless software

updates using a Bluetooth LE capable device.

Theory of Operation

When the device takes a measurement, it first performs a

receiver adjustment routine, correcting for changing ambient

light levels and allowing maximum sensitivity.

The device sends a reference signal directly from the transmitter

to the receiver. It stores the transmit signature, sets the time

delay for “zero” distance, and recalculates this delay periodically

after several measurements.

Next, the device initiates a measurement by performing a series

of acquisitions. Each acquisition is a transmission of the main

light signal while recording the return signal at the receiver. If

there is a signal match, the result is stored in memory as a

correlation record. The next acquisition is summed with the

previous result. When an object at a certain distance reflects the

light signal back to the device, these repeated acquisitions

cause a peak to emerge, out of the noise, at the corresponding

distance location in the correlation record.

The device integrates acquisitions until the signal peak in the

correlation record reaches a maximum value. If the returned

signal is not strong enough for this to occur, the device stops at

a predetermined maximum acquisition count.

Signal strength is calculated from the magnitude of the signal

record peak and a valid signal threshold is calculated from the

noise floor. If the peak is above this threshold, the measurement

is considered valid and the device will calculate the distance. If

the peak is not above the threshold, it will report 1 cm. When

beginning the next measurement, the device clears the signal

record and starts the sequence again.

Interface

Initialization

When you turn on or reset the device, it performs a self-test

sequence and initializes all registers with default values. After

roughly 22 ms, you can take distance measurements using the

I2C interface, the mode control pin, or a wireless ANT

connection.

I2C Interface

This device has a 2-wire, I2C-compatible serial interface. It can

be connected to an I2C bus as a slave device, under the control

of an I2C master device. It supports 400 kHz Fast Mode data

transfer.

The I2C bus operates internally at 3.3 Vdc. Internal 13 kiloohm

pull-up resistors ensure this functionality and allow for a simple

connection to the I2C host.

The device has a 7-bit slave address with a default value of

0x62. The effective 8-bit I2C address is 0xC4 write and 0xC5

read. The device does not respond to a general call. Support is

not provided for 10-bit addressing. The device auto-increments

the register address with successive reads or writes within an

I2C block transfer. This is commonly used to read the two bytes

of a 16-bit value within one transfer. See Obtaining

Measurements from the I2C Interface, page 2.

For a list of all available control registers, see Control Register

List, page 5.

For more information about the I2C protocol, see I2C Protocol

Information, page 4.

Obtaining Measurements from the I2C Interface

You can obtain measurement results from the I2C interface.

1Write 0x04 to register 0x00.

2Read register 0x01.

3Repeat step 2 until bit 0 (LSB) goes low.

4Read two bytes from 0x10 (low byte 0x10 then high byte

0x11) to obtain the 16-bit measured distance in centimeters.

Settings

You can configure the device with alternate parameters for the

distance measurement algorithm. You can use this algorithm to

customize performance by enabling configurations that allow

speed, range, and sensitivity options. See the full control

settings.

Configurable I2C Address

You can change the I2C address from its default to any 7-bit

value. Before you can configure the secondary I2C address, you

must first enable flash storage (0xEA). After you configure the

secondary I2C address, the address persists if you turn off the

device. You can use this process to run multiple devices on a

single bus by enabling a device, changing its address, and then

enabling the next device. Before you can change the I2C

address, the I2C communications bus must read the UNIT_ID

and write it back to the device in a single five-data-byte

transaction with the new I2C address as the fifth byte. Software

template functions for configuring the I2C address are available

at .https://github.com/garmin/

Mode Control Pins

The mode control pins can be used to trigger distance

measurements and check the status of the LIDAR-Lite v4 LED.

These connections are not required. These pins can provide a

simpler and faster method of controlling the device, and they are

intended to be used in conjunction with the I2C interface. For

more information, go to .https://github.com/garmin/

Pin Description Functionality Details

GPIO A TRIGGER LIDAR-Lite v4

LED

measurement

trigger input

Toggle to start a distance

measurement. The LIDAR-

Lite v4 LED starts a distance

measurement on either the

rising or falling edge. If a

distance measurement is

triggered while the device is

busy, the requested

measurement is ignored.

GPIO B MONITOR LIDAR-Lite v4

LED BUSY

status output

Indicates when the LIDAR-

Lite v4 LED is busy. If low,

the device is idle and is ready

to start a distance

measurement. If high, the

device is busy taking a

distance measurement. Wait

for the signal to drop before

you toggle GPIO A to trigger

a distance measurement.

Triggering and Reading Distance Measurements

1Toggle the TRIGGER pin.

2Wait for the MONITOR pin to go low.

3Read two bytes from 0x10 (low byte 0x10, then high byte

0x11) to obtain the 16-bit measured distance in centimeters.

NOTE: If you need to take distance measurements as quickly

as possible, you can reverse steps 2 and 3 so the LIDAR-Lite

v4 LED device takes a distance measurement while

performing the I2C register read. When this occurs, the

LIDAR-Lite v4 LED device is in the process of measuring the

distance while the registers are read. The distance returned

is the previously triggered measurement.

ANT

ANT is a practical wireless network protocol running in the 2.4

GHz ISM band. Designed for ultra-low power, ease of use,

efficiency, and scalability, ANT easily handles peer-to-peer, star,

tree, and mesh topologies. Other ANT capable devices can

connect to the LIDAR-Lite v4 LED to control it, receive data from

it, and configure it wirelessly. ANT messages are sent and

received from the LIDAR-Lite v4 LED in accordance to the ANT

ranging profile.

For more details about the ANT ranging profile and the

capabilities and workings of the ANT wireless protocol, see ANT

Ranging Profile ANT Message Protocol and Usage and at

https://github.com/garmin/.

Connecting Wirelessly Using ANT

Before you can connect to the LIDAR-Lite v4 LED using ANT,

you must complete these tasks.

• Install Windows 7 Service Pack 1 or higher on your PC

• Install .Net Framework 4.5 or higher on your PC

• Install Visual C++ 2008 SP1 Redistributable Package or

higher on your PC

• Purchase a Garmin® ANT USB-m stick

1Connect the USB ANT stick to your computer.

2Download and install the Garmin ANT demo PC application

on your computer ( ) .https://github.com/garmin/

3Configure and connect the PC application to the LIDAR-Lite

v4 LED device as specified in the readme file that is included

with the Garmin ANT demo PC application.

Activating the Bluetooth LE Bootloader

NOTE: If you are installing a custom unsigned application to the

LIDAR-Lite v4 LED, you should first test and debug the custom

application using a J-Link debugging probe before you perform

wireless updates.

The LIDAR-Lite v4 LED device comes preloaded with a

Bluetooth LE bootloader that allows you to update the device

software wirelessly. You can use the Nordic Secure DFU

bootloader to install an official update signed by Garmin, or a

developer can use that bootloader to install a custom, unsigned

application.

1Disconnect power from the LIDAR-Lite v4 LED device.

2Ground the boot pin (GPIO B).

3Connect power to the LIDAR-Lite v4 LED device.

The Bluetooth LE bootloader starts advertising as "LLV4 DFU

Mode."

Updating the Firmware Using the Bluetooth LE Bootloader

You can use the Bluetooth bootloader to update the LIDAR-Lite

v4 LED firmware using a smartphone equipped with Bluetooth

LE or a PC equipped with an nRF52 DK or nRF52840 dongle.

The firmware is contained in a file called DFU.zip.

1Copy the DFU.zip file to a smartphone or PC.

NOTE: You can use the DFU.zip file provided by Garmin or a

custom DFU.zip file.

2Using the nRF Connect or nRF Toolbox app, start the

firmware upgrade using the DFU.zip file you copied.

3After the DFU process reaches 100%, verify the new

application runs correctly.

For more information about how to update the nRF52840 using

the Nordic secure DFU bootloader, go to https://github.com

/garmin/.

Product specificaties

Merk:	Garmin
Categorie:	Niet gecategoriseerd
Model:	LIDAR-Lite v4 LED

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