Table of Contents
LIDAR-Lite v3HP Operation Manual
and Technical Specifications
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
1
Laser Safety ......................................................................................................1
LIDAR-Lite v3HP Operation Manual
and Technical Specifications
Laser Safety
WARNING
This device requires no regular maintenance. In the event that the device
becomes damaged or is inoperable, repair or service must be handled by
authorized, factory-trained technicians only. Attempting to repair or service
the unit on your own can result in direct exposure to laser radiation and the
risk of permanent eye damage. For repair or service, contact your dealer or
Garmin
®
for more information. This device has a protective housing which,
when in place, prevents human access to laser radiation in excess of the
accessible emission limit (AEL) for Class 1 laser products. This device should
not be modified or operated without its housing or optics. Operating this device
without a housing and optics, or operating this device with a modified housing
or optics that expose the laser source, may result in direct exposure to laser
radiation and the risk of permanent eye damage. Removal or modification of
the diffuser in front of the laser optic may result in the risk of permanent eye
damage.
CAUTION
This device emits laser radiation. Use of controls or adjustments or
performance of procedures other than those specified herein may result in
hazardous radiation exposure.
This laser product is designated Class 1 during all procedures of operation.
When the ranging feature of the device is activated, a laser emitter of a
ranging module may emit laser radiation and the device should not be aimed
toward anyone. Avoid looking toward the laser emitter or into the laser
radiation (beam) when operating the device. It is advisable to turn off the
ranging module when it is not in use. This device must be used only according
to the directions and procedures described in this documentation.
Do not leave this device within the reach of children.
Specifications
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
2
Physical .............................................................................................................2
Water Resistance ..............................................................................................2
Electrical ............................................................................................................2
Performance ......................................................................................................2
Interface.............................................................................................................2
Laser..................................................................................................................2
Connections
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
2
Wiring Harness ..................................................................................................2
I2C Connection Diagrams
.................................................................................2
Standard I2C Wiring
....................................................................................2
Standard Arduino I2C Wiring
.......................................................................3
PWM Wiring .................................................................................................3
PWM Arduino Wiring....................................................................................3
Technology ........................................................................................................4
Theory of Operation
...........................................................................................4
Interface.............................................................................................................4
Initialization ..................................................................................................4
Power Enable Pin ........................................................................................4
I2C Interface
................................................................................................4
Mode Control Pin .........................................................................................4
Settings ........................................................................................................4
Operational Information
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
4
I2C Protocol Operation
......................................................................................7
Read Operation
...........................................................................................7
Write Operation
............................................................................................7
Register Definitions
...........................................................................................7
Control Register List ....................................................................................7
Detailed Control Register Definitions
...........................................................8
I2C Protocol Information
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
6
CLASS 1 LASER PRODUCT
Classified EN/IEC 60825-1 2014
This product is in conformity with performance standards for laser products
under 21 CFR 1040, except with respect to those characteristics authorized by
Variance Number FDA-2016-V-2943 effective September 27, 2016.
NOTICE
How do I use the device for fast-scanning applications?.................................10
Does the device operate only on 5 Vdc?
.........................................................10
What is the spread of the laser beam? ............................................................10
How do distance, target size, aspect, and reflectivity affect returned signal
strength?..........................................................................................................10
How does the device work with reflective surfaces?
.......................................11
Diffuse Reflective Surfaces
........................................................................11
Specular Surfaces .....................................................................................11
How does liquid affect the signal? ...................................................................11
Frequently Asked Questions
½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½½
10
1
Specifications
Physical
Specification
Size (LxWxH)
Weight
Operating temperature
Measurement
20 × 48 × 40 mm (0.8 × 1.9 × 1.6 in.)
22 g (0.78 oz.)
-20 to 60°C (-4 to 140°F)
Wire Color
Red
Orange
Yellow
Green
Blue
Black
Connections
Wiring Harness
Water Resistance
Body of this device is rated IPX7, and can wthstand incidental exposure to
water of up to 1 meter for up to 30 minutes.
IMPORTANT:
The bare wire portion of the wiring harness is not water
resistant, and can act as a path for water to enter the device. All bare-wire
connections must either be made in a water-tight location or properly sealed.
Water may enter under the transmitting lens. This could affect performance,
but will not affect IPX7 water resistance.
Function
5 Vdc (+)
Power enable (internal pull-up)
Mode control
I2C SCL
I2C SDA
Ground (-)
Electrical
Specification
Power
Current consumption
Measurement
5 Vdc nominal
4.5 Vdc min., 5.5 Vdc max.
65 mA idle
85 mA during an acquisition
There are two basic configurations for this device:
•
I2C (Inter-Integrated Circuit)—a
serial computer bus used to
communicate between this device and a microcontroller, such as an
Arduino board
(I2C Interface, page 4).
•
PWM (Pulse Width Modulation)—a
bi-directional signal transfer method
that triggers acquisitions and returns distance measurements using the
mode-control pin
(Mode Control Pin, page 4).
Performance
Measurement
40 m (131 ft)
+/- 1 cm (0.4 in.)
±5 cm (2 in.) typical*
±2.5 cm (1 in.) typical
Mean ±1% of distance maximum
Ripple ±1% of distance maximum
Update rate (70% Reflective Target)
Greater than 1 kHz typical
Reduced sensitivity at high update rates
Specification
Range (70% reflective target)
Resolution
Accuracy < 2 m
Accuracy ≥ 2 m
I2C Connection Diagrams
Standard I2C Wiring
➊
➋
➎
➏
➐
Item Description
680µF electrolytic capacitor
*Nonlinearity present below 1 m (39.4 in.)
Interface
Specification
User interface
Measurement
I2C
PWM
External trigger
Fast-mode (400 kbit/s)
Default 7-bit address 0x62
Internal register access & control
External trigger input
PWM output proportional to distance at 10 μs/cm
➌
➍
I2C interface
PWM interface
Laser
Specification
Wavelength
Total laser power (peak)
Mode of operation
Pulse width
Pulse train repetition frequency
Energy per pulse
Beam diameter at laser aperture
Divergence
Measurement
905 nm (nominal)
1.3 W
Pulsed (256 pulse max. pulse train)
0.5 μs (50% duty cycle)
10-20 kHz nominal
<280 nJ
12 × 2 mm (0.47 × 0.08 in.)
8 mRad
➊
➋
➌
➍
➎
Power ground (-) connection
I2C SDA connection
I2C SCL connection
Notes
You must observe the correct polarity when
installing the capacitor.
Black wire
Blue wire
Green wire
➏
➐
4.7kΩ pull-up resistor
In installations with long cable extensions
(not required in all applications)
or with multiple devices on the I2C bus, you
must install a 1kΩ to 10kΩ pull-up resistor
on each I2C wire to account for cable
capacitance.
It is recommended to start with 4.7kΩ
resistors and adjust if necessary.
5 Vdc power (+) connection
Red wire
The sensor operates at 4.75 through 5.5 Vdc,
with a max. of 6 Vdc.
Logic rail connection
The pull-up resistors connected to both I2C
wires must connect to the logic rail on your
microcontroller board.
2
Standard Arduino I2C Wiring
PWM Arduino Wiring
➋
➌
➊
➎
➐
➏
➍
➎
Item Description
5 Vdc power (+) connection
➍
➊
➋
➌
➏
Item Description
680µF
electrolytic capacitor
➊
➋
➌
➍
➎
➏
➐
Notes
You must observe the correct polarity when
installing the capacitor.
Pull-up resistor connection
In installations with long cable extensions
(not required in all applications)
or with multiple devices on the I2C bus, you
must connect the pull-up resistors on the
SDA and SCL wires to the logic rail on your
microcontroller board.
On an Arduino board, this is the 5v pin.
4.7kΩ pull-up resistor
In installations with long cable extensions
(not required in all applications)
or with multiple devices on the I2C bus, you
must install a 1kΩ to 10kΩ pull-up resistor
on each I2C wire to account for cable
capacitance.
It is recommended to start with 4.7kΩ
resistors and adjust if necessary.
I2C SDA connection
Blue wire
I2C SCL connection
5 Vdc power (+) connection
Power ground (-) connection
Green wire
Red wire
The sensor operates at 4.75 through 5.5 Vdc,
with a max. of 6 Vdc.
Black wire
➊
➋
➌
➍
➎
➏
Power ground (-) connection
Mode-control connection
Monitor pin on microcontroller
Trigger pin on microcontroller
1kΩ resistor
Notes
Red wire
The sensor operates at 4.75 through 5.5 Vdc,
with a max. of 6 Vdc.
Black Wire
Yellow wire
Connect one side of the resistor to the mode-
control connection on the device, and to a
monitoring pin on your microcontroller board.
Connect the other side of the resistor to the
trigger pin on your microcontroller board.
PWM Wiring
➊
➍
➋
➌
➎
➏
Notes
Connect the other side of the resistor to the
trigger pin on your microcontroller.
Connect one side of the resistor to the mode-
control connection on the device, and to a
monitoring pin on your microcontroller.
Black Wire
Item Description
Trigger pin on microcontroller
➊
➋
➌
➍
➎
➏
Monitor pin on microcontroller
Power ground (-) connection
1kΩ resistor
Mode-control connection
5 Vdc power (+) connection
Yellow wire
Red wire
The sensor operates at 4.75 through 5.5 Vdc,
with a max. of 6 Vdc.
3
Operational Information
Technology
This device measures distance by calculating the time delay between the
transmission of a Near-Infrared laser signal and its reception after reflecting off
of a target. This translates into distance using the known speed of light.
3
Read two bytes from 0x8f (High byte 0x0f then low byte 0x10) to obtain the
16-bit measured distance in centimeters.
A list of all available control resisters is available on
page 7.
For more information about the I2C protocol, see
I2C Protocol Operation
(page 7).
Theory of Operation
To take a measurement, this device 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 laser 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
laser 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. Otherwise, it will report 1 cm. When beginning the next
measurement, the device clears the signal record and starts the sequence
again.
The mode control pin provides a means to trigger acquisitions and return the
measured distance via Pulse Width Modulation (PWM) without having to use
the I2C interface.
The idle state of the mode control pin is high impedance (High-Z). Pulling
the mode control pin low will trigger a single measurement, and the device
will respond by driving the line high with a pulse width proportional to the
measured distance at 10 μs/cm. A 1k
Ω
termination resistance is required to
prevent bus contention.
The device drives the mode control pin high at 3.3 Vdc. Diode isolation allows
the pin to tolerate a maximum of 5 Vdc.
As shown in the diagram
PWM Arduino Wiring (page 3),
a simple
triggering method uses a 1k
Ω
resistor in series with a host output pin to pull
the mode control pin low to initiate a measurement, and a host input pin
connected directly to monitor the low-to-high output pulse width.
If the mode control pin is held low, the acquisition process will repeat
indefinitely, producing a variable frequency output proportional to distance.
The mode control pin behavior can be modified with the ACQ_CONFIG_REG
(0x04) I2C register as detailed in
0x04 (page 8).
Mode Control Pin
Settings
The device can be configured with alternate parameters for the distance
measurement algorithm. This can be used to customize performance by
enabling configurations that allow choosing between speed, range, and
sensitivity. Other useful features are also detailed in this section. See the full
Control Register List (page 7)
for additional settings.
Acquisition Command
Address
0x00
Name
ACQ_COMMAND
Description
Device command
Initial Value
--
Interface
Initialization
On power-up or reset, the device performs a self-test sequence and initializes
all registers with default values. After roughly 22 ms, distance measurements
can be taken with the I2C interface or the Mode Control Pin.
•
Writing any non-zero value initiates an acquisition.
Name
SIG_COUNT_VAL
Description
Maximum acquisition count
Initial Value
0xFF
Maximum Acquisition Count
Address
0x02
Power Enable Pin
I2C Interface
The enable pin uses an internal pullup resistor, and can be driven low to shut
off power to the device.
This device has a 2-wire, I2C-compatible serial interface (refer to I2C-
Bus Specification, Version 2.1, January 2000, available from Philips
Semiconductor). 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. An internal level shifter allows the
bus to run at a maximum of 5 Vdc. Internal 3k
Ω
pullup 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 will not
respond to a general call. Support is not provided for 10-bit addressing.
The most significant bit of the register is the byte that follows the I2C address
in a normal transaction. Setting this most significant bit of the I2C address byte
to one triggers automatic incrementing of 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 and is used in the following
example.
The simplest method of obtaining measurement results from the I2C interface
is as follows:
1
Write 0x04 to register 0x00.
2
Read register 0x01. Repeat until bit 0 (LSB) goes low.
4
The maximum acquisition count limits the number of times the device will
integrate acquisitions to find a correlation record peak (from a returned signal),
which occurs at long range or with low target reflectivity. This controls the
minimum measurement rate and maximum range. The unit-less relationship
is roughly as follows: rate = 1/n and range = n^(1/4), where n is the number of
acquisitions.
Measurement Quick Termination Detection
Address
0x04
Name
ACQ_CONFIG_REG
Description
Acquisition mode control
Initial Value
0x08
You can enable quick-termination detection by clearing bit 3 in this register
(starting with the LSB in this register as bit 0). The device will terminate
a distance measurement early if it anticipates that the signal peak in the
correlation record will reach maximum value. This allows for faster and slightly
less accurate operation at strong signal strengths without sacrificing long
range performance.
Detection Sensitivity
Address
0x1c
Name
THRESHOLD_
BYPASS
Description
Peak detection threshold bypass
Initial Value
0x00
The default valid measurement detection algorithm is based on the peak
value, signal strength, and noise in the correlation record. This can be
overridden to become a simple threshold criterion by setting a non-zero value.
Recommended non-default values are 0x20 for higher sensitivity with more
frequent erroneous measurements, and 0x60 for reduced sensitivity and fewer
erroneous measurements.
Configurable I2C Address
Address
0x16
0x17
0x18
0x19
0x1a
0x1e
Name
UNIT_ID_HIGH
UNIT_ID_LOW
I2C_ID_HIGH
I2C_ID_LOW
I2C_SEC_ADDR
I2C_CONFIG
Description
Serial number high byte
Serial number low byte
Write serial number high byte for
I2C address unlock
Write serial number low byte for
I2C address unlock
Write new I2C address after
unlock
Default address response
control
Initial Value
Unique
Unique
--
--
--
0x00
The I2C address can be changed from its default value. Available addresses
are 7-bit values with a ‘0’ in the least significant bit (even hexadecimal
numbers).
To change the I2C address, the unique serial number of the unit must be read
then written back to the device before setting the new address. The process is
as follows:
1
Read the two byte serial number from 0x96 (high byte 0x16 and low byte
0x17).
2
Write the serial number high byte to 0x18.
3
Write the serial number low byte to 0x19.
4
Write the desired new I2C address to 0x1a.
5
Write 0x08 to 0x1e to disable the default address.
This can be used to run multiple devices on a single bus, by enabling one,
changing its address, then enabling the next device and repeating the
process.
The I2C address will be restored to default after a power cycle.
Power Control
Address
0x65
Name
POWER_CONTROL
Description
Power state control
Initial Value
0
Setting bit 1 in this register disables the receiver circuit, saving roughly
40 mA. After being re-enabled, the receiver circuit stabilizes by the time a
measurement can be performed.
NOTE:
The most effective way to control power usage is to utilize the enable
pin to deactivate the device when not in use.
5
京公网安备 11010802033920号
Copyright © 2005-2026 EEWORLD.com.cn, Inc. All rights reserved
电子工程世界
