Ver 0.2.2 Table of Contents Introduction ToF (Time of Flight) Solid State 2D / 3D Dual Specification Component Hardware Design How to Use Serial Communication UART PINMAP Packet Structure Checksum Packet Verification & Install CygLiDAR Viewer CygLiDAR ROS Driver Revision history...
Ver 0.2.2 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.
Ver 0.2.2 2. Specification Range affected by reflectivity 2D : 200mm ~ 8,000mm Detection range 3D : 50mm ~ 2,000mm (*DRM) Distance accuracy ±1% 2D : 1° (Angle) Resolution (Measure in mm) 3D : 160 x 60 (Pixel) 2D/3D Horizontal : 120° FOV : Field of View 3D Vertical : 65°...
Ver 0.2.2 5. How to Use 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).
Ver 0.2.2 6. Serial Communication Packet Request Overview Payload Supported Payload Response Request Name Header LiDAR Operation Firmware Length Packet Value Version Get the release versions of the Get Device Info 0x10 0.0.1 latest update to F/W and H/W Run 2D Mode 0x01 Start 2D Data measurement.
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Ver 0.2.2 6. Serial Communication Run 2D Mode Request (0x01) 0x5A 0x77 0xFF 0x02 0x00 0x01 0x00 0x03 Request Packet Check … 0x5A 0x77 0xFF 0xF3 0x00 0x01 Response Packet -60º -60º +60º +60º Light source : Laser, LED Error code list : 120º...
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Ver 0.2.2 6. Serial Communication 3D Data format C159 R0C0 R0C2 1500mm 2000mm 1600mm 1800mm … & & (0x5DC) (0x7D0) (0x640) (0x708) R0C0 R0C1 R0C1 R0C2 R0C3 R0C3 R59C159 4083mm … 0x5D 0xC7 0xD0 0x64 0x07 0x08 0x64 1530mm 120mm (0xFF3) (0x5FA) (0x078)
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Ver 0.2.2 6. Serial Communication Stop (0x02) 0x5A 0x77 0xFF 0x02 0x00 0x02 0x00 0x00 Request Packet Change the status to Idle. When the status is in Idle, device does nothing. Set 3D Pulse Duration Request (0x0C) Check Request Packet 0x5A 0x77 0xFF 0x03 0x00 0x0C [Example]...
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Channel 1 0x01 You can avoid interference errors by applying different Frequency Channel 2 0x02 Channels to different devices. CygLiDAR D1 has 16 Channels. Channel 15 0x0F Sensitivity Setting Request (0x11) Check Request Packet...
In case of not finding any port connected to the USB, download a driver from the following website: Window http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=225&pcid=41 http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=229&pcid=41 LINUX(Ubuntu) $ lsusb Bus 001 Device 005: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port $ sudo modprobe usbserial vendor=0x067b product=0×2303 $dmesg 3. Download CygLiDAR Viewer https://www.cygbot.com/downloads 4. Install CygLiDAR Viewer...
Ver 0.2.2 8. CygLiDAR Viewer Serial Port - Select a baud rate and a serial port to use. Device - Check on the release version of the latest update to CygLiDAR firmware and hardware. - Set up a device model and a display mode. 3D Pulse Duration Control - Choose Auto and press Apply for a completion of Auto mode.
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Example Baud Rate : 3,000,000 bps Serial Port : Choose an available port for CygLiDAR. Device Model : CygLiDAR D1 Display Mode : Select one of the following modes: Hue, RGB and Grey. After all sets up, press Receive button to turn on CygLiDAR.
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Ver 0.2.2 8. CygLiDAR Viewer Default Size Extended Size 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.
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Ver 0.2.2 8. CygLiDAR Viewer 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.
Ver 0.2.2 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 10. Revision history Document Revision History 29-Sep-20 0.1.0 Initial release. Added: - Packet 20-Nov-20 0.1.1 - ROS Package Minor text edits across the whole document. Added: - Set Amplitude Updated: - Packet 26-Jan-21 0.1.8 - ROS Package - Serial Communication design and description - Hardw are Design - Softw are user interface and description on new functions Minor text edits across the whole document.
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