Light Detection and Ranging (LiDAR)

Specification of V3HP LiDAR:

  • LiDAR is a ranging sensor
  • High-speed Optical Distance Measurement Sensor
  • Minimum measurement distance – 5 cm
  • Maximum measure distance – 40 metre
  • scan rate – 300 RPM
  • scan resolution – 1°
  • resolution: 1 cm
  • Measurement Speed (Update Rate) – Greater than 1 kHz
  • User configurability allows adjustment between accuracy, operating range and measurement time
  • Communicates via I2C and PWM
  • I2C: Fast-mode (400 kilobits/second), default 7-bit address 0x62, Internal register access and control
  • Laser wavelength – 905 nm
  • Pulse width - 0.5 μs (50% duty cycle)
  • LiDAR measures velocity by calculating the difference between two frames.

Why to choose V3HP LiDAR?

Parameters kept in mind while selecting LiDAR module:

  • Physically lightweight
  • Long distance (40 meters)
  • High accuracy
  • Relatively inexpensive
  • Suitable for outdoor usage

I2C Hardware Connection

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V3HP LiDAR Internal Register Address Map

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Why I2C for communication? And introduction of I2C

  • I2C is generally slower than other protocol such as SPI. But I2C takes less pins, this makes it preferable for low data rate sensors.
  • I2C works in half duplex mode. SPI works in full duplex mode.
  • I2C is a bus protocol and supports multiple masters.
  • I2C buses:
    • Serial Data (SDA): carries data
    • Serial Clock (SCL): Clock Signal Line which synchronize data transfer between devices on I2C bus. This signal generated by the master device.

I2C Write Cycle

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I2C Read Cycle

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Useful Resources

Garmin V3HP LiDAR : Official Website
LiDAR Arduino Library: repository
LiDAR manual: here

For more information refer documentation.