Garmin V4 LED User Manual

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Page 1

LIDAR-LITE V4 LED

DRAFT

OPERATION

MANUAL AND

TECHNICAL SPECIFICATIONS

Specifications

Specification Measurement

Unit dimensions (L × W × H)

NOTE: Measurements do not include an attached connector.

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

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

Interface I2C or ANT

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.

52.2 x 24 x 21.2 mm (2.1 x 0.9 x

0.8 in.)

85 mA during an acquisition

ANT: Up to 200 Hz to a 90% reflective target indoors at 2 m in normal operating mode

Configurable for SPI with user applications

± 1 cm to 2 m ± 2 cm to 4 m ± 5 cm to 10 m

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

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

Labeling Requirements

The LIDAR-Lite 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.

: 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.

your application using double-sided tape. For best results, you should select a tape that has a high-strength bond.

v4 LED device is an FCC-certified transmitter. If

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.

Device Dimensions

Pin Pin Name Function V Max

VIN 5 V Power 5 V

GND Ground --

I2C SDA I2C Data 3.3 V

I2C SCL I2C Clock 3.3 V

August 2019

190-02533-00_01

Page 2

Pin Pin Name Function V Max

DRAFT

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 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 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 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

v4 LED contains an nRF52840 SoC from Nordic

v4 LED comes preloaded with an application

v4 LED also comes preloaded with a Bluetooth

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

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

Obtaining Measurements from the I2C Interface

You can obtain measurement results from the I2C interface.

Write 0x04 to register 0x00.

Read register 0x01.

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

Read 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 register list 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 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

, page 4

(Control Register List, page 5)

https://github.com/garmin/

, page 2

for additional

LIDAR-Lite

v4 LED.

Page 3

Pin Description Functionality Details

DRAFT

GPIO A TRIGGER LIDAR-Lite v4

GPIO B MONITOR LIDAR-Lite v4

Triggering and Reading Distance Measurements

Toggle the TRIGGER pin.

Wait for the MONITOR pin to go low.

Read 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 ranging profile.

For more details about the ANT ranging profile and the capabilities and workings of the ANT wireless protocol, see ANT Ranging Profile and ANT Message Protocol and Usage at

https://github.com/garmin/.

Connecting Wirelessly Using ANT

Before you can connect to the you must complete these tasks.

LED measurement trigger input

LED BUSY status output

LIDAR-Lite

v4 LED in accordance to the

Toggle to start a distance measurement. The 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.

Indicates when the LIDARLite 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.

LIDAR-Lite

v4 LED using ANT,

LIDAR-

ANT

• 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® Connect the USB

Download and install the Garmin ANT demo PC application

on your computer (https://github.com Configure and connect the PC application to the LIDAR-Lite

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

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 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.

Disconnect power from the

Ground the boot pin (GPIO B).

Connect power to the LIDAR-Lite v4 LED device.

The

Bluetooth Mode."

Updating the Firmware Using the Bluetooth LE Bootloader

You can use the 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.

Copy 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. Using the nRF Connect or nRF Toolbox app, start the

firmware upgrade using the DFU.zip file you copied. After 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/.

ANT

v4 LED device comes preloaded with a

LE bootloader starts advertising as "LLV4 DFU

Bluetooth

USB-m stick

ANT

stick to your computer.

ANT

/garmin/

demo PC application.

LIDAR-Lite

bootloader to update the LIDAR-Lite

) .

v4 LED device.

Page 4

I2C Protocol Information

DRAFT

The sensor module has a 7-bit slave address with a default value of 0x62 in hexadecimal notation. The effective 8 bit I2C address is 0xC4 write, 0xC5 read. The device will not respond to a general call.

The last NACK in the read is optional, but the formal I2C protocol states that the master shall not acknowledge the last byte.

I2C Protocol Operation

This protocol description uses the term master to refer to the host controller, and the term LIDAR-Lite v4 LED device acting as a slave on the I2C bus.

When working with the I2C serial bus protocol, the LIDAR device operates as follows.

The master initiates data transfer by establishing a start

condition, which consists of a high-to-low transition on the SDA line while SCL is high.

The master sends an address byte, which consists of the 7-

bit slave address. The master sends a read/write bit with a zero state, which

indicates a write request. A write operation is used as the initial stage of both read and write transfers.

If the slave address corresponds to the LIDAR device

address, the during the ninth clock pulse. This operation is considered the acknowledge bit. At this stage, all other devices on the bus remain idle while the selected LIDAR device waits for data to be written to or read from its shift register.

Data transmits over the serial bus in sequences of nine clock

pulses (eight data bits followed by an acknowledge bit).

device responds by pulling SDA low

LIDAR

device to refer to the

LIDAR

These transmissions must occur on the SDA line during the low period of SCL and remain stable during the high period of SCL.

The master sends an 8-bit data byte following the slave

address, which loads the I2C control register on the LIDAR device with the address of the first control register to be accessed.

The master requests a read operation from the LIDAR device

or sends a write operation to the LIDAR device.

Read Operation

After the master establishes communication with the LIDAR device, you can obtain a reading from the LIDAR device.

The first data frame sets the address of the desired read

frame. The master initiates a new start condition, which consists of

the slave I2C device address with the read bit set (one state). The

when it receives a valid address.

device sends an acknowledge bit to the master

LIDAR

Page 5

The master reads one or more data bytes in succession. The

DRAFT

internal device address pointer auto increments with each byte access.

The master strobes the acknowledge bit following each data

byte except for the final byte in the transfer before sending the stop condition.

After the read cycle is done, the master sends a stop

condition to complete the operation.

Write Operation

After the master establishes communication with the LIDAR device, writing to the

device operates as follows.

LIDAR

The master sends one or more 8-bit data blocks to the LIDAR

device. The internal device address pointer auto increments with each byte access.

The

when it receives and writes a valid data byte. After the write cycle is done, the master sends a stop

condition to complete the operation.

device sends an acknowledge bit to the master

LIDAR

Control Register List

NOTE: Unless otherwise noted, all registers contain one byte and are read and write.

Address R/W Name Description Initial Value Details

0x00 W ACQ_COMMANDS Device command -- 0x00

0x01 R STATUS System status -- 0x01

0x05 R/W ACQUISITION_COUNT Maximum acquisition count 0xFF 0x05

0x10 R FULL_DELAY_LOW Distance measurement low byte -- 0x10

0x11 R FULL_DELAY_HIGH Distance measurement high byte -- 0x11

0x16 R UNIT_ID_0 Unit ID, byte 0 -- 0x16

0x16 W UNIT_ID_0_UNLOCK Write unit ID 0 for I2C address unlock -- 0x16

0x17 R UNIT_ID_1 Unit ID, byte 1 -- 0x17

0x17 W UNIT_ID_1_UNLOCK Write unit ID 1 for I2C address unlock -- 0x17

0x18 R UNIT_ID_2 Unit ID, byte 2 -- 0x18

0x18 W UNIT_ID_2_UNLOCK Write unit ID 2 for I2C address unlock -- 0x18

0x19 R UNIT_ID_3 Unit ID, byte 3 -- 0x19

0x19 W UNIT_ID_3_UNLOCK Write unit ID 3 for I2C address unlock -- 0x19

0x1A R/W I2C_SEC_ADDR Write new I2C address after unlock -- 0x1A

0x1B W I2C_CONFIG Default address response control 0x00 0x1B

0x1C R/W DETECTION_SENSITIVITY Peak detection threshold bypass 0x00 0x1C

0x30 R LIB_VERSION Read

0x52 R/W CORR_DATA Correlation record data control -- 0x52

0x72 R CP_VER_LO Coprocessor firmware version low byte -- 0x72

0x73 R CP_VER_HI Coprocessor firmware version high byte -- 0x73

0xE0 R BOARD_TEMPERATURE Board temperature -- 0xE0

0xE1 R HARDWARE_VERSION Board hardware version -- 0xE1

0xE2 R/W POWER_MODE Power state control 0xFF 0xE2

0xE3 R/W MEASUREMENT_INTERVAL Automatic measurement rate 0xFF 0xE3

0xE4 W FACTORY_RESET Reset default settings -- 0xE4

0xE5 R/W QUICK_TERMINATION Quick acquisition termination 0x08 0xE5

0xE6 W START_BOOTLOADER Start secure

0xEA R/W ENABLE_FLASH_STORAGE Store register settings 0x00 0xEA

0xEB R/W HIGH_ACCURACY_MODE Improved accuracy setting 0x14 0xEB

0xEC R SOC_TEMPERATURE SoC temperature -- 0xEC

software library version string -- 0x30

Garmin

Bluetooth

LE bootloader -- 0xE6

, page 5

, page 6

, page 7

, page 8

0x00

R/W Name Description Initial Value

W ACQ_COMMANDS Device command --

Bit Function

7:0 Write 0x03: Take distance measurement without receiver bias

correction Write 0x04: Take distance measurement with receiver bias

correction

0x01

R/W Name Description Initial Value

R STATUS System status --

Bit Function

5 DC error flag

4 DC bias done flag

3 Low power flag

0: No error detected 1: An error was detected in correcting DC noise bias, and distance

measurements are expected to be inaccurate

0: The device is performing automatic DC noise bias corrections 1: DC noise is within tolerance, and the automatic DC noise bias

corrections are currently idle

0: Device is powered on. I2C commands can be issued at a normal rate.

1: The device is in low power mode. To allow the device to power on and perform the I2C command, a 10ms delay after each command is recommended.

Page 6

Bit Function

DRAFT

2 Reference overflow flag

0: Reference data has not overflowed 1: Reference data in correlation record has reached the maximum

value before overflow (this occurs when taking measurements with biasing enabled)

1 Signal overflow flag

0: Signal data has not overflowed 1: Signal data in correlation record has reached the maximum

value before overflow (this occurs with a strong received signal strength)

0 Busy flag

0: Device is ready for a new command 1: Device is busy taking a measurement or powering on

0x05

R/W Name Description Initial Value

R/W ACQUISITION_COUNT Maximum acquisition

count

0xFF

0x18

R/W Name Description Initial

R UNIT_ID_2 Unit ID, byte 2 --

W UNIT_ID_2_UNLOCK Write unit ID 2 for I2C

address unlock

Bit Function

7:0 Read byte two of the unit ID

Write the value in UNIT_ID_2 here as part of enabling a nondefault I2C address. See I2C_SEC_ADDR (0x1A

, page 6

Value

0x19

R/W Name Description Initial

R UNIT_ID_3 Unit ID, byte 3 --

W UNIT_ID_3_UNLOCK Write unit ID 3 for I2C

address unlock

Value

Bit Function

7:0 Maximum number of acquisitions during measurement

0x10

R/W Name Description Initial Value

R FULL_DELAY_LOW Distance measurement low

byte

Bit Function

7:0 Distance measurement result in centimeters, low byte.

0x11

R/W Name Description Initial Value

R FULL_DELAY_HIGH Distance measurement high

byte

Bit Function

7:0 Distance measurement result in centimeters, high byte.

0x16

R/W Name Description Initial

R UNIT_ID_0 Unit ID, byte 0 --

W UNIT_ID_0_UNLOCK Write unit ID 0 for I2C

address unlock

Bit Function

7:0 Read byte zero (LSB) of the unit ID

Write the value in UNIT_ID_0 here as part of enabling a nondefault I2C address. See I2C_SEC_ADDR (0x1A

, page 6

Value

0x17

R/W Name Description Initial

R UNIT_ID_LOW Unit ID, byte 1 --

W UNIT_ID_1_UNLOCK Write unit ID 1 for I2C

address unlock

Bit Function

7:0 Read byte one of the unit ID

Write the value in UNIT_ID_1 here as part of enabling a nondefault I2C address. See I2C_SEC_ADDR (0x1A

, page 6

Value

Bit Function

7:0 Read byte three (MSB) of the unit ID.

Write the value in UNIT_ID_3 here as part of enabling a nondefault I2C address. See I2C_SEC_ADDR (0x1A

, page 6

0x1A

R/W Name Description Initial Value

R/W I2C_SEC_ADDR Write new I2C address after

Bit Function

7:0 Non-default I2C address.

Available addresses are any non-zero 7-bit values. The five byte sequence is composed of the four byte UNIT_ID and

the one byte slave address. The UNIT_ID must be entered with the least significant byte first.

UNIT_ID_0_UNLOCK (0x16, (0x17, page 6), UNIT_ID_2_UNLOCK (0x18, page 6), and UNIT_ID_3_UNLOCK (0x19 for the device to respond to the non-default I2C address.

Example: UNIT_ID = 0x01020304, (LSB = 04, MSB = 01) Example write starting at 0x16: 0x0403020155, would match on

UNIT_ID and set slave address to 0x55 (The effective 8-bit secondary I2C address would be 0xAA write and 0xAB read)

NOTE: You must enable ENABLE_FLASH_STORAGE before configuring the secondary I2C address (0xEA, page 7).

unlock

), UNIT_ID_1_UNLOCK

page 6

) must have the correct value

, page 6

0x1B

R/W Name Description Initial Value

W I2C_CONFIG Default address response control 0x00

Bit Function

7:0 0x00: Use the default address only (0x62).

0x01: Use the secondary I2C address only. This requires the address to be configured using write command I2C_SEC_ADDR (

0x1A, page 6

0x02: Use both addresses.

0x1C

R/W Name Description Initial Value

R/W DETECTION_SENSITIVITY Peak detection

threshold bypass

0x00

Page 7

Bit Function

DRAFT

7:0 0x00: Use default valid measurement detection algorithm based on

the peak value, signal strength, and noise in the correlation record. 0x01 to 0xFF: Set simple threshold for valid measurement

detection. Values 0x20 to 0x60 generally perform well.

0x30

R/W Name Description Initial Value

R LIB_VERSION Read

version string

Garmin

software library

Bit Function

7:0 0x00:

Asynchronous Mode. The coprocessor is always OFF

unless a distance measurement is requested or a register access is required

0x01: Synchronous Mode. Distance measurement is tied to the ANT channel period. The coprocessor is turned on and off as required.

0xFF: Always on. The coprocessor is not turned off, allowing for the fastest measurements possible.

You must disable HIGH_ACCURACY_MODE before you

NOTE:

adjust the power mode.

Bit Function

7:0 Read 11 consecutive bytes in one I2C read for the full library

version string. Each byte represents a character using ASCII encoding.

0x52

R/W Name Description Initial Value

R/W CORR_DATA Correlation record data control --

Bit Function

7:0 Read two consecutive bytes to retrieve correlation record data as a

16-bit, two's complement value. The memory index is incremented automatically, and successive two-byte reads produce sequential data.

Write 0x00: Reset correlation internal pointer to zero.

0x72

R/W Name Description Initial Value

R CP_VER_LO Coprocessor firmware version low

byte.

Bit Function

7:0 Coprocessor firmware version low byte.

0x73

R/W Name Description Initial Value

R CP_VER_HI Coprocessor firmware verison high

byte

Bit Function

7:0 Coprocessor firmware version high byte.

0xE0

R/W Name Description Initial Value

R BOARD_TEMPERATURE Board temperature --

Bit Function

7:0 Returns the board's temperature as an 8-bit, two's complement

value in Celsius.

0xE3

R/W Name Description Initial

R/W MEASUREMENT_INTERVAL Automatic

Bit Function

7:0 This register is used in conjunction with Synchronous Mode

(

0xE2, page 7

0x00 and 0xFF: Trigger a distance measurement for every ANT message

0x01 to 0xFE: The number of triggering a distance measurement, effectively reducing the automatic measurement rate.

HIGH_ACCURACY_MODE must be disabled before adjusting the measurement interval (0xEB

measurement rate

channel periods to wait before

ANT

, page 8

Value

0xFF

0xE4

R/W Name Description Initial Value

W FACTORY_RESET Reset default settings --

Bit Function

7:0 0x01 to 0xFE: Resets the NVM/Flash storage information back to

default settings and executes a SoftDevice reset.

0xE5

R/W Name Description Initial Value

R/W QUICK_TERMINATION Quick acquisition

termination

Bit Function

7:0 0x00: Enable measurement quick termination. The device

terminates the distance measurement early if it anticipates the signal peak in the correlation record will reach the maximum value.

0x08: Disable measurement quick termination.

0x08

0xE6

R/W Name Description Initial Value

W START_BOOTLOADER Start secure

bootloader.

Bluetooth

0xE1

R/W Name Description Initial Value

R HARDWARE_VERSION Board hardware version --

Bit Function

7:0 Board hardware version

0xE2

R/W Name Description Initial Value

R/W POWER_MODE Power state control 0xFF

Bit Function

7:0 0x01 to 0xFE: Restarts the device and launches the Bluetooth LE

0xEA

R/W Name Description Initial Value

R/W ENABLE_FLASH_STORAGE Store register

advertiser. All other functionality is disabled while using the Bluetooth LE bootloader.

0x00

settings

Page 8

Bit Function

DRAFT

7:0 0x00: Use RAM storage only.

0x11: Use FLASH/NVM storage. Any register that supports both read and write operations is stored in NVM and persists over power cycles.

NOTE: Use caution when enabling flash storage. The total number of writes and erases is limited to 10,000.

0xEB

R/W Name Description Initial Value

R/W HIGH_ACCURACY_MODE Improved accuracy

Bit Function

7:0 0x00: Disable high accuracy mode. While high accuracy mode is

disabled, you can adjust the POWER_MODE to Asynchronous

Mode

or Synchronous Mode if required (0xE2, page 7

0x01 to 0xFF: Enable high accuracy mode. The value is used as the number of distance measurements to accumulate and average before returning them to the user. You must set the POWER_MODE to value.

Always On before you adjust to a non-zero

setting

0x14

10-pin J-Link Wiring

You should connect the 10-pin J-Link debugging probe to the LIDAR-Lite v4 LED device as shown in the diagram and table below.

NOTE: A 10-pin J-link debugging probe cannot supply power to the LIDAR-Lite v4 LED device. Connections 1 and 2 are connected to the device from an external power supply. The power supply and debugging probe should share a common ground at pin 2 on the LIDAR-Lite v4 LED device.

0xEC

R/W Name Description Initial Value

R SOC_TEMPERATURE SoC temperature --

Bit Function

7:0 Returns the temperature of the nRF SoC as an 8-bit, two's

complement value in Celsius.

Appendix

Reprogramming the nRF52840 SoC

NOTICE

Reprogramming the nRF52840 System on Chip (SoC) removes all pre-programmed factory software. The device comes preprogrammed with a unique ANT ID to ensure each device can be uniquely identified over the ANT wireless protocol. When reprogramming the device, special precautions should be taken to preserve the information about accessing and retaining the ANT ID value.

The

LIDAR-Lite factory with a wireless software updates. When reprogramming the nRF52840, the bootloader is removed. If you require a bootloader after reprogramming the device, you can follow the Bluetooth LE Secure DFU Bootloader reference design in the Nordic nRF5 SDK. If a boot pin is required, you should configure it to one of the exposed GPIOs (LIDAR-Lite v4 LED Connection

Diagram,

page 1)

ID value. See https://github.com/garmin/ for

ANT

v4 LED device comes preprogrammed from the

Bluetooth

LE secure DFU bootloader for receiving

Connection 10-Pin J-Link Debugging

Probe Pin

-- 2 (GND) to common ground

-- 1 (VIN) to power source

3 (GND) to common ground --

1 (VCC) 7 (VRETURN)

10 (nRESET) 8 (nRESET)

2 (SWDIO) 10 (SWDIO)

4 (SWCLK) 9 (SWCLK)

LIDAR-Lite v4 LED Pin

20-pin J-Link Wiring

You should connect the 20-pin J-Link debugging probe to the LIDAR-Lite v4 LED as shown in the diagram and table below.

Before you can reprogram the device, you must connect it to a compatible debugging probe.

The header on the LIDAR-Lite v4 LED device provides access to the nRF52840 SoC. You can reprogram the nRF52840 SoC to suit the individual needs of your project. Software development should be completed using the C programming language and the Nordic nRF5 SDK. For more information about the capabilities of the nRF52840, go to www.nordicsemi.com

/nrf52840.

• For information about setting up a LIDAR-Lite v4 LED

development environment, go to https://github.com/garmin/.

• For support in using the nRF5 SDK and reprogramming the

nRF52840 SoC, go to https://devzone.nordicsemi.com/.

Connection 20-Pin J-Link Debugging

Probe Pin

LIDAR-Lite v4 LED Pin

7 (SWDIO) 10 (SWDIO)

1 (VCC) 7 (VRETURN)

20 (GND) 2 (GND)

15 (nRESET) 8 (nRESET)

19 (5V Supply) 1 (5V)

9 (SWCLK) 9 (SWCLK)

Short 11 to 12 Not applicable

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The greater than 3.3 V will damage the device.

You should connect the Arduino DUE and the LED as shown in the diagram and table.

NOTE: You must splice the ground wires so all components share a common ground. These components include the power supply, the programmer, the microcontroller operating I2C, and any GPIOs.

Arduino

LIDAR-Lite

DUE I2C Wiring

NOTICE

v4 LED maximum signal level is 3.3 V. A signal

LIDAR-Lite

simulator connects to a device with any device number and transmission type.

Can I use a microcontroller with 5 V signaling?

The LIDAR-Lite v4 LED device is tolerant to only 3.3 V. If you need to use a 5 V system, such as the use a logic level converter to protect the I/O drivers in the LIDAR-Lite v4 LED device. recommend using a microcontroller with 5 V signaling.

Arduino® is a registered trademark of Arduino AG. The BLUETOOTH® word mark and logos are owned by the Bluetooth SIG, Inc. and any use of such marks by Garmin is under license. J-Link is a trademark of SEGGER Microcontroller GmbH. Nordic Semiconductor® is a trademark of Nordic Semiconductor ASA.

Garmin

Arduino

does not endorse or

Uno, you must

Item Arduino DUE LIDAR-Lite v4

LED

5V 1 (5 V) 5 V

GND 2 (GND) --

SDA 20 3 (SDA) 3.3 V

SCL 21 4 (SCL) 3.3 V

PWM 3 6 (GPIOB) 3.3 V

PWM 2 5 (GPIOA) 3.3 V

V Max

Troubleshooting

Product Support

Contact your authorized Garmin information related to your device and its specific application.

Go to support.garmin.com such as product manuals, specifications, and frequently asked questions.

The I2C is not responsive while the device is powered on

GPIO B is used as a boot pin to start the LIDAR-Lite Bluetooth LE bootloader. If GPIO B is grounded when the device is powered on, the bootloader is enabled and I2C and ANT functionality are disabled.

Verify GPIO B is not grounded.

I cannot connect my device to the Garmin simulator

network key is configured correctly.

• Ensure the

◦ If the LIDAR-Lite v4 LED device still has the default

application installed from the factory, verify that you have the

◦ If you have reprogrammed the device and you are using

the public network key, verify that you have the public network key selected.

• Verify that you have the same RF frequency selected on both

the

LIDAR-Lite

• Verify that you have the correct channel parameters selected.

TIP: You can set wildcards for the channel parameters to connect to any device. On the PC simulator, if you set the device number and transmission type to zero, the Garmin PC

ANT

developer key selected.

Garmin

v4 LED device and the Garmin PC simulator.

Reseller for troubleshooting

for general help and information,

v4 LED

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support.garmin.com