FIRMWARE RELEASE NOTES. Versions V2.0.0 to V Model HDL-32E. High Definition LiDAR Sensor

Transcription

1 FIRMWARE RELEASE NOTES Versins V2.0.0 t V Mdel HDL-32E High Definitin LiDAR Sensr

2 HDL-32E Firmware Release Ntes Page 2 Fr all new features and changes, refer t the dcumentatin that accmpanies the new firmware release fr details n usage. V (4-May-2016) Fixed: Tp-f-hur rllver exceeding 3.6 billin micrsecnds. Fixed: Timestamp jumping issue. Added web interface ptin t determine if use f PPS signal is dependent n the GPS receiver lck. Added web interface ptin t determine if PPS signal shuld be fllwed nly after NN secnds f stability. Fllwing the rising edge f the PPS signal, all ther transitins will be ignred fr 0.95 secnds. Added web interface ptin t determine if the sensr will use GPS time frm the NMEA sentence nly if GPS receiver lck is gd; r keep fllwing GPS time frm the NMEA sentence regardless f GPS receiver lck status. V (2-Feb-2016) - Beta Fixed: In sme busy netwrks the Telemetry UDP message (prt 8308) NMEA field may g missing (blank). Using the Web Interface t set an invalid IP addresses int the NET IP field will be ignred. Fixed: Sensr was using an ld IP address frm which t send data, even after a DHCP server assigns the sensr an IP address. Sensr will nw use the new IP address assigned by a DHCP server. ADDED: Data packet tagging Every data packet nw identifies the type f sensr and return type the packet is frmatted fr. Future versin f HDL-32E firmware will supprt this as well. The fllwing chart explains what the bytes mean: Return Type Field (37h) Address: 4DEh Field (21h) address: 4DFh HDL32 Strngest 37h 21h HDL32 Last 38h 21h HDL32 Dual 39h 21h VLP16 Strngest 37h 22h VLP16 Last 38h 22h VLP16 Dual 39h 22h V (21-Apr-2015) Recmpile design ruting t crrect jitter Versin caused mtr nise and uplad issues in a small subset f sensrs. V (13-Mar-2015) Added supprt fr NMEA ver Ethernet Sensr can nw prcess NMEA timestamp data ver Ethernet prt Data fllws Veldyne LiDAR, Inc. 2016

3 HDL-32E Firmware Release Ntes Page 3 NMEA 0183 standards. PPS signal must still be sent ver serial cnnectin. Intrduced Field f View feature Custmers may nw select what rtatinal range f data t include in data stream. If all data in a packet is utside the cnfigured FOV, the packet will nt be created. Nte: This des nt prevent the sensr frm firing lasers utside the FOV. Fixed regressin in NMEA sentence prcessing Fixes issue with sme GPS units that supprt nn zer fractinal secnds fields in the NMEA $GPRMC sentence. In previus 2.2.X.X builds, this culd cause the Tp f Hur Cunter t be ff as much as 1 secnd. 2.1.X.X Firmware des nt have this issue. V (07-Nv-2014) Intrduced dual return ptin. Custmers may nw select what return type the sensr utputs. Chices are Strngest, which is the legacy peratin mde, Last, which gives the furthest return recrded, and Dual, which returns bth strngest and last. Please see updated dcumentatin fr mre infrmatin including packet frmatting fr dual return. Intrduced rtatinal phase lck feature. Phase lck can be used t synchrnize the rtatinal psitin f multiple sensrs based n GPS time and relative sensr rientatin. Added check fr valid NMEA GPS updates. NMEA sentences are nw checked fr basic syntax befre being accepted. Tw cnsecutive valid sentences are required t synchrnize usec clck. Imprved PPS handling. Prevented a buncing PPS signal frm causing invalid synchrnizatin. Imprved data reprting. Fixed issue that caused certain units, under narrw cnditins, t return data frm previus channels. Veldyne LiDAR, Inc. 2016

4 HDL-32E Firmware Release Ntes Page 4 V (10-Oct-2014) Imprved PPS handling. In rare startup cnditins, issues with GPS PPS signal culd cause the system t hang. Added supprt fr imprved manufacturing calibratin prcess. Further manufacturing cntrls added t imprve perfrmance and reduce variance based n cmpnent tlerances. V2.1.7 (31-Oct-2013) Added new rtatin speed cntrl algrithm. Rtatin speed nw has greatly imprved accuracy using clsed lp feedback system. Added cnfiguratin ptins fr prt settings. Firmware nw allws custmizatin f the prts that psitin and data packets are sent n. Imprved web server GUI supprt. All web server GUI features are displayed crrectly even using nn-internet Explrer brwsers. Imprved accuracy n diagnstics page read-uts. Sme f the values displayed were imprperly scaled previusly. Added PPS detectin and reprting t psitin packets and web server GUI. The sensr will nw detect and reprt the status f the PPS data received frm the GPS device. Fixed maximum speed limit. A small prtin f sensrs were unintentinally limited t less than 1200 rpm (20Hz). V2.0.6 (14-Mar-2013) Fixed nisy returns under certain cnditins. V2.0.4 (8-Feb-2013) This has als been referred t as Split Nise returns, where a laser will smetimes return a range that lks crrect (in line with the ther lasers) and smetimes return a shrter range. Imprved uplink rbustness. V2.0.2 (20-Dec-2012) Uplading new firmware r calibratin files under certain cnditins was abrted and needed t be re-tried several times. This versin has imprved the uplink prcess significantly. Imprved tachmeter display accuracy. V2.0.1 This versin has a much higher display accuracy f the rtatins per minute (RPM) n the screen f the Web GUI interface. Ht fix fr inverted GPS pulse. HDL32 time synchrnizatin via an external PPS pulse was accidentally linked t the falling edge resulting in a delay f time synchrnizatin in the amunt f the PPS pulse duratin. This versin f sftware nw triggers crrectly n the rising edge f the external PPS signal. Veldyne LiDAR, Inc. 2016

5 HDL-32E Firmware Release Ntes Page 5 V Please see manual fr descriptins f new functinality. Veldyne LiDAR, Inc. 2016

6 HDL-32E Firmware Release Ntes Page 6 Veldyne LiDAR, Inc. 345 Digital Drive Mrgan Hill, CA vice fax service fax Service E mail: lidarservice@veldyne.cm Prduct E mail: help@veldyne.cm Technical E mail: lidarhelp@veldyne.cm Sales E mail: lidar@veldyne.cm All Veldyne LiDAR prducts are made in the U.S.A. Specificatins subject t change withut ntice. Other trademarks r registered trademarks are prperty f their respective wner. Veldyne LiDAR, Inc. 2016