STMicroelectronics VL53L7CX Lokacin Flight Multizone Ranging Sensor

Gabatarwa

Manufar wannan littafin jagorar mai amfani shine don bayyana yadda ake sarrafa firikwensin lokacin-jigi (ToF), VL53L7CX, ta amfani da ultra Lite direba (ULD) API. Yana bayyana manyan ayyuka don tsara na'urar, ƙira, da sakamakon fitarwa.

An ƙirƙira shi musamman don aikace-aikacen da ke buƙatar FoV mai fa'ida, VL53L7CX firikwensin Lokaci na Jirgin yana ba da 90° diagonal FoV. Dangane da fasahar STMicroelectronics's Flight Sense, VL53L7CX yana haɗa da ingantaccen ruwan tabarau na meta (DOE) wanda aka sanya akan firikwensin Laser wanda ke ba da damar tsinkayar 60° x 60° murabba'in FoV akan wurin.

Ƙarfin sa na multizone yana ba da matrix na yankuna 8 × 8 (shiyoyin 64) kuma yana iya aiki a cikin sauri sauri (60 Hz) har zuwa 350 cm.

Godiya ga yanayin mai cin gashin kansa tare da ƙofa mai nisa mai shirye-shirye haɗe zuwa babban FoV, VL53L7CX cikakke ne ga kowane aikace-aikacen da ke buƙatar gano mai amfani mai ƙarancin ƙarfi. Algorithms na ST's ƙetaren ƙira da ƙirar ƙirar ƙira suna ba da damar VL53L7CX don gano, a cikin kowane yanki, abubuwa da yawa a cikin FoV tare da zurfin fahimta. Algorithms na STMicroelectronics histogram suna tabbatar da kariya ta gilasan gilasai fiye da 60 cm.

An samo daga VL53L5CX, pinouts da direbobi na duka firikwensin sun dace, wanda ke tabbatar da ƙaura mai sauƙi daga wannan firikwensin zuwa wancan.

Kamar duk na'urori masu auna firikwensin Lokacin-Flight (ToF) dangane da fasahar ST's Flight Sense, rikodin VL53L7CX, a cikin kowane yanki, cikakkiyar nisa ba tare da la'akari da launi da tunani ba.

An ajiye shi a cikin ƙaramin kunshin da za'a iya sake sakewa wanda ya haɗu da tsararrun SPAD, VL53L7CX yana samun mafi kyawun aiki a cikin yanayi daban-daban na hasken yanayi, kuma don nau'ikan kayan gilashin rufewa.

Duk na'urori masu auna firikwensin ST's ToF sun haɗa VCSEL wanda ke fitar da cikakken haske na 940nm mara ganuwa, wanda ke da aminci ga idanu (shaidar 1 Class).

VL53L7CX shine cikakkiyar firikwensin ga kowane aikace-aikacen da ke buƙatar FoV mai fa'ida kamar robotics, masu magana mai kaifin baki, na'urorin bidiyo, sarrafa abun ciki. Haɗin iyawar multizone da 90 ° FoV na iya haɓaka sabbin lokuta na amfani kamar sanin karimcin, SLAM don aikin mutum-mutumi, da ƙaramin tsarin kunna wutar lantarki don gini mai wayo.

Hoto na 1. Saukewa: VL53L7CX

Acronyms da gajarta

Gagararre/gajartawa	Ma'anarsa
DOE	bambance-bambancen gani na gani
FoV	filin na view
I²C	da'irar haɗin kai (Serial bas)
Kcps/SPAD	Kilo-count a sakan daya a kowane spad (raka'a da ake amfani da ita don ƙididdige adadin photon a cikin tsararrun SPAD)
RAM	Ƙwaƙwalwar damar shiga bazuwar
SCL	layin agogo serial
SDA	serial data
SPAD	guda photon avalanche diode
ToF	lokacin tashi
ULD	ultra Lite direba
VCSEL	a tsaye kogo surface emitting diode
VHV	sosai high voltage
Xtalk	zance

Bayanin aiki

Tsarin ya ƙareview

Tsarin VL53L7CX ya ƙunshi na'urar kayan masarufi da software na direba mara nauyi (VL53L7CX ULD) da ke gudana akan runduna (duba adadi a ƙasa). Tsarin kayan masarufi ya ƙunshi firikwensin ToF. STMicroelectronics yana ba da direban software, wanda ake magana a kai a cikin wannan takaddar a matsayin "direba". Wannan daftarin aiki yana bayyana ayyukan direba, waɗanda ke da damar mai watsa shiri. Waɗannan ayyuka suna sarrafa firikwensin kuma suna samun bayanan jeri.

Hoto na 2. Saukewa: VL53L7CXview

Ingantacciyar daidaitawa
Tsarin ya ƙunshi ruwan tabarau akan buɗewar Rx, wanda ke juyewa (a tsaye da a tsaye) hoton da aka ɗauka na manufa. Sakamakon haka, yankin da aka bayyana a matsayin yanki na 0, a cikin ƙasan hagu na tsararrun SPAD, yana haskaka ta hanyar manufa da ke saman gefen dama na wurin.

Hoto na 3. Bayanan Bayani na VL53L7CX

Tsarin tsari da tsarin I²C

Ana sarrafa sadarwa tsakanin direba da firmware ta I²C, tare da ikon aiki har zuwa 1 MHz. Aiwatar da aiwatarwa na buƙatar jan-up a kan layin SCL da SDA. Koma zuwa takaddar VL53L7CX don ƙarin bayani. Na'urar VL53L7CX tana da tsohuwar adireshin I²C na 0x52. Koyaya, yana yiwuwa a canza adireshin tsoho don guje wa rikice-rikice tare da wasu na'urori, ko sauƙaƙe ƙara nau'ikan VL53L7CX da yawa zuwa tsarin don babban tsarin FoV. Ana iya canza adireshin I²C ta amfani da aikin vl53l7cx_set_i2c_address().

Hoto na 4. Na'urori masu auna firikwensin da yawa akan bas I²C

Don ba da damar na'urar ta canza adireshin I²C ba tare da shafar wasu a cikin motar I²C ba, yana da mahimmanci a kashe sadarwar I²C na na'urorin ba a canza su ba. Hanyar ita ce kamar haka:

1. Ƙarfafa tsarin kamar yadda aka saba.
2. Zazzage fil ɗin LPn na na'urar wanda ba zai canza adireshinsa ba.
3. Ciro fil ɗin LPn na na'urar da aka canza adireshin I²C.
4. Shirya adireshin I²C zuwa na'urar ta amfani da aikin set_i2c_address().
5. Ciro fil ɗin LPn na na'urar ba a sake tsara shi ba.

Ya kamata yanzu duk na'urori su kasance a kan bas ɗin I²C. Maimaita matakan da ke sama don duk na'urorin VL53L7CX a cikin tsarin da ke buƙatar sabon adireshin I²C.

Kunshin abun ciki da kwararar bayanai

Gine-ginen direba da abun ciki

Kunshin VL53L7CX ULD ya ƙunshi manyan fayiloli guda huɗu. Direba yana cikin babban fayil /

VL53L7CX_ULD_API.
Direban ya ƙunshi na tilas kuma na zaɓi files. Na zaɓi files su ne plugins amfani da shi don tsawaita fasalin ULD. Kowane plugin yana farawa da kalmar "vl53l7cx_plugin" (misali vl53l7cx_plugin_xtalk.h). Idan mai amfani baya son abin da aka tsara plugins, ana iya cire su ba tare da tasiri ga sauran fasalulluka na direba ba. Hoto mai zuwa yana wakiltar wajibi files da na zaɓi plugins.

Hoto 5. Gine-ginen direba

Mai amfani kuma yana buƙatar aiwatar da biyu files yana cikin babban fayil / Platform. Dandalin da aka tsara shine harsashi mara kyau, kuma dole ne a cika shi da ayyukan sadaukarwa.

Lura: Plat form. h file ya ƙunshi macro na wajibi don amfani da ULD. Duka file abun ciki ya zama dole don amfani da ULD daidai

kwararar daidaitawa

Crosstalk (Xtalk) an bayyana shi azaman adadin siginar da aka karɓa akan tsararrun SPAD, wanda shine saboda hasken VCSEL.
tunani a cikin taga mai kariya (gilashin murfin) wanda aka ƙara a saman tsarin. Tsarin VL53L7CX gyare-gyaren kansa ne, kuma ana iya amfani da shi ba tare da wani ƙarin daidaitawa ba.

Ana iya buƙatar daidaita magana ta Crosstalk idan ƙirar tana da kariya ta gilashin murfi. VL53L7CX ba shi da kariya
crosstalk fiye da 60 cm godiya ga histogram algorithm. Koyaya, a ɗan gajeren nisa ƙasa da 60 cm, Xtalk na iya zama girma fiye da ainihin siginar da aka dawo. Wannan yana ba da karatun ƙirƙira na ƙarya ko sanya maƙasudin su bayyana kusa fiye da yadda suke. Duk ayyukan daidaita magana an haɗa su a cikin kayan aikin Xtalk (na zaɓi). Mai amfani yana buƙatar amfani da file 'vl53l7cx_plugin_xtalk'.

Za'a iya daidaita maganar ta hanyar sadarwa sau ɗaya, kuma ana iya adana bayanai don a iya sake amfani da su daga baya. Ana buƙatar maƙasudi a ƙayyadaddun nisa, tare da sanannen tunani. Matsakaicin nisa da ake buƙata shine mm 600, kuma dole ne maƙasudin ya rufe duka FoV. Dangane da saitin, mai amfani zai iya canza saituna don daidaita ma'aunin daidaita magana, kamar yadda aka tsara a cikin tebur mai zuwa.

Tebur 1. Akwai saitunan don daidaitawa

Saita	Min	STMicroelectronics ne ya gabatar da shi	Max
Nisa [mm]	600	600	3000
Adadin samples	1	4	16
Tunani [%]	1	3	99

Lura: Ƙara yawan samples yana ƙara daidaito, amma kuma yana ƙara lokacin daidaitawa. Lokacin dangane da adadin samples yana layi ne, kuma ƙididdiga suna bin ƙayyadadden lokacin ƙarewa:

• 1 s kuample ≈ 1 seconds
• 4 s kuampkasa ≈ 2.5 seconds
• 16 s kuampkasa ≈ 8.5 seconds

Ana yin gyare-gyare ta amfani da aikin vl53l7cx_calibrate_xtalk(). Ana iya amfani da wannan aikin a kowane lokaci. Koyaya, dole ne a fara fara firikwensin. Hoto mai zuwa yana wakiltar kwararar daidaita magana.

Hoto na 6. Gudun daidaitawa ta magana

Gudun tafiya

Hoton da ke gaba yana wakiltar kewayon kwararar da aka yi amfani da shi don samun ma'auni. Dole ne a yi amfani da gyare-gyaren Xtalk da kiran ayyuka na zaɓi kafin fara zangon jeri. Ba za a iya amfani da ayyukan samu/saitin ba yayin zaman jeri, kuma ba a tallafawa shirye-shiryen 'kan-da-tashi'.

Hoto na 7. Rage kwarara ta amfani da VL53L7CX

Akwai fasali

VL53L7CX ULD API ya ƙunshi ayyuka da yawa, waɗanda ke ba mai amfani damar kunna firikwensin, ya danganta da yanayin amfani. Dukkan ayyukan da ke akwai don direba an kwatanta su a cikin sassan masu zuwa.

Farawa

Dole ne a fara farawa kafin amfani da firikwensin VL53L7CX. Wannan aikin yana buƙatar mai amfani don:

1. Ƙarfin firikwensin (VDDIO, AVDD, LPn da aka saita zuwa High, da fil I2C_RST saita zuwa 0)
2. Kira aikin vl53l7cx_init(). Aikin yana kwafin firmware (~ 84 Kbytes) zuwa tsarin. Ana yin wannan ta hanyar loda lambar akan mahaɗin I²C, da aiwatar da tsarin taya don kammala farawa.

Sarrafa sake saitin firikwensin

Don sake saita na'urar, ana buƙatar kunna fil masu zuwa:

1. Sanya fil VDDIO, AVDD, da LPn zuwa ƙananan.
2. Jira 10 ms.
3. Sanya fil VDDIO, AVDD, da LPn zuwa sama.

Lura: Juyawa I2C_RST fil kawai yana sake saita sadarwar I²C.

Ƙaddamarwa

Ƙudurin ya yi daidai da adadin yankunan da ake da su. Firikwensin VL53L7CX yana da shawarwari guda biyu masu yiwuwa: 4 × 4 (yankuna 16) da 8 × 8 (shiyoyin 64). Ta tsohuwa ana tsara firikwensin a cikin 4 × 4. Aikin vl53l7cx_set_resolution() yana bawa mai amfani damar canza ƙuduri. Kamar yadda mitar kewayo ya dogara da ƙuduri, dole ne a yi amfani da wannan aikin kafin sabunta mitar kewayo. Haka kuma, canza ƙudurin kuma yana ƙara girman zirga-zirga akan bas ɗin I²C lokacin da aka karanta sakamakon.

Matsakaicin iyaka

Ana iya amfani da mitar jeri don canza mitar awo. Kamar yadda matsakaicin mita ya bambanta
tsakanin 4 × 4 da 8 × 8 ƙuduri, ana buƙatar amfani da wannan aikin bayan zaɓin ƙuduri. An jera mafi ƙanƙanta da matsakaicin ƙimar da aka yarda a cikin tebur mai zuwa.

Tebur 2. Mafi ƙanƙanta da matsakaicin mitoci

Ƙaddamarwa	Matsakaicin matsakaicin matsakaici [Hz]	Matsakaicin mitar mitar [Hz]
4×4	1	60
8×8	1	15

Za a iya sabunta mitar jeri ta amfani da aikin vl53l7cx_set_ranging_frequency_hz(). Ta tsohuwa, ana saita mitar jeri zuwa 1 Hz.

Yanayin kewayawa

Yanayin jeri yana bawa mai amfani damar zaɓar tsakanin jeri cikin babban aiki ko ƙarancin wutar lantarki. Akwai hanyoyi guda biyu da aka tsara:

• Ci gaba: Na'urar tana ci gaba da ɗaukar firam ɗin tare da kewayon mitar da mai amfani ya ayyana. Ana kunna VCSEL yayin duk jeri, don haka matsakaicin matsakaicin nisa da rigakafi na yanayi ya fi kyau. Ana ba da shawarar wannan yanayin don ma'auni masu sauri ko manyan ayyuka.
• Mai sarrafa kansa: Wannan shine yanayin tsoho. Na'urar tana ci gaba da ɗaukar firam tare da mitar jeri
  bayyana ta mai amfani. Ana kunna VCSEL a lokacin da mai amfani ya ayyana, ta amfani da aikin vl53l7cx_set_integration_time_ms(). Kamar yadda ba koyaushe ake kunna VCSEL ba, ana rage yawan amfani da wutar lantarki. Fa'idodin sun fi bayyane tare da raguwar mitar jeri. Ana ba da shawarar wannan yanayin don aikace-aikacen ƙananan wuta.

Ana iya canza yanayin jeri ta amfani da aikin vl53l7cx_set_ranging_mode().

Lokacin haɗin kai

Lokacin haɗin kai fasali ne kawai samuwa ta amfani da yanayin jeri mai cin gashin kansa ( koma zuwa Sashe na 4.5: Ragewa
yanayin). Yana bawa mai amfani damar canza lokacin yayin da aka kunna VCSEL. Canza lokacin haɗin kai idan kewayon
an saita yanayin zuwa ci gaba ba shi da wani tasiri. An saita lokacin haɗawa ta asali zuwa 5 ms. Sakamakon lokacin haɗin kai ya bambanta don 4 × 4 da 8 × 8 ƙuduri. Resolution 4 × 4 ya ƙunshi lokacin haɗin kai ɗaya, kuma ƙudurin 8 × 8 ya ƙunshi lokutan haɗin kai huɗu. Alkaluman da ke gaba suna wakiltar fitar da VCSEL na shawarwarin biyu.

Hoto na 8. Lokacin haɗin kai don 4 × 4 mai cin gashin kansa

Hoto na 9. Lokacin haɗin kai don 8 × 8 mai cin gashin kansa

Jimlar duk lokacin haɗin kai + 1 ms sama da ƙasa dole ne ya kasance ƙasa da lokacin aunawa. In ba haka ba, lokacin kewayon yana ƙaruwa ta atomatik don dacewa da ƙimar lokacin haɗin kai.

Hanyoyin wutar lantarki

Ana iya amfani da yanayin wutar lantarki don rage yawan wutar lantarki lokacin da ba a yi amfani da na'urar ba. VL53L7CX na iya aiki a ɗayan hanyoyin wutar lantarki masu zuwa:

• Farkawa: An saita na'urar a cikin rashin aiki na HP (babban iko), jiran umarni.
• Barci: An saita na'urar a cikin LP mara amfani (ƙananan wutar lantarki), ƙarancin wutar lantarki. Ba za a iya amfani da na'urar ba har sai an saita a yanayin farkawa. Wannan yanayin yana riƙe da firmware da daidaitawa.

Ana iya canza yanayin wutar lantarki ta amfani da aikin vl53l7cx_set_power_mode(). Yanayin tsoho yana farkawa.
Lura: Idan mai amfani yana son canza yanayin wutar lantarki, dole ne na'urar ta kasance cikin tsaka-tsakin yanayi.

Mai kaifi

Siginar da aka dawo daga maƙasudi ba bugu mai tsabta ba ne mai kaifi. Gefuna sun gangara kuma suna iya shafar nisan da aka ruwaito a yankuna da ke kusa. Ana amfani da mai kaifi don cire wasu ko duk siginar da wani haske ya haifar.

The exampLe da aka nuna a cikin adadi mai zuwa yana wakiltar makasudin kusa a 100 mm a tsakiya a cikin FoV, da kuma wani manufa, gaba a baya a 500 mm. Dangane da ƙimar mai kaifi, maƙasudin kusa zai iya bayyana a ƙarin yankuna fiye da na ainihi.

Hoto na 10. Example of scene ta amfani da ƙima mai ƙima da yawa

Za a iya canza mai kaifi ta amfani da aikin vl53l7cx_set_sharpener_percent(). Adadin da aka yarda suna tsakanin 0% da 99%. Matsakaicin ƙima shine 5%.

Odar manufa

VL53L7CX na iya auna maƙasudi da yawa a kowane yanki. Godiya ga sarrafa histogram, mai watsa shiri yana iya
zaɓi tsari na hari da aka ruwaito. Akwai zaɓuɓɓuka guda biyu:

• Mafi kusa: Maƙasudin mafi kusa shine farkon rahoton
• Mafi ƙarfi: Maƙasudin mafi ƙarfi shine farkon rahoton

Ana iya canza tsarin da aka yi niyya ta amfani da aikin vl53l7cx_set_target_order(). Tsarin tsoho shine Mafi ƙarfi. The example a cikin adadi mai zuwa yana wakiltar gano maƙasudai biyu. Daya a 100 mm tare da ƙananan tunani, kuma ɗaya a 700 mm tare da babban tunani.

Hoto na 11. Example of histogram tare da biyu hari

Maƙasudi da yawa a kowane yanki

VL53L7CX na iya auna har zuwa maƙasudai huɗu a kowane yanki. Mai amfani zai iya saita adadin maƙasudin da firikwensin ya dawo.

Lura: Matsakaicin tazara tsakanin maƙasudai biyu da za a gano shine 600 mm. Zaɓin ba zai yiwu ba daga direba; dole ne a yi shi a cikin 'plat form. h' file. Macro VL53L7CX_NB_ TARGET_PER_ZONE yana buƙatar saita shi zuwa ƙima tsakanin 1 da 4. Tsarin manufa da aka kwatanta a Sashe na 4.9: Tsarin manufa yana tasiri kai tsaye ga tsarin da aka gano. Ta hanyar tsoho, firikwensin firikwensin kawai yana fitar da iyakar manufa ɗaya a kowane yanki.

Lura: Ƙara yawan maƙasudin kowane yanki yana ƙara girman RAM da ake buƙata.

Xtalk gefe

Gefen Xtalk ƙarin fasali ne kawai samuwa ta amfani da plugin Xtalk. .c da .f files 'vl53l7cx_plugin_xtalk' yana buƙatar amfani.

Ana amfani da gefe don canza iyakar ganowa lokacin da gilashin murfin ya kasance a saman firikwensin. Ana iya ƙara ƙofa don tabbatar da cewa ba a taɓa gano gilashin murfin ba, bayan saita bayanan daidaita magana. Domin misaliampHakazalika, mai amfani zai iya gudanar da daidaita madaidaicin magana akan na'ura guda ɗaya, kuma ya sake amfani da bayanan daidaitawa iri ɗaya don duk sauran na'urori. Za a iya amfani da gefen Xtalk don daidaita gyaran magana. Hoton da ke ƙasa yana wakiltar gefen Xtalk.

Hoto na 12. Xtalk gefe

Matsakaicin ganowa

Baya ga iyawar jeri na yau da kullun, ana iya tsara firikwensin don gano abu a ƙarƙashin wasu ƙayyadaddun ƙayyadaddun sharuɗɗa. Ana samun wannan fasalin ta amfani da plugin "masu gano kofa", wanda zaɓi ne da ba a haɗa shi ta tsohuwa a cikin API ba. The fileAna buƙatar amfani da vl53l7cx_plugin_detection_thresholds. Ana iya amfani da fasalin don jawo katsewa zuwa fil A3 (INT) lokacin da yanayin da mai amfani ya ayyana. Akwai yiwuwar daidaitawa guda uku:

• Resolution 4×4: Yin amfani da kofa ɗaya a kowane yanki (jimlar ƙofofin 16)
• Resolution 4 × 4: ta yin amfani da kofa biyu a kowane yanki (jimlar ƙofofin 32)
• Resolution 8×8: Yin amfani da kofa ɗaya a kowane yanki (jimlar ƙofofin 64)

Ko menene tsarin da aka yi amfani da shi, hanyar ƙirƙirar ƙofofin da girman RAM iri ɗaya ne. Ga kowane haɗin bakin kofa, ana buƙatar cike filaye da yawa:

• Yanki id: id na yankin da aka zaɓa ( koma zuwa Sashe 2.2: Ingantacciyar daidaitawa)
• Aunawa: auna don kamawa (nisa, sigina, adadin SPADs, ...)
• Nau'in: windows na ma'auni (a cikin windows, daga cikin windows, ƙasa da ƙananan kofa, ...)
• Ƙarƙashin ƙaƙƙarfan kofa: ƙananan mai amfani don faɗakarwa. Mai amfani baya buƙatar saita tsarin, API ɗin yana sarrafa shi ta atomatik.
• Babban ƙofa: babban mai amfani don faɗakarwa. Mai amfani baya buƙatar saita tsarin; API ɗin yana sarrafa shi ta atomatik.
• Ayyukan lissafi: ana amfani da su kawai don 4 × 4 - 2 haɗuwa kofa a kowane yanki. Mai amfani zai iya saita haɗin kai ta amfani da ƙofofi da yawa a yanki ɗaya.

Alamar motsi

Firikwensin VL53L7CX yana da fasalin firmware wanda ke ba da damar gano motsi a cikin fage. Motsin
ana lissafta mai nuna alama tsakanin firam ɗin jeri. Ana samun wannan zaɓi ta amfani da plugin 'vl53l7cx_plugin_motion_indicator'.

An fara nuna alamar motsi ta amfani da aikin vl53l7cx_motion_indicator_init(). Don canza firikwensin
ƙuduri, sabunta ƙudurin nunin motsi ta amfani da aikin sadaukarwa: vl53l7cx_motion_indicator_set_resolution().

Mai amfani kuma na iya canza ƙarami da matsakaicin nisa don gano motsi. Bambanci tsakanin mafi ƙanƙanta da matsakaicin nisa ba zai iya zama sama da mm 1500 ba. Ta hanyar tsoho, ana fara nisa tare da ƙima tsakanin 400 mm zuwa 1500 mm.

Ana adana sakamako a cikin filin 'mai nuna motsi_'. A cikin wannan filin, jeri 'motsi' yana ba da ƙima mai ɗauke da
ƙarfin motsi kowane yanki. Babban ƙima yana nuna babban bambancin motsi tsakanin firam. Motsi na yau da kullun yana ba da ƙima tsakanin 100 da 500. Wannan azancin ya dogara da lokacin haɗin kai, nisan nisa, da hangen nesa.

Kyakkyawan haɗin kai don ƙananan aikace-aikacen wutar lantarki shine amfani da alamar motsi tare da yanayin jeri mai cin gashin kansa, da matakan ganowa da aka tsara akan motsi. Wannan yana ba da damar gano bambance-bambancen motsi a cikin FoV tare da mafi ƙarancin wutar lantarki.

Ramuwar zafin jiki na lokaci-lokaci

bambance-bambancen zafin jiki ya shafi aikin jeri. Firikwensin VL53L7CX yana sanya yanayin zafi
diyya wanda aka daidaita sau ɗaya lokacin da aka fara yawo. Duk da haka, idan zafin jiki ya samo asali, da
ramuwa bazai daidaita da sabon zafin jiki ba. Don guje wa wannan batu, abokin ciniki na iya gudanar da diyya na zafin jiki na lokaci-lokaci ta amfani da VHV ta atomatik. Matsakaicin yanayin zafi na lokaci-lokaci yana ɗaukar ƴan millise seconds don gudu. Mai amfani zai iya ayyana lokacin. Don amfani da wannan fasalin, abokin ciniki yana buƙatar:

• Kira aikin vl53l7cx_set_VHV_repeat_count().
• Sannan, ba da adadin firam ɗin tsakanin kowane sabon gyare-gyare azaman hujja.

Idan hujjar ta kasance 0, an kashe diyya.

Sakamakon sakamako

Akwai bayanai
Za a iya fitar da jeri mai yawa na maƙasudi da bayanan muhalli yayin ayyukan keɓancewa. Tebur mai zuwa yana bayyana sigogin da ke akwai ga mai amfani.

Tebur 3. Akwai fitarwa ta amfani da firikwensin VL53L7CX

Abun ciki	Nb bytes (RAM)	Naúrar	Bayani
Ambient ta SPAD	256	Kcps/SPAD	Ma'aunin ƙimar yanayi da aka yi akan tsararrun SPAD, ba tare da fitar da iska mai aiki ba, don auna ƙimar siginar yanayi saboda amo.
Adadin abubuwan da aka gano	64	Babu	Adadin abubuwan da aka gano a yankin na yanzu. Wannan ƙimar yakamata ta zama farkon wanda zai bincika don sanin ingancin awo.
An kunna adadin SPADs	256	Babu	Adadin SPAD da aka kunna don ma'aunin na yanzu. Maƙasudin tunani mai nisa ko ƙananan yana kunna ƙarin SPADs.
Sigina kowane SPAD	256 x nb da aka tsara	Kcps/SPAD	Adadin photons da aka auna yayin bugun bugun VCSEL.
Range sigma	128 x nb da aka tsara	Milimita	Ƙididdigar Sigma don amo a cikin nisa da aka ruwaito.
Nisa	128 x nb da aka tsara	Milimita	Nisan manufa
Matsayin manufa	64 x nb da aka tsara	Babu	Ingantattun ma'auni. Duba Sashi na 5.5: Sakamako fassara don ƙarin bayani.
Tunani	64 x lambar da aka tsara	kashi dari	Kiyasin hasashe a cikin kashi
Alamar motsi	140	Babu	Tsarin da ke ɗauke da sakamakon nunin motsi. Filin 'motsi' ya ƙunshi ƙarfin motsi.

Lura: Don abubuwa da yawa (sigina kowane spad, sigma, …) samun damar bayanai ya bambanta idan mai amfani ya tsara manufa fiye da ɗaya a kowane yanki (duba Sashe 4.10: Maƙasudi da yawa a kowane yanki). Duba example codes don ƙarin bayani.

Keɓance zaɓin fitarwa

Ta hanyar tsoho, duk abubuwan VL53L7CX ana kunna su. Idan an buƙata, mai amfani zai iya kashe wasu abubuwan firikwensin firikwensin. Babu ma'auni na kashewa akan direba; dole ne a yi shi a cikin 'plat form. h' file. Mai amfani na iya ayyana macro masu zuwa don kashe abubuwan da aka fitar:

#bayyana VL53L7CX_KASHE_AMBIENT_PER_SPAD
#bayyana Saukewa: VL53L7CX_KASASHE_NB_SPADS_ENABLED
#bayyana Saukewa: VL53L7CX_DISABLE_NB_TARGET_DETECTED
#bayyana Saukewa: VL53L7CX_DISABLE_SIGNAL_PER_SPAD
#bayyana Saukewa: VL53L7CX_DISABLE_RANGE_SIGMA_MM
#bayyana Saukewa: VL53L7CX_DISABLE_DISTANCE_MM
Saukewa: VL53L7CX_DISABLE_TARGET_MATSAYI
#bayyana Saukewa: VL53L7CX_DISABLE_REFLECTANCE_PERCENT
#bayyana Saukewa: VL53L7CX_DISABLE_MOTION_INDICATOR

Saboda haka, ba a bayyana filayen a cikin tsarin sakamako ba, kuma ba a canza bayanan zuwa mai watsa shiri ba. An rage girman RAM da girman I²C. Don tabbatar da daidaiton bayanai, ST koyaushe yana ba da shawarar kiyaye 'yawan abubuwan da aka gano' da 'matsayin manufa' kunna. Wannan yana tace ma'auni dangane da matsayin manufa (koma zuwa Sashe na 5.5: Fassarar Sakamako).

Samun sakamako masu yawa

A yayin zaman jeri, akwai hanyoyi guda biyu don sanin idan akwai sabbin bayanan jeri:

• Yanayin jefa kuri'a: Ci gaba da amfani da aikin vl53l7cx_check_data_ready(). Yana gano sabon adadin rafi da firikwensin ya dawo.
• Yanayin katsewa: Yana jira an ɗaga katsewa akan fil A3 (GPIO1). Ana share katsewa ta atomatik bayan ~100 μs.

Lokacin da aka shirya sabbin bayanai, ana iya karanta sakamakon ta amfani da aikin vl53l7cx_get_ranging_data(). Yana dawo da tsarin da aka sabunta wanda ya ƙunshi duk abin da aka zaɓa. Kamar yadda na'urar ta kasance asynchronous, babu katsewa don sharewa don ci gaba da jeri. Wannan fasalin yana samuwa duka biyun ci gaba da yanayin jeri mai cin gashin kansa.

Amfani da raw firmware format

Bayan canja wurin kewayon bayanai ta hanyar I²C, akwai juyi tsakanin tsarin firmware da tsarin mai watsa shiri. Ana yin wannan aikin yawanci don samun tazara mai nisa a cikin millimeters azaman tsoho fitarwa na firikwensin. Idan mai amfani yana son yin amfani da tsarin firmware, dole ne a ayyana macro mai zuwa a cikin dandamali fileSaukewa: VL53L7CX

# ayyana VL53L7CX_USE_RAW_FORMAT

Tafsirin sakamako 

Ana iya tace bayanan da VL53L7CX ya dawo don yin la'akari da matsayin manufa. Matsayin yana nuna ingancin ma'auni. An kwatanta cikakken jerin matsayi a cikin tebur mai zuwa.

Tebur 4. Jerin da akwai matsayin manufa

Matsayin manufa	Bayani
0	Ba a sabunta bayanan jeri ba
1	Yawan sigina yayi ƙasa sosai akan tsararrun SPAD
2	Matsayin manufa
3	Sigma estimator yayi girma sosai
4	daidaiton manufa ya kasa
5	Kewayon inganci
6	Kunna ba a yi ba (yawanci kewayon farko)
7	daidaiton ƙimar ya gaza
8	Matsakaicin sigina yayi ƙasa sosai don manufa ta yanzu
9	Range yana aiki tare da babban bugun bugun jini (yana iya zama saboda hadadden manufa)
10	Kewayon yana aiki, amma ba a gano manufa a kewayon baya ba
11	daidaiton auna ya kasa
12	Nufin wani ya ruɗe, saboda mai kaifi
13	An gano manufa amma bayanai marasa daidaituwa. Yawanci yana faruwa ga maƙasudai na biyu.
255	Babu manufa da aka gano (kawai idan an kunna adadin abubuwan da aka gano)

Don samun daidaiton bayanai, mai amfani yana buƙatar tace matsayin manufa mara inganci. Don ba da ƙimar amincewa, manufa mai matsayi na 5 ana ɗaukarsa azaman 100% inganci. Ana iya la'akari da matsayi na 6 ko 9 tare da ƙimar amincewa na 50%. Duk sauran matsayi suna ƙasa da matakin amincewa 50%.

Kuskuren direba

Lokacin da kuskure ya faru ta amfani da firikwensin VL53L7CX, direban ya dawo da takamaiman kuskure. Tebur mai zuwa yana lissafin kurakurai masu yuwuwa.

Tebur 5. Jerin kurakurai akwai ta amfani da direba

Matsayin manufa	Bayani
0	Babu kuskure
127	Mai amfani ya tsara saitin da ba daidai ba (ƙudirin da ba a san shi ba, mitar mitoci ya yi yawa,…)
255	Babban kuskure. Yawancin lokaci kuskuren ƙarewar lokaci, saboda kuskuren I²C.
sauran	Haɗin kurakurai da yawa da aka kwatanta a sama

Lura: Mai watsa shiri na iya aiwatar da ƙarin lambobin kuskure ta amfani da dandamali files.

Tarihin bita

Tebur 6. Tarihin sake fasalin daftarin aiki

Kwanan wata	Sigar	Canje-canje
02-Aug-2022	1	Sakin farko
02-Satumba-2022	2	An sabunta Gabatarwar Sashe Ƙara bayanin kula game da mafi ƙarancin tazara tsakanin manufa zuwa Sashi na 4.10: Mai yawa hari a kowane yanki
21-Fabrairu-2024	3	Ƙara VHV (sosai high voltage) ku Sashi na 1: Gagararre da gajartawa. Kara Sashi na 4.14: Diyya na yawan zafin jiki na lokaci-lokaci

Tallafin Abokin Ciniki

MUHIMMAN SANARWA – KU KARANTA A HANKALI
STMicroelectronics NV da rassan sa ("ST") sun tanadi haƙƙin yin canje-canje, gyare-gyare, haɓakawa, gyare-gyare, da haɓakawa ga samfuran ST da/ko ga wannan takaddar a kowane lokaci ba tare da sanarwa ba. Ya kamata masu siye su sami sabbin bayanai masu dacewa akan samfuran ST kafin yin oda. Ana siyar da samfuran ST bisa ga sharuɗɗa da sharuɗɗan siyarwa na ST a wurin lokacin amincewa.

Masu siye ke da alhakin zaɓi, zaɓi, da amfani da samfuran ST kuma ST ba ta ɗaukar alhakin taimakon aikace-aikacen ko ƙirar samfuran masu siye.

Babu lasisi, bayyananne ko fayyace, ga kowane haƙƙin mallakar fasaha da ST ke bayarwa a nan.

Sake siyar da samfuran ST tare da tanadi daban-daban da bayanan da aka gindaya a ciki zai ɓata kowane garantin da ST ya bayar don irin wannan samfurin.

ST da tambarin ST alamun kasuwanci ne na ST. Don ƙarin bayani game da alamun kasuwanci na ST, koma zuwa www.st.com/trademarks. Duk sauran samfuran ko sunayen sabis mallakin masu su ne.

Bayanin da ke cikin wannan takarda ya maye gurbin bayanan da aka kawo a baya a cikin kowane juzu'in wannan takaddar.
© 2024 STMicroelectronics – Duk haƙƙin mallaka

Takardu / Albarkatu

STMicroelectronics VL53L7CX Lokacin Flight Multizone Ranging Sensor [pdf] Jagorar mai amfani VL53L7CX Lokacin Flight Multizone Mai Rarraba Sensor, VL53L7CX, Lokacin Jirgin Multizone Ranging Sensor, Matsakaicin Matsakaicin Matsayin Jirgin Sama

Magana

• Manual mai amfani