UM3038 Lub Sijhawm Dav Hlau Multizone Ranging Sensor
Cov neeg siv phau ntawv
UWM 3038 Cov neeg siv phau ntawv
Daim ntawv qhia rau kev siv VL53L7CX Lub Sijhawm-ntawm-Flight multizone range range sensor nrog 90 ° FoV
Taw qhia
Lub hom phiaj ntawm cov neeg siv phau ntawv no yog piav qhia yuav ua li cas tswj VL53L7CX Lub Sijhawm-ntawm-Flight (ToF) sensor, siv tus tsav tsheb ultra lite (ULD) API. Nws piav qhia txog lub luag haujlwm tseem ceeb rau kev pab cuam lub cuab yeej, kev ntsuas ntsuas, thiab cov txiaj ntsig tso zis.
Tshwj xeeb tsim rau cov ntawv thov uas xav tau ib qho ultrawide FoV, VL53L7CX Time-of-Flight sensor muaj 90 ° kab pheeb ces kaum FoV. Raws li ST's FlightSense thev naus laus zis, VL53L7CX suav nrog qhov ua tau zoo metasurface lens (DOE) tso rau ntawm lub laser emitter ua rau qhov projection ntawm 60 ° x 60 ° square FoV mus rau qhov chaw.
Nws lub peev xwm multizone muab cov matrix ntawm 8 × 8 aav (64 aav) thiab tuaj yeem ua haujlwm ntawm qhov nrawm nrawm (60 Hz) txog 350 cm.
Ua tsaug rau hom kev tswj hwm tus kheej nrog cov programmable nyob deb qhov pib ua ke rau ultrawide FoV, VL53L7CX yog qhov zoo tshaj plaws rau txhua daim ntawv thov uas xav tau cov neeg siv hluav taws xob qis. ST's patented algorithms thiab kev tsim kho tshiab module tso cai rau VL53L7CX los ntes, hauv txhua cheeb tsam, ntau yam khoom hauv FoV nrog kev nkag siab tob. ST histogram algorithms xyuas kom npog iav crosstalk tiv thaiv tshaj 60 cm.
Muab tau los ntawm VL53L5CX, lub pinouts thiab tsav tsheb ntawm ob lub sensors sib xws, uas ua kom yooj yim tsiv teb tsaws ntawm ib lub sensor mus rau lwm qhov.
Zoo li txhua lub sij hawm-ntawm-Flight (ToF) sensors raws li ST's FlightSense thev naus laus zis, VL53L7CX cov ntaub ntawv, hauv txhua cheeb tsam, qhov kev ncua deb tsis hais lub hom phiaj xim thiab qhov cuam tshuam.
Nyob rau hauv ib lub pob me me reflowable uas ua ke nrog SPAD array, VL53L7CX ua tiav qhov kev ua tau zoo tshaj plaws nyob rau hauv ntau yam teeb pom kev zoo, thiab rau ntau yam ntaub ntawv npog iav.
Tag nrho cov ST's ToF sensors ua ke nrog VCSEL uas tso tawm qhov pom tsis pom 940 nm IR lub teeb, uas muaj kev nyab xeeb tag nrho rau lub qhov muag (Cov ntawv pov thawj Class 1).
VL53L7CX yog lub zoo meej sensor rau txhua daim ntawv thov uas yuav tsum tau ultrawide FoV zoo li neeg hlau, ntse hais lus, video projectors, cov ntsiab lus tswj. Kev sib xyaw ua ke ntawm ntau lub peev xwm thiab 90 ° FoV tuaj yeem txhim kho cov kev siv tshiab xws li kev paub txog kev piav tes piav taw, SLAM rau cov neeg hlau, thiab kev siv hluav taws xob qis rau lub tsev ntse.
Daim duab 1. VL53L7CX sensor module
Cov ntaub ntawv
Cov ntaub ntawv VL53L7CX (DS13865).
Acronyms thiab abbreviations
| Acronym/abbreviation | Txhais |
| DOE | diffractive optical keeb |
| FoV | teb ntawm view |
| I2C | inter-integrated cirduit (serial bus) |
| Kcps/SPAD | Kilo-count per second per spad (chaw siv los ntsuas tus naj npawb ntawm photons rau hauv SPAD array) |
| RAM | random access nco |
| SCL | serial moos kab |
| SDA | cov ntaub ntawv serial |
| SPAD | Ib qho photon avalanche diode |
| ToF | Sijhawm-ntawm-Flight |
| ULD | ultra lite tsav tsheb |
| VCSEL | ntsug kab noj hniav nto emitting diode |
| Xtalk | crosstalk |
Kev piav qhia ua haujlwm
2.1 System tshajview
Lub VL53L7CX system yog tsim los ntawm kev kho vajtse module thiab ultra lite tsav software (VL53L7CX ULD) khiav ntawm tus tswv tsev (saib daim duab hauv qab). Lub hardware module muaj ToF sensor. ST xa cov software tsav tsheb uas raug xa mus rau hauv daim ntawv no ua "tus tsav tsheb". Cov ntaub ntawv no piav qhia txog kev ua haujlwm ntawm tus tsav tsheb uas nkag mus rau tus tswv tsev. Cov haujlwm no tswj lub sensor thiab tau txais cov ntaub ntawv sib txawv.
Daim duab 2. VL53L7CX system dhauview
2.2 Kev taw qhia zoo
Lub module suav nrog lub lens hla RX aperture uas flips (horizontal thiab vertically) cov duab ntes ntawm lub hom phiaj. Raws li qhov tshwm sim, thaj tsam tau txheeb xyuas tias thaj tsam 0 nyob rau hauv qab sab laug ntawm SPAD array yog illuminated los ntawm lub hom phiaj nyob rau sab xis sab xis ntawm qhov chaw.
Daim duab 3. VL53L7CX kev taw qhia zoo
2.3 Schematics thiab I2C configuration
Kev sib txuas lus ntawm tus tsav tsheb thiab firmware yog tswj los ntawm I2C, nrog lub peev xwm ntawm kev khiav hauj lwm mus txog 1 MHz. Qhov kev siv yuav tsum rub-ups ntawm SCL thiab SDA kab. Thov saib VL53L7CX datasheet kom paub ntxiv.
Lub VL53L7CX ntaus ntawv muaj qhov chaw nyob I2C ntawm 0x52. Txawm li cas los xij, nws muaj peev xwm hloov qhov chaw nyob ua ntej kom tsis txhob muaj kev tsis sib haum xeeb nrog lwm cov khoom siv, lossis pab txhawb ntxiv ntau VL53L7CX modules rau lub kaw lus rau ntau dua qhov system FoV. Qhov chaw nyob I2C tuaj yeem hloov pauv tau siv vl53l7cx_set_i2c_address() ua haujlwm.
Daim duab 4. Ntau lub sensors ntawm I2C tsheb npav
Txhawm rau tso cai rau lub cuab yeej kom hloov nws qhov chaw nyob I2C yam tsis muaj kev cuam tshuam rau lwm tus ntawm lub tsheb npav I2C, nws yog ib qho tseem ceeb uas yuav tsum tau lov tes taw I2C kev sib txuas lus ntawm cov cuab yeej tsis raug hloov. Cov txheej txheem yog raws li nram no:
- Fais fab lub system li qub.
- Rub tus LPn tus pin ntawm lub cuab yeej uas yuav tsis hloov chaw nyob.
- Rub lub LPn tus pin ntawm lub cuab yeej uas muaj qhov chaw nyob I2C hloov.
- Program qhov chaw nyob I2C rau lub cuab yeej siv kev ua haujlwm set_i2c_address() muaj nuj nqi.
- Rub lub LPn tus pin ntawm lub cuab yeej tsis raug reprogrammed.
Tag nrho cov khoom siv tam sim no yuav tsum muaj nyob rau ntawm lub npav I2C. Rov ua cov kauj ruam saum toj no rau tag nrho cov khoom siv VL53L7CX hauv qhov system uas xav tau qhov chaw nyob tshiab I2C.
Pob cov ntsiab lus thiab cov ntaub ntawv ntws
3.1 Tus tsav tsheb architecture thiab cov ntsiab lus
Lub pob VL53L7CX ULD yog tsim los ntawm plaub folders. Tus tsav tsheb nyob hauv daim nplaub tshev / VL53L7CX_ULD_API.
Tus tsav tsheb yog tsim los ntawm qhov yuav tsum tau ua thiab xaiv tau files. xaiv tau files yog plugins siv los txuas ntxiv ULD nta. Txhua lub plugin pib nrog lo lus "vl53l7cx_plugin" (xws li vl53l7cx_plugin_xtalk.h). Yog tias tus neeg siv tsis xav tau qhov kev thov plugins, lawv tuaj yeem raug tshem tawm yam tsis muaj kev cuam tshuam rau lwm yam tsav tsheb. Cov duab hauv qab no sawv cev rau qhov yuav tsum tau ua files thiab xaiv tau plugins.
Daim duab 5. Tsav tsheb architecture
Tus neeg siv kuj yuav tsum tau siv ob files nyob rau hauv /Platform folder. Lub platform tau thov yog lub plhaub khoob, thiab yuav tsum tau sau nrog cov haujlwm tshwj xeeb.
Nco tseg: Platform h file muaj cov macro uas yuav tsum tau siv ULD. Tag nrho cov file Cov ntsiab lus yuav tsum tau siv kom raug ULD.
3.2 Calibration ntws
Nco tseg: Crosstalk (xtalk) yog txhais raws li tus nqi ntawm cov teeb liab tau txais ntawm SPAD array uas yog vim VCSEL lub teeb pom kev hauv lub qhov rais tiv thaiv (cov iav npog) ntxiv rau sab saum toj ntawm lub module. Lub VL53L7CX module yog tus kheej-calibrated, thiab tuaj yeem siv yam tsis muaj kev ntsuas ntxiv.
Xtalk calibration tej zaum yuav xav tau yog hais tias lub module tiv thaiv los ntawm ib tug coverglass. Lub VL53L7CX yog tiv thaiv xtalk tshaj 60 cm ua tsaug rau ib tug histogram algorithm, tab sis nyob rau hauv luv luv nrug hauv qab 60 cm, xtalk tuaj yeem loj dua qhov tseeb rov qab teeb liab, muab lub hom phiaj nyeem ntawv tsis tseeb lossis ua kom pom lub hom phiaj ze dua li qhov tiag tiag. Tag nrho cov xtalk calibration functions muaj nyob rau hauv ib tug xtalk plugin (optional). Tus neeg siv yuav tsum tau siv lub file `vl53l7cx_plugin_xtalk'.
Lub xtalk tuaj yeem ntsuas tau ib zaug, thiab cov ntaub ntawv tuaj yeem khaws cia kom rov siv dua tom qab. Lub hom phiaj ntawm qhov kev ncua deb, nrog rau kev paub txog kev xav yuav tsum tau. Qhov kev ncua deb tsawg kawg nkaus yog 600 hli, thiab lub hom phiaj yuav tsum npog tag nrho FoV. Nyob ntawm qhov teeb tsa, tus neeg siv tuaj yeem hloov kho qhov chaw txhawm rau hloov kho Xtalk calibration, raws li tau hais hauv cov lus hauv qab no.
Table 1. Muaj chaw rau calibration
| Kev teeb tsa | Min | Tshaj tawm los ntawm ST | Max |
| nrug [mm] | 600 | 600 | 3000 |
| Tus naj npawb ntawm samples | 1 | 4 | 16 |
| Reflectance [%] | 1 | 3 | 99 |
Nco tseg Nce tus naj npawb ntawm samples nce qhov raug, tab sis nws kuj nce lub sij hawm rau calibration. Lub sij hawm txheeb ze rau tus naj npawb ntawm samples yog linear, thiab qhov tseem ceeb ua raws li lub sijhawm kwv yees:
- 1 XNUMXsamplwm 1sd
- 4 XNUMXsampua 2.5sn
- 16 XNUMXsampua 8.5sn
Lub calibration yog ua los ntawm kev ua haujlwm vl53l7cx_calibrate_xtalk(). Cov haujlwm no tuaj yeem siv tau txhua lub sijhawm. Txawm li cas los xij, lub sensor yuav tsum tau pib ua ntej. Cov duab hauv qab no sawv cev rau Xtalk calibration flow.
Daim duab 6. Xtalk calibration flow
3.3 Kev khiav dej num
Cov duab hauv qab no qhia txog cov dej ntws uas siv los ntsuas. Xtalk calibration thiab xaiv muaj nuj nqi hu yuav tsum tau siv ua ntej pib qhov kev sib kho. Cov haujlwm tau txais / teeb tsa tsis tuaj yeem siv thaum lub sijhawm sib tham, thiab 'on-the-fly' programming tsis txaus siab.
Daim duab 7. Kev khiav dej num siv VL53L7CX
Muaj cov yam ntxwv
VL53L7CX ULD API suav nrog ntau lub luag haujlwm uas tso cai rau tus neeg siv los kho lub sensor, nyob ntawm qhov siv tau. Txhua txoj haujlwm muaj rau tus neeg tsav tsheb tau piav qhia hauv ntu hauv qab no.
4.1 Kev pib
Kev pib yuav tsum tau ua ua ntej siv VL53L7CX sensor. Txoj haujlwm no xav kom tus neeg siv:
- Fais fab ntawm lub sensor (VDDIO, AVDD, LPn pins teem rau siab, thiab tus pin I2C_RST teem rau 0)
- Hu rau qhov ua haujlwm vl53l7cx_init(). Lub luag haujlwm luam theej cov firmware (~ 84 kbytes) rau lub module los ntawm kev thauj cov lej hla I2C interface thiab ua haujlwm khau raj ua kom tiav qhov pib.
4.2 Sensor rov pib tswj
Txhawm rau rov pib dua lub cuab yeej, cov pins hauv qab no yuav tsum tau toggled:
- Teem tus pins VDDIO, AVDD, thiab LPn tus pins kom qis.
- Tos 10 ms.
- Teem tus pins VDDIO, AVDD, thiab LPn pins kom siab. Toggling nkaus xwb I2C_RST tus pin rov pib dua I2C kev sib txuas lus.
4.3 Kev daws teeb meem
Qhov kev daws teeb meem sib raug rau cov cheeb tsam muaj. Lub VL53L7CX sensor muaj ob qhov kev daws teeb meem: 4 × 4 (16 thaj chaw) thiab 8 × 8 (64 thaj chaw). Los ntawm lub neej ntawd lub sensor yog programmed hauv 4 × 4.
Qhov ua haujlwm vl53l7cx_set_resolution() tso cai rau tus neeg siv hloov qhov kev daws teeb meem. Raws li qhov ntau zaus nyob ntawm qhov kev daws teeb meem, cov haujlwm no yuav tsum tau siv ua ntej hloov kho qhov ntau zaus. Ntxiv mus, hloov qhov kev daws teeb meem kuj tseem ua rau cov tsheb loj loj ntawm I2C tsheb npav thaum tau nyeem.
4.4 Ntau zaus
Ranging zaus siv tau los hloov qhov ntsuas zaus. Raws li qhov ntau zaus sib txawv ntawm 4 × 4 thiab 8 × 8 kev daws teeb meem, qhov kev ua haujlwm no yuav tsum tau siv tom qab xaiv qhov kev daws teeb meem. Yam tsawg kawg nkaus thiab qhov siab tshaj plaws tau tso cai muaj nyob rau hauv cov lus hauv qab no.
Table 2. Yam tsawg kawg nkaus thiab ntau zaus ntau zaus
| Kev daws teeb meem | Min qhov ntau zaus [Hz] | Max ntau zaus [Hz] |
| 4 × 4 hli | 1 | 60 |
| 8 × 8 hli | 1 | 15 |
Ranging zaus tuaj yeem hloov kho siv ua haujlwm vl53l7cx_set_ranging_frequency_hz(). Los ntawm lub neej ntawd, qhov sib txawv zaus yog teem rau 1 Hz.
4.5 Kev sib tw hom
Ranging hom tso cai rau tus neeg siv xaiv ntawm kev ua haujlwm siab lossis siv hluav taws xob tsawg.
Muaj ob hom kev thov:
- Nruam: Cov cuab yeej txuas ntxiv rub cov thav duab nrog ntau zaus uas tau teev tseg los ntawm tus neeg siv. VCSEL tau qhib rau txhua qhov sib txawv, yog li qhov siab tshaj plaws nyob deb thiab kev tiv thaiv ib puag ncig zoo dua. Hom no tau qhia rau kev ntsuas nrawm nrawm lossis ua haujlwm siab.
- Autonomous: Qhov no yog lub neej ntawd hom. Cov cuab yeej txuas ntxiv rub cov thav duab nrog ntau zaus uas tus neeg siv tau hais tseg. VCSEL tau qhib rau lub sijhawm teev tseg los ntawm tus neeg siv, siv cov haujlwm vl53l7cx_set_integration_time_ms(). Raws li VCSEL tsis yog ib txwm ua haujlwm, kev siv hluav taws xob txo qis. Cov txiaj ntsig tau pom tseeb dua nrog qhov txo qis zaus. Hom no yog qhia rau kev siv hluav taws xob tsawg.
Cov hom sib txawv tuaj yeem hloov pauv siv ua haujlwm vl53l7cx_set_ranging_mode().
4.6 Lub sijhawm sib koom ua ke
Lub sijhawm sib xyaw ua ke yog ib qho tshwj xeeb tsuas yog siv tau siv Autonomous ranging mode (saib rau Tshooj 4.5 Ranging hom). Nws tso cai rau tus neeg siv hloov lub sijhawm thaum VCSEL qhib. Hloov lub sij hawm kev koom ua ke yog Ranging hom yog teem mus tas li tsis muaj txiaj ntsig. Lub sijhawm ua ke nrog lub sijhawm yog teem rau 5 ms.
Cov nyhuv ntawm kev sib koom ua ke yog txawv rau 4 × 4 thiab 8 × 8 kev daws teeb meem. Kev daws teeb meem 4 × 4 yog tsim los ntawm ib lub sijhawm sib koom ua ke, thiab 8 × 8 daws teeb meem yog tsim los ntawm plaub lub sijhawm sib koom ua ke. Cov duab hauv qab no sawv cev rau VCSEL emission rau ob qho kev daws teeb meem.
Daim duab 8. Lub sijhawm sib xyaw ua ke rau 4 × 4 autonomous
Cov txiaj ntsig ntawm txhua lub sijhawm sib xyaw ua ke + 1 ms nyiaj siv ua haujlwm yuav tsum qis dua lub sijhawm ntsuas. Txwv tsis pub lub sij hawm sib txawv yuav tau nce kom haum rau lub sij hawm kev koom ua ke.
4.7 Lub zog hom
Cov hom fais fab tuaj yeem siv los txo cov kev siv hluav taws xob thaum lub cuab yeej tsis siv. VL53L7CX tuaj yeem ua haujlwm hauv ib qho ntawm cov qauv hauv qab no:
- Wake-up: Lub cuab yeej tau teeb tsa hauv HP tsis ua haujlwm (lub zog siab), tos cov lus qhia.
- Pw tsaug zog: Cov cuab yeej tau teeb tsa hauv LP tsis ua haujlwm (tsis muaj zog), lub xeev tsis muaj zog. Lub cuab yeej siv tsis tau kom txog thaum teeb tsa hauv hom Wake-up. Hom no khaws cov firmware thiab configuration.
Lub hwj chim hom tuaj yeem hloov pauv siv ua haujlwm vl53l7cx_set_power_mode(). Lub neej ntawd hom yog Wake-up.
Nco tseg Yog hais tias tus neeg siv xav hloov lub hwj chim hom, lub cuab yeej yuav tsum tsis txhob nyob rau hauv ib tug ntau yam ntawm lub xeev.
4.8 XNUMX XNUMX ZPO
Lub teeb liab rov qab los ntawm lub hom phiaj tsis yog lub plawv huv nrog cov npoo ntse. Cov ntug nqes hav mus deb thiab tej zaum yuav cuam tshuam rau qhov kev ncua deb uas tau tshaj tawm hauv thaj chaw uas nyob ib sab. Lub sharpener yog siv los tshem tawm ib co los yog tag nrho cov teeb liab tshwm sim los ntawm veiling glare. Cov example qhia hauv daim duab hauv qab no sawv cev rau lub hom phiaj ze ntawm 100 mm nyob rau hauv FoV, thiab lwm lub hom phiaj, ntxiv tom qab ntawm 500 mm. Nyob ntawm tus nqi sharpener, lub hom phiaj ze yuav tshwm sim nyob rau hauv ntau thaj tsam tshaj qhov tiag.
Daim duab 10. Example ntawm scene siv ob peb sharpener nqi
Cov cuab yeej tuaj yeem hloov pauv tau siv ua haujlwm vl53l7cx_set_sharpener_percent(). Cov nqi tso cai yog nyob nruab nrab ntawm 0% thiab 99%. Tus nqi qub yog 5%.
4.9 Lub hom phiaj kev txiav txim
VL53L7CX tuaj yeem ntsuas ntau lub hom phiaj hauv ib cheeb tsam. Ua tsaug rau kev ua haujlwm histogram, tus tswv tsev tuaj yeem xaiv qhov kev txiav txim ntawm cov phiaj xwm tshaj tawm. Muaj ob txoj kev xaiv:
- Closest: Lub hom phiaj ze tshaj plaws yog thawj zaug tshaj tawm
- Strongest: Lub hom phiaj muaj zog tshaj plaws yog thawj zaug tshaj tawm
Lub hom phiaj xaj tuaj yeem hloov pauv siv ua haujlwm vl53l7cx_set_target_order(). Qhov kev txiav txim default yog Strongest.
Cov example hauv daim duab hauv qab no sawv cev rau kev tshawb pom ntawm ob lub hom phiaj. Ib qho ntawm 100 hli nrog qhov tsis tshua muaj kev cuam tshuam, thiab ib qho ntawm 700 hli nrog lub siab xav.
Daim duab 11. Example ntawm histogram nrog 2 lub hom phiaj
4.10 Ntau lub hom phiaj ib cheeb tsam
VL53L7CX tuaj yeem ntsuas txog plaub lub hom phiaj ib cheeb tsam. Tus neeg siv tuaj yeem teeb tsa tus naj npawb ntawm cov hom phiaj xa rov qab los ntawm lub sensor.
Nco tseg Qhov kev ncua deb tsawg kawg nkaus ntawm ob lub hom phiaj yuav raug kuaj pom yog 600 mm. Kev xaiv tsis tau los ntawm tus tsav tsheb; nws yuav tsum tau ua nyob rau hauv lub 'platform.h' file. Lub macro VL53L7CX_NB_ TARGET_PER_ZONE yuav tsum tau teeb tsa rau tus nqi ntawm 1 thiab 4. Lub hom phiaj kev txiav txim tau piav qhia hauv Tshooj 4.9 Lub hom phiaj kev txiav txim ncaj qha cuam tshuam rau qhov kev txiav txim ntawm lub hom phiaj pom. Los ntawm lub neej ntawd, lub sensor tsuas yog tso tawm qhov siab tshaj plaws ntawm ib lub hom phiaj ntawm ib cheeb tsam.
Nco tseg Ntau lub hom phiaj ntawm ib cheeb tsam nce qhov yuav tsum tau RAM loj.
4.11 Xtalk npoo
Xtalk npoo yog ib qho ntxiv feature tsuas yog muaj siv lub plugin Xtalk. .c thiab .f files 'vl53l7cx_plugin_xtalk' yuav tsum tau siv.
Cov npoo yog siv los hloov qhov ntsuas qhov pib thaum lub npog lass nyob rau sab saum toj ntawm lub sensor. Qhov chaw pib tuaj yeem nce ntxiv kom ntseeg tau tias tsis muaj qhov npog tsis pom, tom qab teeb tsa X tham calibration cov ntaub ntawv. Rau example, tus neeg siv tuaj yeem khiav lub Xwalk calibration ntawm ib lub cuab yeej, thiab rov siv tib cov ntaub ntawv calibration rau tag nrho lwm yam khoom siv. X tham margin tuaj yeem siv los kho X hais lus kho. Daim duab hauv qab no sawv cev rau Xwalk margin.
Daim duab 12. X tham margin
4.12 Kev txheeb xyuas qhov pib
Ntxiv rau qhov muaj peev xwm sib txawv li niaj zaus, lub ntsuas hluav taws xob tuaj yeem tsim kho kom pom ib yam khoom raws li qee yam kev cai ua ntej. Cov yam ntxwv no muaj nyob hauv plugin "nrhiav qhov pib", uas yog ib qho kev xaiv tsis suav nrog lub neej ntawd hauv API. Cov files hu ua 'vl53l7cx_plugin_detection_thresholds' yuav tsum tau siv. Cov yam ntxwv tuaj yeem siv los ua kom muaj kev cuam tshuam rau tus pin A3 (INT) thaum cov xwm txheej tau teev tseg los ntawm tus neeg siv tau ntsib. Muaj peb txoj kev teeb tsa tau:
- Kev daws teeb meem 4 × 4: siv 1 qhov pib rau ib cheeb tsam (tag nrho ntawm 16 qhov pib)
- Kev daws teeb meem 4 × 4: siv 2 qhov pib ntawm ib cheeb tsam (tag nrho ntawm 32 qhov pib)
- Kev daws teeb meem 8 × 8: siv 1 qhov pib rau ib cheeb tsam (tag nrho ntawm 64 qhov pib)
Txawm li cas los xij cov kev teeb tsa siv, cov txheej txheem rau kev tsim qhov pib thiab qhov loj ntawm RAM yog tib yam.
Rau txhua qhov pib ua ke, ntau qhov chaw yuav tsum tau sau:
- Zone ID: id ntawm thaj chaw xaiv (saib Tshooj 2.2 Kev taw qhia zoo)
- Kev ntsuas: ntsuas kom ntes (qhov deb, teeb liab, tus naj npawb ntawm SPADs, ...)
- Hom: qhov rais ntawm kev ntsuas (hauv qhov rais, tawm ntawm qhov rais, hauv qab qhov pib qis, ...)
- Tsawg tus pib: tus neeg siv qis qis rau qhov ua rau. Tus neeg siv tsis tas yuav teeb tsa hom ntawv, nws tau txais los ntawm API.
- High threshold: high threshold neeg siv rau kev ua. Tus neeg siv tsis tas yuav teeb tsa hom ntawv, nws tau txais los ntawm API.
- Kev ua lej: tsuas yog siv rau 4 × 4 2 qhov pib ua ke ntawm ib cheeb tsam. Tus neeg siv tuaj yeem teeb tsa kev sib xyaw ua ke siv ntau qhov pib hauv ib cheeb tsam.
4.13 Motion indicator
Lub VL53L7CX sensor muaj ib qho embedded Firmware feature tso cai rau kev txav mus los hauv ib qho xwm txheej. Qhov taw qhia kev taw qhia yog xam ntawm cov ntu ntu. Qhov kev xaiv no muaj nyob rau siv lub plugin 'vl53l7cx_plugin_motion_indicator'.
Qhov taw qhia tsab ntawv tsa suab yog pib siv lub vl53l7cx_motion_indicator_init() muaj nuj nqi. Yog tias tus neeg siv xav hloov qhov kev daws teeb meem sensor, nws yuav tsum hloov kho qhov ntsuas qhov taw qhia kev daws teeb meem uas siv lub siab ua haujlwm: vl53l7cx_motion_indicator_set_resolution().
Tus neeg siv kuj tseem tuaj yeem hloov qhov tsawg kawg nkaus thiab qhov siab tshaj plaws kom pom cov lus tsa suab. Qhov sib txawv ntawm qhov tsawg kawg nkaus thiab qhov siab tshaj plaws tsis tuaj yeem siab dua 1500 mm. Los ntawm lub neej ntawd, kev ncua deb tau pib nrog qhov tseem ceeb ntawm 400 mm thiab 1500 mm.
Cov txiaj ntsig tau muab khaws cia rau hauv thaj chaw 'qhia taw qhia'. Hauv daim teb no, array 'txoj kev' muab tus nqi uas muaj qhov kev siv zog ntawm ib cheeb tsam. Tus nqi siab qhia tau hais tias muaj kev hloov pauv siab ntawm cov thav ntawv. Ib qho kev txav mus los muab tus nqi ntawm 100 thiab 500. Qhov rhiab heev no nyob ntawm lub sijhawm sib koom ua ke, lub hom phiaj nyob deb, thiab lub hom phiaj xav tau.
Kev sib xyaw ua ke zoo tshaj plaws rau kev siv hluav taws xob tsawg yog kev siv qhov taw qhia kev taw qhia nrog Autonomous ranging hom, thiab nrhiav kom pom qhov pib programmed ntawm cov lus tsa suab. Qhov no tso cai rau kev tshawb pom ntawm kev hloov pauv hauv FoV nrog kev siv hluav taws xob tsawg kawg nkaus.
Cov txiaj ntsig sib txawv
5.1 Cov ntaub ntawv muaj
Ib daim ntawv teev npe dav dav ntawm cov phiaj xwm thiab ib puag ncig cov ntaub ntawv yuav raug tso tawm thaum lub sijhawm ua haujlwm. Cov lus hauv qab no piav qhia txog qhov tsis muaj rau tus neeg siv.
Rooj 3. Muaj cov zis siv VL53L7CX sensor
| Element | Nb bytes (RAM) | Chav tsev | Kev piav qhia |
| Ambient rau SPAD | 256 | Kcps/SPAD | Ambient ntsuas ntsuas tau ua nyob rau ntawm SPAD array, tsis muaj photon emission active, los ntsuas ambient teeb liab tus nqi vim lub suab nrov. |
| Tus naj npawb ntawm cov hom phiaj pom | 64 | Tsis muaj | Tus naj npawb ntawm cov hom phiaj pom nyob rau hauv cheeb tsam tam sim no.Qhov no tus nqi yuav tsum yog thawj tus los xyuas kom paub qhov ntsuas qhov siv tau. |
| Tus naj npawb ntawm SPADs tau qhib | 256 | Tsis muaj | Tus naj npawb ntawm SPADs tau qhib rau kev ntsuas tam sim no. Lub hom phiaj deb lossis qis qis yuav qhib ntau SPADs. |
| Teeb liab rau SPAD | 256 x nb lub hom phiaj programmed | Kcps/SPAD | Tus nqi ntawm photons ntsuas thaum lub sij hawm VCSEL mem tes. |
| Ntau sigma | 128 x nb lub hom phiaj programmed | Hli | Sigma kwv yees rau lub suab nrov hauv qhov tshaj tawm phiaj ze. |
| Nyob deb | 128 x nb lub hom phiaj programmed | Hli | Lub hom phiaj deb |
| Hom phiaj xwm txheej | 64 x nb lub hom phiaj programmed | Tsis muaj | Kev ntsuas validity. Saib Tshooj 5.5 Kev txhais cov ntsiab lus kom paub ntau ntxiv. |
| Reflectance | 64 x lub hom phiaj programmed | Feem pua | Kwv yees lub hom phiaj reflectance nyob rau hauv feem pua |
| Tsab ntawv tsa suab | 140 | Tsis muaj | Cov qauv uas muaj qhov ntsuas qhov taw qhia tau tshwm sim. Lub teb 'txoj kev' muaj cov kev siv zog. |
Lus Cim: Rau ntau lub ntsiab lus (cim rau ib sped, sigma, ...) nkag mus rau cov ntaub ntawv sib txawv yog tias tus neeg siv tau programmed ntau tshaj 1 lub hom phiaj rau ib cheeb tsam (saib Tshooj 4.10 Ntau lub hom phiaj ib cheeb tsam). Saib example codes kom paub ntau ntxiv.
5.2 Customize tso zis xaiv
Los ntawm lub neej ntawd, tag nrho VL53L7CX tso tawm tau qhib. Yog tias xav tau, tus neeg siv tuaj yeem lov tes taw qee qhov tso zis sensor. Kev ntsuas tsis siv neeg tsis muaj nyob ntawm tus tsav tsheb; Nws yuav tsum tau ua nyob rau hauv 'platform' file. Tus neeg siv tuaj yeem tshaj tawm cov macro hauv qab no kom tsis txhob tso tawm:
#define VL53L7CX_DISABLE_AMBIENT_PER_SPAD
#define VL53L7CX_DISABLE_NB_SPADS_ENABLED
#define VL53L7CX_DISABLE_NB_TARGET_DETECTED
#define VL53L7CX_DISABLE_SIGNAL_PER_SPAD
#define VL53L7CX_DISABLE_RANGE_SIGMA_MM
#define VL53L7CX_DISABLE_DISTANCE_MM
#define VL53L7CX_DISABLE_TARGET_STATUS
#define VL53L7CX_DISABLE_REFLECTANCE_PERCENT
#define VL53L7CX_DISABLE_MOTION_INDICATOR
Yog li ntawd, cov teb tsis raug tshaj tawm hauv cov qauv kev tshwm sim, thiab cov ntaub ntawv tsis raug xa mus rau tus tswv tsev. RAM loj thiab I2C loj yog txo. Txhawm rau kom ntseeg tau cov ntaub ntawv sib xws, ST pom zoo kom ib txwm khaws 'tus naj npawb ntawm lub hom phiaj pom' thiab 'lub hom phiaj xwm txheej' qhib. Nws tso cai rau lim cov kev ntsuas nyob ntawm lub hom phiaj xwm txheej (saib Tshooj 5.5 Kev txhais cov ntsiab lus).
5.3 Tau txais cov txiaj ntsig sib txawv
Thaum lub sijhawm sib tham, muaj ob txoj hauv kev los paub yog tias muaj cov ntaub ntawv tshiab:
- Kev xaiv tsa hom: Nruam siv ua haujlwm vl53l7cx_check_data_ready(). Nws pom cov kwj tshiab suav rov qab los ntawm lub sensor.
- Interrupt hom: Tos rau kev cuam tshuam los ntawm tus pin A3 (GPIO1). Qhov kev cuam tshuam yuav raug tshem tawm tom qab ~ 100 s.
Thaum cov ntaub ntawv tshiab tau npaj lawm, cov txiaj ntsig tuaj yeem nyeem tau siv ua haujlwm vl53l7cx_get_ranging_data(). Nws rov qab kho cov qauv uas muaj tag nrho cov kev xaiv tso zis. Raws li lub cuab yeej yog asynchronous, tsis muaj kev cuam tshuam kom meej kom txuas ntxiv qhov kev sib tham.
Qhov no feature yog muaj rau ob qho tib si nruam thiab autonomous ranging hom.
5.4 Siv raw firmware hom
Tom qab hloov cov ntaub ntawv sib txawv los ntawm I2C, muaj kev hloov pauv ntawm firmware hom thiab tus tswv hom. Qhov kev ua haujlwm no feem ntau ua kom muaj qhov sib txawv hauv millimeters raws li qhov tso tawm ntawm lub sensor. Yog tias tus neeg siv xav siv hom firmware, cov macro hauv qab no yuav tsum tau txhais hauv lub platform file:
#define VL53L7CX_USE_RAW_FORMAT
5.5 Cov ntsiab lus txhais
Cov ntaub ntawv xa rov qab los ntawm VL53L7CX tuaj yeem lim tau txhawm rau coj mus rau hauv tus account lub hom phiaj xwm txheej. Cov xwm txheej qhia txog qhov ntsuas qhov siv tau. Daim ntawv teev npe tag nrho tau piav qhia hauv cov lus hauv qab no.
| Hom phiaj xwm txheej | Kev piav qhia |
| 0 | Cov ntaub ntawv sib txawv tsis hloov kho |
| 1 | Teeb liab tus nqi qis dhau ntawm SPAD array |
| 2 | Lub hom phiaj theem |
| 3 | Sigma kwv yees siab dhau lawm |
| 4 | Lub hom phiaj tsis sib xws |
| 5 | Ntau yam siv tau |
| 6 | Qhwv ib ncig tsis ua (feem ntau yog thawj qhov ntau) |
| 7 | Tus nqi sib xws ua tsis tau |
| 8 | Lub teeb liab tus nqi qis dhau rau lub hom phiaj tam sim no |
| 9 | Ntau yam siv tau nrog cov mem tes loj (tej zaum yuav yog vim lub hom phiaj sib koom ua ke) |
| 10 | Range siv tau, tab sis tsis pom lub hom phiaj ntawm qhov ntau dhau los |
| 11 | Kev ntsuas qhov tsis sib xws |
| 12 | Lub hom phiaj tsis meej pem los ntawm lwm tus, vim yog sharpener |
| 13 | Lub hom phiaj pom tab sis cov ntaub ntawv tsis sib xws. Feem ntau tshwm sim rau cov hom phiaj thib ob. |
| 255 | Tsis pom lub hom phiaj (tsuas yog tias muaj pes tsawg lub hom phiaj pom tau qhib) |
Yuav kom muaj cov ntaub ntawv zoo ib yam, tus neeg siv yuav tsum lim cov hom phiaj tsis raug. Txhawm rau muab kev ntseeg siab, lub hom phiaj nrog xwm txheej 5 yog suav tias yog 100% siv tau. Ib qho xwm txheej ntawm 6 lossis 9 tuaj yeem suav nrog kev ntseeg siab ntawm 50%. Tag nrho lwm cov xwm txheej yog qis dua 50% kev ntseeg siab.
5.6 Driver yuam kev
Thaum qhov yuam kev tshwm sim siv VL53L7CX sensor, tus neeg tsav tsheb rov qab ib qho yuam kev. Cov lus hauv qab no teev cov kev ua yuam kev.
Table 5. Daim ntawv teev cov yuam kev uas siv tus tsav tsheb
| Hom phiaj xwm txheej | Kev piav qhia |
| 0 | Tsis muaj qhov yuam kev |
| 127 | Tus neeg siv programmed ib qho kev teeb tsa tsis raug (tsis paub daws teeb meem, ntau zaus ntau dhau, ...) |
| 255 | Qhov yuam kev loj. Feem ntau yog qhov yuam kev ncua sij hawm, vim yog qhov yuam kev I2C. |
| lwm yam | Kev sib xyaw ntawm ntau qhov yuam kev tau piav qhia saum toj no |
Nco tseg Ntau cov lej yuam kev tuaj yeem siv los ntawm tus tswv siv lub platform files.
Kev kho keeb kwm
Table 6. Cov ntaub ntawv kho dua tshiab
| Hnub tim | Version | Hloov |
| 2-Aug-22 | 1 | Kev tso tawm thawj zaug |
| Peb 2-Sep-22 | 2 | Hloov Kho Tshooj Taw Qhia Ntxiv cov lus ceeb toom txog qhov tsawg kawg nkaus ntawm cov phiaj xwm mus rau Tshooj 4.10 Ntau lub hom phiaj ib cheeb tsam |
CEEB TOOM TSEEM CEEB NYEEM UA NTEJ
STMicroelectronics NV thiab nws cov chaw ua haujlwm (“ST”) muaj cai hloov pauv, kho, txhim kho, hloov kho, thiab txhim kho rau ST cov khoom thiab / lossis cov ntaub ntawv no txhua lub sijhawm yam tsis muaj ntawv ceeb toom. Cov neeg yuav khoom yuav tsum tau txais cov ntaub ntawv tseem ceeb ntawm ST cov khoom ua ntej muab xaj. ST cov khoom raug muag raws li ST cov nqe lus thiab cov xwm txheej ntawm kev muag khoom nyob rau hauv qhov chaw thaum lub sijhawm lees paub kev txiav txim.
Cov neeg yuav khoom tsuas yog lub luag haujlwm rau kev xaiv, xaiv, thiab siv cov khoom ST thiab ST xav tias tsis muaj kev lav phib xaub rau daim ntawv thov kev pab lossis kev tsim khoom ntawm cov neeg yuav khoom. Tsis muaj daim ntawv tso cai, qhia lossis qhia, rau txhua txoj cai kev txawj ntse tau tso cai los ntawm ST ntawm no. Kev muag khoom ntawm ST nrog cov kev cai sib txawv ntawm cov ntaub ntawv tau teev tseg hauv no yuav tsis muaj kev lav phib xaub uas tau tso cai los ntawm ST rau cov khoom zoo li no. ST thiab ST logo yog cov cim lag luam ntawm ST. Yog xav paub ntxiv txog ST cov cim lag luam, xa mus rau www.st.com/trademarks.
Tag nrho lwm yam khoom lossis kev pabcuam npe yog cov cuab yeej ntawm lawv cov tswv. Cov ntaub ntawv hauv daim ntawv no hloov pauv thiab hloov cov ntaub ntawv yav dhau los uas tau muab rau hauv ib qho ua ntej ntawm daim ntawv no.
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Cov ntaub ntawv / Cov ntaub ntawv
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