STMicroelectronics VL53L7CX Nthawi Ya Flight Multizone Ranging Sensor
Mawu Oyamba
Cholinga cha bukuli ndikulongosola momwe mungagwirire sensa ya VL53L7CX Time-of-Flight (ToF), pogwiritsa ntchito Ultra lite driver (ULD) API. Imalongosola ntchito zazikulu zopangira chipangizocho, ma calibrations, ndi zotsatira zake.
Zopangidwira mwapadera mapulogalamu omwe amafunikira ultrawide FoV, VL53L7CX Time-of-Flight sensor imapereka 90 ° diagonal FoV. Kutengera ukadaulo wa STMicroelectronics's Flight Sense, VL53L7CX imaphatikiza ma lens apamwamba a meta (DOE) omwe amayikidwa pa laser emitter yomwe imathandizira kuwonetsera kwa 60 ° x 60 ° square FoV pamalopo.
Kuthekera kwake kwa multizone kumapereka matrix a 8 × 8 zone (zoni 64) ndipo imatha kugwira ntchito mwachangu (60 Hz) mpaka 350 cm.
Chifukwa cha mawonekedwe odziyimira pawokha okhala ndi mtunda wokhazikika wophatikizidwa ndi ultrawide FoV, VL53L7CX ndiyabwino pakugwiritsa ntchito kulikonse komwe kumafunikira kuzindikirika kwa ogwiritsa ntchito mphamvu zochepa. Ma algorithms ovomerezeka a ST ndi kapangidwe katsopano ka module amalola VL53L7CX kuti izindikire, mdera lililonse, zinthu zingapo mkati mwa FoV ndikumvetsetsa mozama. STMicroelectronics histogram aligorivimu amaonetsetsa chitetezo cha galasi crosstalk kupitirira 60 cm.
Kuchokera ku VL53L5CX, ma pinouts ndi madalaivala a masensa onsewa amagwirizana, zomwe zimatsimikizira kusuntha kosavuta kuchokera ku sensa imodzi kupita ku imzake.
Monga masensa onse a Time-of-Flight (ToF) kutengera ukadaulo wa ST's Flight Sense, VL53L7CX imalemba, m'chigawo chilichonse, mtunda wokwanira posatengera mtundu womwe mukufuna komanso mawonekedwe ake.
Yokhala mu phukusi laling'ono lotha kubwezanso lomwe limaphatikizira gulu la SPAD, VL53L7CX imakwaniritsa magwiridwe antchito abwino kwambiri pazowunikira zosiyanasiyana zozungulira, komanso pamitundu yambiri yamagalasi ophimba.
Masensa onse a ST's ToF amaphatikiza VCSEL yomwe imatulutsa kuwala kosawoneka bwino kwa 940 nm IR, komwe kuli kotetezeka kwathunthu kwa maso (chitsimikizo cha Class 1).
VL53L7CX ndiye sensor yabwino kwambiri pakugwiritsa ntchito kulikonse komwe kumafuna FoV yopitilira muyeso ngati ma robotiki, okamba anzeru, makina owonera makanema, kasamalidwe kazinthu. Kuphatikiza kwa kuthekera kwa multizone ndi 90 ° FoV kumatha kupititsa patsogolo zochitika zatsopano zogwiritsa ntchito ngati kuzindikira ndi manja, SLAM yamaloboti, ndi kuyambitsa kwamagetsi otsika pakumanga mwanzeru.
Chithunzi 1. Chithunzi cha VL53L7CX
Acronyms ndi achidule
| Acronym/chidule | Tanthauzo |
| DOE | Diffraactive Optical element |
| FoV | munda wa view |
| I²C | inter-integrated circuit (serial bus) |
| Kcps/SPAD | Kuwerengera kwa Kilo pa sekondi iliyonse pa spad (gawo lomwe limagwiritsidwa ntchito kuwerengera kuchuluka kwa mafotoni mugulu la SPAD) |
| Ram | kukumbukira mwachisawawa |
| Mtengo wa magawo SCL | serial wotchi mzere |
| SDA | serial data |
| SPAD | single photon avalanche diode |
| KutiF | Nthawi Yonyamuka |
| ULD | dalaivala wapamwamba kwambiri |
| Zithunzi za VCSEL | ofukula patsekeke pamwamba emitting diode |
| VHV | kwambiri voltage |
| Xtalk | crosstalk |
Kufotokozera kwantchito
Dongosolo lathaview
Dongosolo la VL53L7CX limapangidwa ndi ma module a hardware ndi pulogalamu ya ultra lite driver (VL53L7CX ULD) yomwe ikuyenda pa wolandila (onani chithunzi pansipa). Module ya Hardware ili ndi sensor ya ToF. STMicroelectronics imapereka dalaivala wa mapulogalamu, omwe amatchulidwa mu chikalata ichi ngati "dalaivala". Chikalatachi chikufotokoza ntchito za dalaivala, zomwe zimapezeka kwa wolandira. Ntchitozi zimayang'anira sensa ndikupeza deta yosiyana.
Chithunzi 2. Chithunzi cha VL53L7CXview
Kuwongolera kogwira mtima
Mutuwu umaphatikizapo lens pamwamba pa Rx aperture, yomwe imatembenuza (mozungulira ndi molunjika) chithunzi chojambulidwa cha chandamale. Chifukwa chake, gawo lomwe limadziwika kuti zone 0, kumanzere kumanzere kwa gulu la SPAD, limawunikiridwa ndi chandamale chomwe chili kumanja kumanja kwa chochitikacho.
Chithunzi 3. Chithunzi cha VL53L7CX
Schematics ndi I²C kasinthidwe
Kulumikizana pakati pa dalaivala ndi firmware kumayendetsedwa ndi I²C, yomwe imatha kugwira ntchito mpaka 1 MHz. Kukhazikitsa kumafuna kukokera pamizere ya SCL ndi SDA. Tsamba la deta la VL53L7CX kuti mudziwe zambiri. Chipangizo cha VL53L7CX chili ndi adilesi yokhazikika ya I²C ya 0x52. Komabe, ndizotheka kusintha adilesi yokhazikika kuti mupewe mikangano ndi zida zina, kapena kuthandizira kuwonjezera ma module angapo a VL53L7CX ku dongosolo la FoV yayikulu. Adilesi ya I²C itha kusinthidwa pogwiritsa ntchito vl53l7cx_set_i2c_address() ntchito.
Chithunzi 4. Masensa angapo pamabasi a I²C
Kuti mulole chipangizo kuti adilesi yake ya I²C isinthidwe popanda kukhudza ena pa basi ya I²C, ndikofunikira kuyimitsa kulumikizana kwa I²C pazida zomwe sizikusintha. Ndondomekoyi ndi iyi:
- Limbikitsani dongosolo monga mwachizolowezi.
- Kokani pini ya LPn ya chipangizocho kuti adilesi yake isasinthidwe.
- Kokani pini ya LPn pachida chomwe adilesi ya I²C yasinthidwa.
- Konzani adilesi ya I²C ku chipangizochi pogwiritsa ntchito ntchito set_i2c_address() ntchito.
- Kokani pini ya LPn ya chipangizocho sichikukonzedwanso.
Zida zonse ziyenera kupezeka pa basi ya I²C. Bwerezani njira zomwe zili pamwambazi pazida zonse za VL53L7CX mudongosolo zomwe zimafuna adilesi yatsopano ya I²C.
Zomwe zili m'phukusi ndi kayendedwe ka data
Zomangamanga zoyendetsa ndi zomwe zili
Phukusi la VL53L7CX ULD lili ndi zikwatu zinayi. Dalaivala ali mufoda /
VL53L7CX_ULD_API.
Dalaivala amapangidwa ndi kuvomerezedwa ndi kusankha files. Zosankha files ndi plugins amagwiritsidwa ntchito kuwonjezera mawonekedwe a ULD. Pulogalamu yowonjezera iliyonse imayamba ndi mawu oti "vl53l7cx_plugin" (monga vl53l7cx_plugin_xtalk.h). Ngati wosuta sakufuna zomwe akufuna plugins, amatha kuchotsedwa popanda kukhudza mawonekedwe ena oyendetsa. Chithunzi chotsatirachi chikuyimira chovomerezeka files ndi kusankha plugins.
Chithunzi 5. Zomangamanga zoyendetsa
Wogwiritsanso ayenera kukhazikitsa ziwiri files ili mu /Platform chikwatu. Pulatifomu yomwe ikufunsidwa ndi chipolopolo chopanda kanthu, ndipo iyenera kudzazidwa ndi ntchito zodzipereka.
Zindikirani: Plat fomu. h file ili ndi ma macros ovomerezeka kugwiritsa ntchito ULD. Zonse file Zomwe zili ndizovomerezeka kuti mugwiritse ntchito ULD molondola
Calibration kuyenda
Crosstalk (Xtalk) imatanthauzidwa ngati kuchuluka kwa siginecha yomwe idalandilidwa pagulu la SPAD, lomwe lili chifukwa cha kuwala kwa VCSEL.
kuwonetsera mkati mwazenera loteteza (galasi lophimba) lowonjezeredwa pamwamba pa gawoli. Module ya VL53L7CX imadziyesa yokha, ndipo imatha kugwiritsidwa ntchito popanda kuwongolera kwina kulikonse.
Crosstalk calibration ingafunike ngati gawoli likutetezedwa ndi galasi lophimba. VL53L7CX ilibe chitetezo
crosstalk kupitirira 60 cm chifukwa cha histogram algorithm. Komabe, pamtunda waufupi pansi pa 60 cm, Xtalk ikhoza kukhala yayikulu kuposa chizindikiro chobwerera. Izi zimapangitsa kuti chandamale chabodza chiwerengedwe kapena kupangitsa kuti zolinga ziziwoneka moyandikira kuposa momwe zilili. Ntchito zonse za crosstalk calibration zikuphatikizidwa mu pulogalamu yowonjezera ya Xtalk (posankha). Wogwiritsa ayenera kugwiritsa ntchito file 'vl53l7cx_plugin_xtalk'.
Crosstalk ikhoza kusinthidwa kamodzi, ndipo deta ikhoza kusungidwa kuti igwiritsidwenso ntchito mtsogolo. Chandamale pa mtunda wokhazikika, ndi chiwonetsero chodziwika chikufunika. Mtunda wochepera wofunikira ndi 600 mm, ndipo chandamale chiyenera kuphimba FoV yonse. Kutengera kukhazikitsidwa, wogwiritsa ntchito amatha kusintha masinthidwe kuti agwirizane ndi ma crosstalk calibration, monga momwe tafotokozera patebulo lotsatirali.
Table 1. Zokonda zomwe zilipo kuti zisinthe
| Kukhazikitsa | Min | Adapangidwa ndi STMicroelectronics | Max |
| Mtunda [mm] | 600 | 600 | 3000 |
| Nambala ya samples | 1 | 4 | 16 |
| Chiwonetsero [%] | 1 | 3 | 99 |
Zindikirani: Kuonjezera chiwerengero cha sampLes imawonjezera kulondola, koma imawonjezeranso nthawi yowerengera. Nthawi yokhudzana ndi chiwerengero cha samples ndi mzere, ndipo zikhalidwe zimatsata nthawi yomwe yatha:
- 1 sample ≈ 1 mphindi
- 4 sampkuchepera ≈ masekondi 2.5
- 16 sampkuchepera ≈ masekondi 8.5
Kuwongolera kumachitika pogwiritsa ntchito vl53l7cx_calibrate_xtalk(). Izi zitha kugwiritsidwa ntchito nthawi iliyonse. Komabe, sensor iyenera kukhazikitsidwa poyamba. Chithunzi chotsatirachi chikuyimira kayendedwe ka crosstalk calibration.
Chithunzi 6. Crosstalk calibration flow
Kuthamanga koyenda
Chithunzi chotsatirachi chikuyimira miyeso yosiyanasiyana yomwe imagwiritsidwa ntchito poyeza. Mawerengedwe a Xtalk ndi mafoni osankha ayenera kugwiritsidwa ntchito musanayambe gawo loyambira. Ntchito za get/set sizingagwiritsidwe ntchito pagawo losiyanasiyana, ndipo pulogalamu ya 'on-the-fly' siyimathandizidwa.
Chithunzi 7. Kuthamanga koyenda pogwiritsa ntchito VL53L7CX
Zomwe zilipo
VL53L7CX ULD API imaphatikizapo ntchito zingapo, zomwe zimalola wogwiritsa ntchito kuwongolera sensa, malingana ndi momwe amagwiritsira ntchito. Ntchito zonse zomwe zilipo kwa dalaivala zafotokozedwa m'magawo otsatirawa.
Kuyambitsa
Kuyambitsa kuyenera kuchitidwa musanagwiritse ntchito sensa ya VL53L7CX. Izi zimafuna kuti wogwiritsa ntchito:
- Mphamvu pa sensa (VDDIO, AVDD, LPn mapini ayikidwa Kumwamba, ndi pini I2C_RST yokhazikitsidwa ku 0)
- Imbani ntchitoyi vl53l7cx_init(). Ntchitoyi imakopera firmware (~ 84 Kbytes) ku gawo. Izi zimachitika potsitsa kachidindo pa mawonekedwe a I²C, ndikuchita chizoloŵezi choyambira kuti mumalize kuyambiranso.
Kuwongolera kukonzanso kwa sensor
Kuti mukonzenso chipangizochi, mapini otsatirawa akuyenera kusinthidwa:
- Khazikitsani mapini a VDDIO, AVDD, ndi LPn kukhala otsika.
- Dikirani 10 ms.
- Khazikitsani mapini a VDDIO, AVDD, ndi LPn pamwamba.
Zindikirani: Kutembenuza pini ya I2C_RST yokha kumakhazikitsanso kulumikizana kwa I²C.
Kusamvana
Chigamulocho chikugwirizana ndi chiwerengero cha zigawo zomwe zilipo. Sensa ya VL53L7CX ili ndi malingaliro awiri: 4 × 4 (zoni 16) ndi 8 × 8 (magawo 64). Mwachikhazikitso sensor imapangidwa mu 4 × 4. Ntchito vl53l7cx_set_resolution () imalola wosuta kusintha kusintha. Popeza kuchuluka kwa ma frequency kumatengera chigamulo, ntchitoyi iyenera kugwiritsidwa ntchito musanasinthe ma frequency osiyanasiyana. Kuphatikiza apo, kusintha kusinthaku kumawonjezeranso kukula kwa magalimoto pa basi ya I²C zotsatira zikawerengedwa.
Kuthamanga pafupipafupi
Ma frequency angapo angagwiritsidwe ntchito kusintha kuchuluka kwa kuyeza. Monga kuchuluka kwafupipafupi kumakhala kosiyana
pakati pa 4 × 4 ndi 8 × 8 malingaliro, ntchitoyi iyenera kugwiritsidwa ntchito mutasankha chisankho. Zochepa komanso zovomerezeka zovomerezeka zalembedwa mu tebulo ili pansipa.
Table 2. Ma frequency ochepera komanso apamwamba kwambiri
| Kusamvana | Mafupipafupi ocheperako [Hz] | Kuchuluka kwa ma frequency [Hz] |
| 4 × 4 | 1 | 60 |
| 8 × 8 | 1 | 15 |
Kuthamanga pafupipafupi kumatha kusinthidwa pogwiritsa ntchito vl53l7cx_set_ranging_frequency_hz(). Mwachikhazikitso, ma frequency osiyanasiyana amayikidwa ku 1 Hz.
Njira yosinthira
Mawonekedwe oyambira amalola wogwiritsa kusankha pakati pakugwiritsa ntchito kwambiri kapena kugwiritsa ntchito mphamvu zochepa. Pali mitundu iwiri yoperekedwa:
- Kusalekeza: Chipangizochi chimagwira mafelemu mosalekeza ndi ma frequency omwe amafotokozedwa ndi wogwiritsa ntchito. VCSEL imayatsidwa nthawi zonse, motero mtunda wautali komanso chitetezo chozungulira chimakhala bwino. Mawonekedwewa amalangizidwa kuti azitha kuyeza mwachangu kapena kuchita bwino kwambiri.
- Autonomous: Iyi ndiye njira yokhazikika. Chipangizochi chimagwira mafelemu mosalekeza ndi ma frequency osiyanasiyana
kufotokozedwa ndi wogwiritsa ntchito. VCSEL imayatsidwa panthawi yomwe wogwiritsa ntchito amafotokozera, pogwiritsa ntchito vl53l7cx_set_integration_time_ms(). Popeza VCSEL sichimathandizidwa nthawi zonse, kugwiritsa ntchito mphamvu kumachepetsedwa. Zopindulitsa zimakhala zoonekeratu ndi kuchepa kwafupipafupi. Izi mode akulangizidwa otsika mphamvu ntchito.
Njira yoyambira imatha kusinthidwa pogwiritsa ntchito ntchito vl53l7cx_set_ranging_mode ().
Integration nthawi
Nthawi yophatikizira ndi gawo lomwe limapezeka kokha pogwiritsa ntchito njira yodziyimira yokha (onani Gawo 4.5: Kuthamanga
mode). Zimalola wogwiritsa ntchito kusintha nthawi pomwe VCSEL yayatsidwa. Kusintha nthawi yophatikiza ngati kusiyanasiyana
mode yakhazikitsidwa mosalekeza alibe zotsatira. Nthawi yophatikizira yosasinthika yakhazikitsidwa ku 5 ms. Zotsatira za nthawi yophatikiza ndizosiyana paziganizo za 4 × 4 ndi 8 × 8. Resolution 4 × 4 imapangidwa ndi nthawi imodzi yophatikiza, ndipo 8 × 8 chisankho chimapangidwa ndi nthawi zinayi zophatikiza. Ziwerengero zotsatirazi zikuyimira kutulutsa kwa VCSEL pazosankha zonse ziwiri.
Chithunzi 8. Kuphatikiza nthawi ya 4 × 4 yodziyimira payokha
Chithunzi 9. Kuphatikiza nthawi ya 8 × 8 yodziyimira payokha
Kuchuluka kwa nthawi zonse zophatikiza + 1 ms pamwamba pamutu kuyenera kukhala kotsika kuposa nthawi yoyezera. Kupanda kutero, nthawi yoyambira imawonjezedwa kuti igwirizane ndi nthawi yophatikiza.
Mphamvu modes
Mitundu yamagetsi ingagwiritsidwe ntchito kuchepetsa kugwiritsa ntchito mphamvu pamene chipangizocho sichikugwiritsidwa ntchito. VL53L7CX imatha kugwira ntchito mwanjira imodzi mwamagetsi awa:
- Kudzuka: Chipangizocho chimayikidwa mu HP osagwira ntchito (mphamvu yayikulu), kudikirira malangizo.
- Tulo: Chipangizocho chimayikidwa mu LP idle (mphamvu yochepa), mphamvu yochepa. Chipangizocho sichingagwiritsidwe ntchito mpaka chikhazikitsidwe kuti chikhazikike. Njira iyi imasunga firmware ndi kasinthidwe.
Mphamvu yamagetsi imatha kusinthidwa pogwiritsa ntchito vl53l7cx_set_power_mode (). Njira yokhazikika ndikudzuka.
Zindikirani: Ngati wogwiritsa ntchito akufuna kusintha mphamvu yamagetsi, chipangizocho sichiyenera kukhala chosiyana.
Kukulitsa
Chizindikiro chobwerera kuchokera ku chandamale sichimagunda choyera chokhala ndi mbali zakuthwa. Mphepete zake zimatsetsereka ndipo zitha kukhudza mtunda womwe wafotokozedwa m'magawo oyandikana nawo. Chowotchacho chimagwiritsidwa ntchito kuchotsa zina kapena chizindikiro chonse chifukwa cha kunyezimira kotchinga.
ExampLe yosonyezedwa mu chithunzi chotsatira ikuyimira chandamale chapafupi pa 100 mm chokhazikika mu FoV, ndi chandamale china, kumbuyo kwa 500 mm. Kutengera mtengo wakuthwa, chandamale choyandikiracho chikhoza kuwoneka m'magawo ambiri kuposa enieni.
Chithunzi 10. Example ya zochitika pogwiritsa ntchito zosongola zingapo
Sharpener ikhoza kusinthidwa pogwiritsa ntchito vl53l7cx_set_sharpener_percent(). Makhalidwe ololedwa ali pakati pa 0% ndi 99%. Mtengo wokhazikika ndi 5%.
Cholinga chandamale
VL53L7CX imatha kuyeza mipherezero ingapo pagawo lililonse. Chifukwa cha histogram processing, wolandirayo amatha
sankhani dongosolo la zolinga zomwe zanenedwa. Pali njira ziwiri:
- Chapafupi kwambiri: Cholinga chapafupi kwambiri ndi choyamba chomwe chinanenedwa
- Yamphamvu kwambiri: Cholinga champhamvu kwambiri ndi choyamba chomwe chinanenedwa
Dongosolo lomwe mukufuna litha kusinthidwa pogwiritsa ntchito vl53l7cx_set_target_order(). Dongosolo lokhazikika ndilolimba Kwambiri. Example mu chithunzi chotsatirachi chikuyimira kuzindikiridwa kwa zolinga ziwiri. Imodzi pa 100 mm yokhala ndi mawonekedwe otsika, ndi imodzi pa 700 mm yokhala ndi chiwonetsero chachikulu.
Chithunzi 11. Example ya histogram yokhala ndi zolinga ziwiri
Zolinga zingapo pagawo lililonse
VL53L7CX imatha kuyeza zigoli zinayi pagawo lililonse. Wogwiritsa ntchito amatha kukonza chiwerengero cha zolinga zomwe zabwezedwa ndi sensa.
Zindikirani: Mtunda wochepera pakati pa zolinga ziwiri zomwe ziyenera kuzindikiridwa ndi 600 mm. Kusankhidwa sikutheka kuchokera kwa dalaivala; ziyenera kuchitika mu 'platform. h' file. Ma macro VL53L7CX_NB_ TARGET_PER_ZONE akuyenera kukhazikitsidwa ku mtengo wapakati pa 1 ndi 4. Dongosolo lazomwe zafotokozedwa mu Gawo 4.9: Ndondomeko ya zomwe mukufuna ikukhudza mwachindunji dongosolo la chandamale chomwe chapezeka. Mwachikhazikitso, sensa imangotulutsa chandamale chimodzi pagawo lililonse.
Zindikirani: Kuchulukirachulukira kwa zolinga pagawo lililonse kumawonjezera kukula kwa RAM.
Xtalk malire
Mphepete mwa Xtalk ndi chinthu chowonjezera chomwe chimapezeka pogwiritsa ntchito pulogalamu yowonjezera Xtalk. The .c ndi .f files 'vl53l7cx_plugin_xtalk' iyenera kugwiritsidwa ntchito.
Mphepete mwa nyanja imagwiritsidwa ntchito posintha njira yodziwira pamene galasi lophimba liri pamwamba pa sensa. Kufikira kutha kuonjezeredwa kuti zitsimikizire kuti galasi lophimba silidzazindikirika, mutatha kukhazikitsa ma data a crosstalk calibration. Za exampLero, wogwiritsa ntchito amatha kuyendetsa ma crosstalk calibration pachipangizo chimodzi, ndikugwiritsanso ntchito data yofananira pazida zina zonse. Mphepete mwa Xtalk itha kugwiritsidwa ntchito kuwongolera kuwongolera kwa crosstalk. Chithunzi chomwe chili pansipa chikuyimira malire a Xtalk.
Chithunzi 12. Xtalk malire
Mapeto a kuzindikira
Kuphatikiza pa kuthekera kwanthawi zonse, sensa imatha kukonzedwa kuti izindikire chinthu pansi pamiyezo yodziwikiratu. Mbaliyi ikupezeka pogwiritsa ntchito pulogalamu yowonjezera "detection thresholds", yomwe ndi njira yosaphatikizika ndi API. The files yotchedwa 'vl53l7cx_plugin_detection_thresholds' iyenera kugwiritsidwa ntchito. Chojambulacho chikhoza kugwiritsidwa ntchito kuyambitsa kusokoneza kwa pini A3 (INT) pamene zinthu zomwe zimafotokozedwa ndi wogwiritsa ntchito zakwaniritsidwa. Pali masanjidwe atatu otheka:
- Resolution 4 × 4: kugwiritsa ntchito gawo limodzi pagawo lililonse (chiwerengero chonse cha 16)
- Resolution 4 × 4: kugwiritsa ntchito magawo awiri pagawo lililonse (chiwerengero chonse cha 32)
- Resolution 8 × 8: kugwiritsa ntchito gawo limodzi pagawo lililonse (chiwerengero chonse cha 64)
Kaya kasinthidwe kameneka kamagwiritsidwa ntchito, njira yopangira zolowera ndi kukula kwa RAM ndizofanana. Pakuphatikiza kolowera kulikonse, minda ingapo iyenera kudzazidwa:
- Id ya chigawo: id ya chigawo chosankhidwa (onani Gawo 2.2: Kuwongolera kothandiza)
- Kuyeza: kuyeza kuti mugwire (mtunda, chizindikiro, kuchuluka kwa ma SPAD, ...)
- Mtundu: mazenera a miyeso (m'mazenera, kunja kwa mazenera, pansi pa malo otsika, ...)
- Pang'onopang'ono: wogwiritsa ntchito poyambira. Wogwiritsa safunikira kukhazikitsa mawonekedwe, amangoyendetsedwa ndi API.
- Kufikira kwakukulu: wogwiritsa ntchito poyambira. Wogwiritsa safunikira kukhazikitsa mawonekedwe; imayendetsedwa ndi API.
- Kugwiritsa ntchito masamu: kumangogwiritsidwa ntchito pa 4 × 4 - 2 zophatikizidwira pagawo lililonse. Wogwiritsa akhoza kukhazikitsa kuphatikiza pogwiritsa ntchito zipata zingapo m'dera limodzi.
Chizindikiro choyenda
Sensa ya VL53L7CX ili ndi mawonekedwe ophatikizika a firmware omwe amalola kuwoneka koyenda pamalo. Zoyenda
chizindikiro chimawerengedwa pakati pa mafelemu otsatizana. Njirayi ikupezeka pogwiritsa ntchito pulogalamu yowonjezera 'vl53l7cx_plugin_motion_indicator'.
Chizindikiro choyenda chimayambitsidwa pogwiritsa ntchito vl53l7cx_motion_indicator_init() ntchito. Kusintha sensor
kusintha, sinthani chizindikiritso choyenda pogwiritsa ntchito ntchito yodzipatulira: vl53l7cx_motion_indicator_set_resolution().
Wogwiritsa ntchito amathanso kusintha mtunda wocheperako komanso wopitilira kuti azindikire kuyenda. Kusiyanitsa pakati pa mtunda wocheperako ndi wopambana sikungakhale wamkulu kuposa 1500 mm. Mwachikhazikitso, mtunda umayambika ndi mfundo zapakati pa 400 mm ndi 1500 mm.
Zotsatira zimasungidwa m'munda wa 'motion_ indicator'. M'munda uwu, gulu la 'motion' limapereka mtengo wokhala ndi
mphamvu yoyenda pa zone. Mtengo wapamwamba umasonyeza kusiyana kwakukulu pakati pa mafelemu. Kuyenda komwe kumakhalapo kumapereka mtengo pakati pa 100 ndi 500. Kutengeka kumeneku kumadalira nthawi yophatikizira, mtunda wandandanda, ndikuwonetsa chandamale.
Kuphatikizika koyenera kwa mapulogalamu amphamvu otsika ndiko kugwiritsa ntchito chizindikiro choyenda chokhala ndi njira yodziyimira payokha, komanso zowonera zomwe zimayikidwa pamayendedwe. Izi zimalola kuzindikira kusiyanasiyana kwamayendedwe mu FoV ndikugwiritsa ntchito mphamvu zochepa.
Kubwezera kutentha kwanthawi ndi nthawi
Kuchita kosiyanasiyana kumakhudzidwa ndi kusiyana kwa kutentha. Sensa ya VL53L7CX imayika kutentha
chipukuta misozi chomwe chimasinthidwa kamodzi pakayamba kutsitsa. Komabe, ngati kutentha kumasintha, ndi
malipiro sangagwirizane ndi kutentha kwatsopano. Pofuna kupewa nkhaniyi, kasitomala amatha kubweza kutentha kwanthawi ndi nthawi pogwiritsa ntchito VHV yamoto. Kuwongolera kutentha kwanthawi ndi nthawi kumatenga ma milliseconds angapo kuti ayende. Wogwiritsa akhoza kufotokozera nthawiyo. Kuti agwiritse ntchito izi, kasitomala akuyenera:
- Imbani ntchitoyi vl53l7cx_set_VHV_repeat_count().
- Kenako, perekani chiwerengero cha mafelemu pakati pa kusanja kwatsopano kulikonse monga mkangano.
Ngati mkangano ndi 0, malipiro amaletsedwa.
Zotsatira zosiyanasiyana
Zomwe zilipo
Mndandanda wambiri wa zomwe mukufuna komanso deta ya chilengedwe ikhoza kutulutsidwa panthawi ya zochitika zosiyanasiyana. Gome lotsatirali likufotokoza magawo omwe akupezeka kwa wogwiritsa ntchito.
Table 3. Zomwe zilipo pogwiritsa ntchito VL53L7CX sensor
| Chinthu | Nb mabayiti (RAM) | Chigawo | Kufotokozera |
| Ambient pa SPAD | 256 | Kcps/SPAD | Muyezo wozungulira womwe umachitidwa pagulu la SPAD, osatulutsa ma photon, kuti ayeze kuchuluka kwa ma siginoloji chifukwa cha phokoso. |
| Chiwerengero cha zolinga zapezeka | 64 | Palibe | Chiwerengero cha zolinga zomwe zadziwika muzoni yamakono. Mtengo uwu uyenera kukhala woyamba kuyang'ana kuti udziwe ngati muyeso uli wolondola. |
| Nambala ya ma SPAD atsegulidwa | 256 | Palibe | Nambala ya ma SPAD omwe athandizidwa kuti ayesedwe pano. Chowunikira chakutali kapena chocheperako chimayatsa ma SPAD ambiri. |
| Signal pa SPAD | Zolinga za 256 x nb zokonzedwa | Kcps/SPAD | Kuchuluka kwa ma photon omwe amayezedwa panthawi ya VCSEL. |
| Mtundu wa sigma | Zolinga za 128 x nb zokonzedwa | Mamilimita | Kuyerekeza kwa Sigma kwa phokoso lamtunda womwe wanenedwa. |
| Mtunda | Zolinga za 128 x nb zokonzedwa | Mamilimita | Mtunda wandanda |
| Mkhalidwe wofuna | Zolinga za 64 x nb zokonzedwa | Palibe | Kutsimikizika kwa miyeso. Mwaona Gawo 5.5: Zotsatira kutanthauzira kuti mudziwe zambiri. |
| Kunyezimira | Zolinga za 64 x zakonzedwa | Peresenti | Chiyerekezo chikuwonetsa chandamale mu peresenti |
| Chizindikiro choyenda | 140 | Palibe | Kapangidwe kamene kali ndi zotsatira zowonetsera zoyenda. The field 'motion' ili ndi mphamvu yosuntha. |
Zindikirani: Pazinthu zingapo (signal per spad, sigma, …) kupeza deta kumakhala kosiyana ngati wogwiritsa ntchitoyo apanga zone zoni imodzi (onani Gawo 4.10: Zolinga zingapo pagawo lililonse). Onani chitsanzoample ma code kuti mumve zambiri.
Sinthani Mwamakonda Anu linanena bungwe
Mwachikhazikitso, zotuluka zonse za VL53L7CX zimayatsidwa. Ngati ndi kotheka, wogwiritsa ntchito amatha kuletsa zotulutsa zina za sensa. Kuyimitsa miyeso sikupezeka pa dalaivala; ziyenera kuchitidwa mu 'plat form. h' file. Wogwiritsa akhoza kulengeza macros otsatirawa kuti aletse zotuluka:
#kufotokozera VL53L7CX_DISABLE_AMBIENT_PER_SPAD
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_NB_SPADS_YANTHAWITSA
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_NB_TARGET_DETECTED
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_SIGNAL_PER_SPAD
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_RANGE_SIGMA_MM
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_DISTANCE_MM
Chithunzi cha VL53L7CX_DISABLE_TARGET_STATUS
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_REFLECTANCE_PERCENT
#kufotokozera Chithunzi cha VL53L7CX_DISABLE_MOTION_INDICATOR
Chifukwa chake, minda sinalengezedwe muzotsatira, ndipo deta siyikutumizidwa kwa wolandirayo. Kukula kwa RAM ndi kukula kwa I²C kumachepetsedwa. Kuti zitsimikizire kusasinthika kwa data, ST nthawi zonse imalimbikitsa kusunga 'chiwerengero cha zolinga zomwe zazindikirika' ndi 'malo omwe mukufuna' zitheke. Izi zimasefa miyeso kutengera komwe mukufuna (onani Gawo 5.5: Kutanthauzira kwa zotsatira).
Kupeza zotsatira zosiyanasiyana
Munthawi yoyambira, pali njira ziwiri zodziwira ngati data yatsopano ikupezeka:
- Njira yovotera: Gwiritsani ntchito mosalekeza vl53l7cx_check_data_ready(). Imazindikira kuchuluka kwa mitsinje yatsopano yobwezedwa ndi sensor.
- Njira yosokoneza: Imadikirira kusokoneza komwe kwakwezedwa pa pin A3 (GPIO1). Kusokoneza kumachotsedwa pokhapokha ~ 100 μs.
Deta yatsopano ikakonzeka, zotsatira zake zitha kuwerengedwa pogwiritsa ntchito vl53l7cx_get_ranging_data(). Imabwezeranso dongosolo lomwe lili ndi zonse zomwe zasankhidwa. Popeza chipangizocho ndi chosasunthika, palibe kusokoneza kuti mupitirize kupitiliza gawoli. Mbali imeneyi ikupezeka kwa onse mosalekeza ndi yodziyimira payokha kuyambira modes.
Kugwiritsa ntchito mawonekedwe a firmware
Pambuyo posamutsa zambiri kudzera mu I²C, pamakhala kutembenuka pakati pa mtundu wa firmware ndi mtundu wa host host. Opaleshoniyi imachitika kuti ikhale ndi mtunda wotalikirana mu mamilimita ngati cholumikizira chosasinthika cha sensa. Ngati wosuta akufuna kugwiritsa ntchito mtundu wa firmware, macro otsatirawa ayenera kufotokozedwa papulatifomu fileChithunzi cha VL53L7CX
#define VL53L7CX_USE_RAW_FORMAT
Kutanthauzira kwa zotsatira
Zomwe zabwezedwa ndi VL53L7CX zitha kusefedwa kuti muganizire zomwe mukufuna. Mkhalidwewu ukuwonetsa kutsimikizika kwa kuyeza kwake. Mndandanda wazinthu zonse ukufotokozedwa mu tebulo ili pansipa.
Table 4. Mndandanda wazomwe zilipo
| Mkhalidwe wofuna | Kufotokozera |
| 0 | Zambiri sizisinthidwa |
| 1 | Siginecha yotsika kwambiri pamndandanda wa SPAD |
| 2 | Gawo lofuna |
| 3 | Sigma estimate yakwera kwambiri |
| 4 | Kusasinthasintha kwazomwe mukufuna |
| 5 | Utali wovomerezeka |
| 6 | Kukulunga mozungulira sikunachitike (kawirikawiri mzere woyamba) |
| 7 | Kusasinthasintha kwamitengo kwalephera |
| 8 | Chiyerekezo cha ma siginecha ndichotsika kwambiri pa zomwe mukufuna |
| 9 | Mulingo wovomerezeka wokhala ndi kugunda kwakukulu (atha kukhala chifukwa cha chandamale chophatikizidwa) |
| 10 | Mulingo ndi wovomerezeka, koma palibe chandamale chomwe chapezeka pamndandanda wam'mbuyomu |
| 11 | Muyezo wosasinthasintha walephera |
| 12 | Cholinga chazimitsidwa ndi china, chifukwa chakuthwa |
| 13 | Zofuna zapezeka koma zosagwirizana. Zomwe zimachitika pafupipafupi pazolinga zachiwiri. |
| 255 | Palibe chandamale chomwe chapezeka (pokhapokha ngati chiwerengero cha mipherezero chomwe chapezeka chayatsidwa) |
Kuti mukhale ndi data yofananira, wogwiritsa ntchito ayenera kusefa zomwe zili zolakwika. Kuti mupereke chidaliro, chandamale chokhala ndi udindo 5 chimatengedwa ngati 100%. Mkhalidwe wa 6 kapena 9 ukhoza kuganiziridwa ndi chikhulupiliro cha 50%. Ma status ena onse ali pansi pa 50%.
Zolakwika zoyendetsa
Cholakwika chikachitika pogwiritsa ntchito sensa ya VL53L7CX, dalaivala amabwezera cholakwika china. Tebulo ili pansipa likuwonetsa zolakwika zomwe zingatheke.
Table 5. Mndandanda wa zolakwika zomwe zilipo pogwiritsa ntchito dalaivala
| Mkhalidwe wofuna | Kufotokozera |
| 0 | Palibe cholakwika |
| 127 | Wogwiritsa adakonza zosintha zolakwika (kusankha kosadziwika, kuyambira kukwera kwambiri, ...) |
| 255 | Cholakwika chachikulu. Nthawi zambiri vuto latha, chifukwa cha vuto la I²C. |
| zina | Kuphatikiza zolakwika zambiri zomwe zafotokozedwa pamwambapa |
Zindikirani: Wolandirayo amatha kugwiritsa ntchito ma code olakwika ambiri pogwiritsa ntchito nsanja files.
Mbiri yobwereza
Table 6. Mbiri yokonzanso zolemba
| Tsiku | Baibulo | Zosintha |
| 02 Aug-2022 | 1 | Kutulutsidwa koyamba |
| 02 Sep-2022 | 2 | Zasinthidwa Gawo Loyambira Zolemba zowonjezedwa za mtunda wochepera pakati pa zomwe mukufuna kufika Gawo 4.10: Zambiri Zolinga pa zone |
| 21-Feb-2024 | 3 | Wowonjezera VHV (yokwera kwambiri voltage) kuti Gawo 1: Acronyms ndi achidule. Zowonjezedwa Gawo 4.14: Malipiro a kutentha kwanthawi ndi nthawi |
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