YDLIDAR GS2 DEVELOPMENT Linear Array Solid LiDAR Sensor

NTCHITO ZINTHU

Mode
Dongosolo la YDLIDAR GS2 (lomwe limatchedwa GS2) lili ndi mitundu itatu yogwirira ntchito: mawonekedwe osagwira ntchito, mawonekedwe ojambulira, kuyimitsa.

• Njira zopanda pake: GS2 ikayatsidwa, mawonekedwe okhazikika amakhala opanda pake. Munjira yopanda pake, gawo loyambira la GS2 siligwira ntchito ndipo laser siili yopepuka.
• Jambulani mode: GS2 ikakhala mu sikani, gawo loyambira limayatsa laser. Pamene GS2 iyamba kugwira ntchito, imapitirizabe samples chilengedwe chakunja ndikuchitulutsa mu nthawi yeniyeni pambuyo pokonza maziko.
• Njira yoyimitsira: Pamene GS2 imayenda ndi zolakwika, monga kuyatsa scanner, laser yazimitsidwa, galimoto siimazungulira, etc.GS2 idzazimitsa mtunda woyezera mtunda ndikuyankha nambala yolakwika.

Mfundo Yoyezera
GS2 ndi lalifupi lalifupi lolimba lomwe lili ndi 25-300mm. Amapangidwa makamaka ndi mzere wa laser ndi kamera. Laser ya mzere umodzi ikatulutsa kuwala kwa laser, imatengedwa ndi kamera. Malinga ndi dongosolo lokhazikika la laser ndi kamera, kuphatikizapo mfundo yoyezera mtunda wa triangulation, tikhoza kuwerengera mtunda kuchokera ku chinthu kupita ku GS2. Malinga ndi magawo owerengeka a kamera, mtengo wamakona wa chinthu choyezedwa mu lidar coordinate system ukhoza kudziwika. Chotsatira chake, tapeza deta yonse yoyezera ya chinthu choyezedwa.

Point O ndiye chiyambi cha ma coordinates, malo ofiirira ndi ngodya ya view ya kamera kumanja, ndi dera lalanje ndi ngodya ya view ya kamera yakumanzere.

Ndi zopumira zama mod monga chiyambi chogwirizanitsa, kutsogolo ndi njira ya ndondomeko ya 0 digiri, ndipo ngodya imawonjezeka motsatira wotchi. Pamene mtambo wa mfundo ukutuluka, dongosolo la deta (S1~S160) ndi L1~L80, R1~R80. Ngongole ndi mtunda wowerengedwa ndi SDK zonse zimayimiriridwa munjira yolumikizirana motsata wotchi.

ZINTHU ZOGWIRITSA NTCHITO

Njira Yolumikizirana
GS2 imalumikizana ndi malamulo ndi data ndi zida zakunja kudzera padoko la serial. Pamene chipangizo chakunja chimatumiza lamulo la dongosolo ku GS2, GS2 imathetsa lamulo la dongosolo ndikubwezeretsanso uthenga woyankha wofanana. Malinga ndi zomwe zili mu lamulo, GS2 imasintha momwe ntchito ikugwiritsidwira ntchito. Kutengera zomwe zili mu uthengawo, dongosolo lakunja limatha kusanthula uthengawo ndikupeza mayankho oyankha.

System Command
Dongosolo lakunja litha kukhazikitsa momwe GS2 ikugwirira ntchito ndikutumiza deta yofananira potumiza malamulo ogwirizana nawo. Malamulo amachitidwe operekedwa ndi GS2 ndi awa:

CHART 1 YDLIDAR GS2 SYSTEM COMMAND

Lamulo la dongosolo	Kufotokozera	Kusintha kwa mode	Kuyankha mode
0 × 60	Kupeza Adilesi Yachipangizo	Imani mode	Yankho limodzi
0 × 61	Kupeza magawo a chipangizo	Imani mode	Yankho limodzi
0 × 62	Kupeza Zambiri Zamtundu	Imani mode	Yankho limodzi
0 × 63	Yambani kupanga sikani ndi linanena bungwe mfundo mtambo deta	Jambulani mode	Kuyankha mosalekeza
0x64 pa	Imitsani chipangizo, siyani kusanthula	Imani mode	Yankho limodzi
0x67 pa	Kuyambiranso kofewa	/	Yankho limodzi
0 × 68	Khazikitsani serial port baud rate	Imani mode	Yankho limodzi
0 × 69	Khazikitsani m'mphepete (anti-noise mode)	Imani mode	Yankho limodzi

Mauthenga a System
Uthenga wamakina ndi uthenga woyankhidwa womwe dongosolo limapereka kutengera dongosolo lomwe adalandira. Malinga ndi malamulo osiyanasiyana a dongosolo, njira yoyankhira ndi zomwe zili mu uthenga wadongosolo ndizosiyana. Pali mitundu itatu yamayankhidwe: osayankha, kuyankha kumodzi, kuyankha mosalekeza.
Palibe yankho limatanthauza kuti dongosolo silibwezera mauthenga aliwonse. Yankho limodzi limasonyeza kuti utali wa uthenga wa dongosolo ndi wochepa, ndipo yankho limatha kamodzi. Dongosololi likakhala ndi zida zingapo za GS2, malamulo ena alandila mayankho kuchokera ku zida zingapo za GS2 motsatizana. Kuyankha mosalekeza kumatanthauza kuti utali wa uthenga wamakina ndi wopandamalire ndipo uyenera kutumiza deta mosalekeza, monga polowa mu sikani.

Yankho limodzi, mayankho angapo ndi mauthenga oyankha mosalekeza amagwiritsa ntchito protocol yofanana ya data. Zomwe zili mu protocol ndi: mutu wa paketi, adilesi ya chipangizo, mtundu wa paketi, kutalika kwa data, gawo la data ndi cheke code, ndipo zimatuluka kudzera pa serial port hexadecimal system.

CHART 2 YDLIDAR GS2 SCHEMATIC DIAGRAM OF SYSTEM MESSAGE DATA PROTOCOL

Mutu wa paketi	Adilesi ya chipangizo	Mtundu wa paketi	Kutalika kwa mayankho	Gawo la data	Onani kodi
4 bati	1 Byte	1 Byte	2 bati	N mabatani	1 Byte

Kusintha kwa Byte

• Paketi yamutu: Mutu wa paketi ya uthenga wa GS2 walembedwa 0xA5A5A5A5AXNUMX.
• Adilesi ya chipangizo: Adilesi ya chipangizo cha GS2, malinga ndi kuchuluka kwa ma cascades, imagawidwa kukhala: 0x01, 0x02, 0x04;
• Mtundu wa paketi: Onani tchati 1 pamitundu yamalamulo adongosolo.
• Kutalika kwa mayankho: Imayimira kutalika kwa yankho
• Gawo la data: Malamulo amachitidwe osiyanasiyana amayankha kuzinthu zosiyanasiyana za data, ndipo ma protocol awo amasiyana.
• Chongani kodi: check kodi.

Zindikirani: Kulumikizana kwa data kwa GS2 kumatengera njira yaying'ono, yotsika poyamba.

DATA PROTOCOL

Pezani Chipangizo Adilesi Command
Chida chakunja chikatumiza lamulo ili ku GS2, GS2 imabweretsa paketi ya adilesi ya chipangizocho, uthengawo ndi:

Mu cascading, ngati zida za N (mpaka 3 zothandizira) zalumikizidwa, lamulolo limabweza mayankho a N pa 0x01, 0x02, 0x04, ofanana ndi ma module 1-3 motsatana.

Tanthauzo: Adilesi ya gawo 1 ndi 0x01, gawo 2 ndi 0x02, ndipo gawo 3 ndi 0x04.

Pezani Version Information Command
Pamene chipangizo chakunja chitumiza lamulo lojambula ku GS2, GS2 imabwezeretsanso zambiri zake. Yankho ndi:

Pankhani ya cascading, ngati N (pazipita 3) zipangizo zikugwirizana mndandanda, lamulo ili adzabwezera N mayankho, kumene adiresi ndi adiresi ya chipangizo chomaliza.
Nambala ya mtundu ndi 3 byte kutalika, ndipo nambala ya SN ndi 16 bytes kutalika.

Pezani Chipangizo Parameter Command
Chida chakunja chikatumiza lamuloli ku GS2, GS2 ibweza zida zake, ndipo uthengawo ndi:

Mu cascading, ngati zida za N (mpaka 3 zothandizidwa) zalumikizidwa, lamulolo limabweza mayankho a N, olingana ndi magawo a chipangizo chilichonse.
Ma K ndi B omwe alandilidwa ndi protocol ndi amtundu wa uint16, womwe umayenera kusinthidwa kukhala mtundu woyandama ndikugawidwa ndi 10000 musanalowe m'malo mwa ntchito yowerengera.

• d_compensateK0 = (float)K0/10000.0f;
• d_compensateB0 = (float)B0/10000.0f;
• d_compensateK1 = (float)K1/10000.0f;
• d_compensateB1 = (float)B1/10000.0f;

Bias ndi mtundu wa int8, womwe umayenera kusinthidwa kukhala mtundu woyandama ndikugawidwa ndi 10 musanalowe m'malo mwa ntchito yowerengera.

• kukondera = (kuyandama) kukondera / 10;

Lamulo

Scan Command

Chida chakunja chikatumiza lamulo la sikani ku GS2, GS2 imalowa m'machitidwe ojambulira ndikumadyetsa mosalekeza data yamtambo. Uthenga ndi: Lamulo latumizidwa: (Tumizani adilesi 0x00, cascade kapena ayi, idzayambitsa zida zonse)

Lamulo lalandilidwa: (M'zochitika zowonongeka, lamulo ili limangobwezera yankho limodzi, ndipo adilesi ndiye adilesi yayikulu kwambiri, yachikaleample: No.3 chipangizo ndi cascaded, ndipo adilesi ndi 0x04.)

Gawo lazidziwitso ndi data yamtambo yomwe imafufuzidwa ndi dongosolo, yomwe imatumizidwa ku doko la serial mu hexadecimal kupita ku chipangizo chakunja malinga ndi dongosolo lotsatirali. Kutalika kwa paketi yonse ndi 322 Bytes, kuphatikizapo 2 Byte ya deta zachilengedwe ndi 160 mfundo zoyambira (S1-S160), iliyonse yomwe ndi 2 Bytes, ma bits 7 apamwamba ndi deta yamphamvu, ndipo ma bits 9 otsika ndi deta yamtunda. . Chigawo ndi mm.

Imani Lamulo

Dongosololi likakhala pakupanga sikani, GS2 yakhala ikutumiza deta yamtambo kumayiko akunja. Kuti muyimitse kusanthula panthawiyi, tumizani lamulo ili kuti muyimitse kusanthula. Pambuyo potumiza lamulo loyimitsa, gawoli lidzayankha lamulo loyankhidwa, ndipo dongosololo lidzalowa m'malo ogona nthawi yomweyo. Pakadali pano, gawo loyambira la chipangizocho lili mumchitidwe wogwiritsa ntchito mphamvu zochepa, ndipo laser imazimitsidwa.

• Kutumiza lamulo: (tumizani adilesi 0x00, ngakhale ikutsitsa kapena ayi, zida zonse zidzatsekedwa).

Pankhani ya cascading, ngati zida za N (maximum 3) zilumikizidwa pamndandanda, lamuloli limangobweza yankho, pomwe adilesi ndi adilesi ya chipangizo chomaliza, kwa ex.ample: ngati zida 3 zatsitsidwa, adilesi ndi 0x04.

Khazikitsani Lamulo la Baud Rate

Pamene chipangizo chakunja chimatumiza lamulo ili ku GS2, mlingo wa baud wa GS2 ukhoza kukhazikitsidwa.

• Lamulo latumizidwa: (kutumiza adilesi 0x00, kumangothandizira kuyika kuchuluka kwa baud pazida zonse zoseweredwa kuti zikhale zofanana), uthengawo ndi:

Pakati pawo, gawo la data ndi gawo la baud rate, kuphatikiza mitengo inayi ya baud (bps), motsatana: 230400, 512000, 921600, 1500000 yofanana ndi code 0-3 (chidziwitso: kulumikizana kwa seriyo magawo atatu kuyenera kukhala ≥921600, kusakhulupirika ndi 921600).

Pankhani ya cascading, ngati zida za N (zothandizira kwambiri 3) zidalumikizidwa motsatizana, lamulo lidzabwezera mayankho a N, olingana ndi magawo a chipangizo chilichonse, ndipo ma adilesi ndi: 0x01, 0x02, 0x04.

• Pambuyo anapereka mlingo wa baud, muyenera zofewa kuyambitsanso chipangizo.

Khazikitsani M'mphepete (Mawonekedwe amphamvu odana ndi jamming)
Pamene chipangizo chakunja chimatumiza lamulo ili ku GS2, njira yotsutsa-jamming ya GS2 ikhoza kukhazikitsidwa.

• Kutumiza lamulo: (kutumiza adilesi, adilesi ya cascade), uthenga ndi:

lamulani kulandira

Adilesi ndi adilesi ya gawo lomwe likufunika kukonzedwa mu ulalo wa cascade. Mode = 0 imagwirizana ndi njira yokhazikika, Mode = 1 imagwirizana ndi m'mphepete (chotengera choyang'ana mmwamba), Mode = 2 imagwirizana ndi m'mphepete (chotengera choyang'ana pansi). M'mphepete mwake, kutulutsa kokhazikika kwa lidar ndi 10HZ, ndipo kusefa kwa kuwala kozungulira kudzakulitsidwa. Mode=0XFF imatanthauza kuwerenga, lidar idzabwerera kumayendedwe apano. Lidar imagwira ntchito mwachizolowezi.

• Khazikitsani gawo 1: Adilesi = 0x01
• Khazikitsani gawo 2: Adilesi = 0x02
• Khazikitsani gawo 3: Adilesi = 0x04

System Reset Command
Pamene chipangizo chakunja chitumiza lamulo ili ku GS2, GS2 idzalowetsamo kuyambiranso kofewa, ndipo dongosolo lidzayambiranso ndikuyambiranso.
Kutumiza kwalamulo: (kutumiza adilesi, ikhoza kukhala adilesi yeniyeni: 0x01/0x02/0x04)

Adilesi ndi adilesi ya gawo lomwe likufunika kukonzedwa mu ulalo wa cascade.

• Bwezeretsani gawo 1: Adilesi = 0x01
• Bwezeretsani gawo 2: Adilesi = 0x02
• Bwezeretsani gawo 3: Adilesi = 0x04

KUSANGALALA KWA DATA

CHART 3 DATA STRUCTURE DESCRIPTION

Zamkatimu	Dzina	Kufotokozera
K0(2B)	Magawo azida	(uint16) Koyefiyeti ya ngodya ya kamera yakumanzere k0 (onani gawo 3.3)
B0(2B)	Magawo azida	(uint16) Koyefiyeti ya ngodya ya kamera yakumanzere k0 (onani gawo 3.3)
K1(2B)	Magawo azida	(uint16) Koyefiyeti ya ngodya ya kamera yakumanja k1 (onani gawo 3.3)
B1(2B)	Magawo azida	(uint16) Mbali yolondola ya ngodya ya kamera b1 coefficient (onani gawo 3.3)
ZABWINO	Magawo azida	(int8) Makamera apano a parameter bias coefficient (onani gawo 3.3)
ENV(2B)	Deta ya chilengedwe	Kuchuluka kwa kuwala kozungulira
Si(2B)	Deta yoyezera mtunda	Ma bits 9 otsika ndi mtunda, ma bits 7 apamwamba ndi ofunika kwambiri

• Kusanthula mtunda
  Njira yowerengera mtunda: Mtunda = (_ ≪ 8|_) &0x01ff, unit ndi mm.
  Kuwerengera mphamvu: Ubwino = _ ≫ 1
• Kusanthula kwa ngodya
  Kuwongolera kwa mpweya wa laser kumatengedwa ngati kutsogolo kwa sensa, kuwonetsera kwapakati pa laser bwalo pa ndege ya PCB kumatengedwa ngati chiyambi cha makonzedwe, ndipo polar coordinate system imakhazikitsidwa ndi mzere wamba wa ndege ya PCB. 0-degree malangizo. Potsatira njira ya wotchi, ngodya imawonjezeka pang'onopang'ono.

Kuti mutembenuzire deta yoyambirira yofalitsidwa ndi Lidar ku dongosolo logwirizanitsa mu chithunzi pamwambapa, mawerengedwe angapo amafunikira. Ntchito yotembenuza ili motere (kuti mudziwe zambiri, chonde onani SDK):

Onani kusanthula kwa code
Khodi ya chekeni imagwiritsa ntchito kusonkhanitsa kwa-byte imodzi kuti muwone paketi yamakono. Mutu wa paketi ya XNUMX-byte ndi cheke khodi palokha sizitenga nawo gawo pa cheke. Njira yothetsera vutoli ndi:

• CheckSum = ADD1 ()
• = 1,2, XNUMX, ...,

ADD1 ndiye njira yophatikizira, imatanthawuza kusonkhanitsa manambala kuchokera ku subscript 1 mpaka kumapeto.

OTA UPGRADE

Kupititsa patsogolo ntchito

Tumizani Protocol

CHART 4 ​​OTA DATA PROTOCOL FORMAT (ENDIAN YANG'ono)

Parameter	Utali (BYTE)	Kufotokozera
Paketi_Header	4	Paketi yapaketi yamutu, yokhazikika ngati A5A5A5A5
Chipangizo_Adilesi	1	Imatchula adilesi ya chipangizocho
Paketi_ID	1	ID ya paketi ya data (mtundu wa data)

Data_Len	2	Kutalika kwa data pagawo la data, 0-82
Deta	n	Data, n = Data_Len
Onani_Sum	1	Checksum, cheke cha ma byte otsalawo mutu utachotsedwa

CHART 5 OTA UPGRADE MALANGIZO

Mtundu wa malangizo	Paketi_ID	Kufotokozera
Yambani_IAP	0x0A	Tumizani lamulo ili kuti muyambitse IAP mukatha kuyatsa
Kuthamanga_IAP	0x0B	Thamangani IAP, tumizani mapaketi
Complete_IAP	Zamgululi	Mapeto a IAP
ACK_IAP	0x20 pa	Yankho la IAP
RESET_SYSTEM	0x67 pa	Bwezerani ndikuyambitsanso gawoli pa adilesi yotchulidwa

Start_IAP Malangizo

Lamula kutumiza

• Mtundu wa data wagawo:
• Zambiri[0~1]: Zosasintha ndi 0x00;
• DATA[2-17]: Ndi nambala yotsimikizira zilembo:
• 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
• Onaninso kutumiza uthenga
• A5 A5 A5 A5 01 0A 12 00 00 00 73 74 61 72 74 20 64 6F 77 6E 6C 6F 61 64 00 00 C3

Landirani lamulo: Chifukwa cha magwiridwe antchito a gawo la FLASH, kuchedwa kubweza kumakhala kwanthawi yayitali ndipo kumasinthasintha pakati pa 80ms ndi 700ms)

Landirani mtundu wa data

• Adilesi: adilesi ya module;
• ACK: Zosasintha ndi 0x20, kusonyeza kuti paketi ya data ndi paketi yovomereza; Deta[0~1]: Zosasintha ndi 0x00;
• Zambiri[2]: 0x0A ikuwonetsa kuti lamulo loyankha ndi 0x0A;
• Zambiri[3]: 0x01 ikuwonetsa kulandila kwabwinobwino, 0 ikuwonetsa kulandila kwachilendo;
• Zoyenera kulandira:
  A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30

Running_IAP Malangizo

Lamula kutumiza

Firmware idzagawanika pakukweza, ndipo ma byte awiri oyamba a gawo la data (Deta) akuwonetsa kuchotsedwa kwa gawo ili la data pokhudzana ndi byte yoyamba ya firmware.

• Zambiri[0~1]:Package_Shift = Deta[0]+ Deta[1]*256;
• Zambiri[2]~Data[17]: ndi nambala yotsimikizira ya chingwe chokhazikika:
• 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: Firmware data;
• Onaninso kutumiza uthenga
• A5 A5 A5 A5 01 0B 52 00 00 00 64 6F 77 6E 6C 6F 61 64 69 6E 67 00 00 00 00 00 +
  (Deta[18]~Data[81]) + Check_Sum

Lamulani kulandira

• Adilesi: indi adilesi ya module;
• ACK: Zosasintha ndi 0x20, kusonyeza kuti paketi ya data ndi paketi yovomereza;

Zambiri[0~1] : Package_Shift = Deta[0]+ Data[1]*256 ikuwonetsa kusintha kwa data ya firmware pakuyankha. Ndikofunikira kuweruza kuchotserako ngati njira yodzitetezera pozindikira kuyankha panthawi yokweza.

• Deta[2]=0x0B ikuwonetsa kuti lamulo loyankha ndi 0x0B;
• Deta[3]=0x01 imasonyeza kulandiridwa kwabwino, 0 imasonyeza kulandiridwa kwachilendo;

Tanthauzo la kulandira
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31

Complete_IAP Malangizo

Lamula kutumiza

• Zambiri[0~1]: Zosasintha ndi 0x00;
• Zambiri[2]~Data[17]: Ndi nambala yotsimikizira ya chingwe chokhazikika:
  0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Zambiri[18]~Data[21]: mbendera ya encryption, uint32_t mtundu, fimuweya encrypted ndi 1, fimuweya non-encrypted ndi 0;

Onani kutumiza uthenga:
A5 A5 A5 A5 01 0C 16 00 00 00 63 6F 6D 70 6C 65 74 65 00 00 00 00 00 00 00 00 + (uint32_t encryption mbendera) + Check_Sum

Lamulani kulandira

• Landirani mtundu wa data:
• Adilesi: ndi adilesi ya module;
• ACK: Zosasintha ndi 0x20, kusonyeza kuti paketi ya data ndi paketi yovomereza;
• Zambiri[0~1]: Zosasintha ndi 0x00;
• Zambiri[2]: 0x0C ikuwonetsa kuti lamulo loyankha ndi 0x0C;
• Zambiri[3]: 0x01 ikuwonetsa kulandila kwabwinobwino, 0 ikuwonetsa kulandila kwachilendo;
• Onani uthenga womwe walandilidwa:
  A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32

RESET_SYSTEM Malangizo
Chonde onani Mutu 3.8 System Reset Command kuti mumve zambiri.

Q&A

• Q: Kodi kuweruza bwererani bwino pambuyo kutumiza bwererani lamulo? Kaya kuchedwa kukufunika?
  • A: Kuchita bwino kumatha kuweruzidwa molingana ndi paketi yoyankhira ya lamulo lokhazikitsanso; tikulimbikitsidwa kuti muwonjezere kuchedwa kwa 500ms mutalandira yankho musanagwire ntchito zotsatila.
• Q: Module 4 imalandira deta ina ya doko yomwe sikugwirizana ndi ndondomeko pambuyo pokonzanso, momwe mungachitire?
  • A: Mphamvu-pa chipika cha module ndi chingwe cha data ya ASCII yokhala ndi mitu ya 4 0x3E, zomwe sizimakhudza kuphatikizika kwanthawi zonse ndi mitu ya 4 0xA5, ndipo zitha kunyalanyazidwa. Chifukwa cha chiyanjano chakuthupi, zipika za No. 1 ndi No. 2 ma modules sangathe kulandiridwa.
• Q: Momwe mungachitire ngati njira yosinthira ikusokonezedwa ndi kulephera kwamagetsi ndikuyambiranso?
  • A: Tumizaninso lamulo la Start_IAP kuti mukonzenso.
• Q: Kodi ndichifukwa chiyani chomwe chikupangitsa kuti ntchito yokwezeka movutikira m'dera la cascade ndi chiyani?
  • A: Tsimikizirani ngati ulalo wakuthupi uli wolondola, monga ngati data yamtambo ya mfundo zitatu ingalandilidwe;
  • Tsimikizirani kuti ma adilesi a ma module atatuwa sakusemphana, ndipo mutha kuyesanso kugawa ma adilesi;
  • Bwezeretsani gawo kuti likwezedwe ndikuyambiranso kuyesa;
• Q: Chifukwa chiyani nambala yowerengedwa 0 pambuyo pakukweza kwa cascade?
  • A: Zimatanthawuza kuti kukweza kwa module sikukuyenda bwino, ogwiritsa ntchito ayenera kubwezeretsanso gawoli ndikukwezanso.

Tcherani khutu

1. Panthawi yolumikizana ndi GS2, kupatulapo lamulo loyimitsa scan, malamulo ena sangathe kulumikizidwa mumayendedwe ojambulira, omwe angapangitse kuti uthengawo ukhale wolakwika.
2. GS2 sidzangoyamba zokha mphamvu ikayatsidwa. Iyenera kutumiza lamulo loyambira kuti lilowe mumayendedwe. Mukafunika kuyimitsa kusuntha, tumizani lamulo loyimitsa kuti musiye kusanthula ndikulowa mumagonedwe.
3. Yambitsani GS2 nthawi zonse, njira yomwe tikulimbikitsidwa ndi:
   Gawo loyamba:
   tumizani lamulo la Pezani Adilesi ya Chipangizo kuti mutenge adilesi ya chipangizochi komanso kuchuluka kwa ma cascades, ndikukonzekera adilesi;
   Gawo lachiwiri:
   tumizani lamulo la get version kuti mupeze nambala yamtunduwu;
   Gawo lachitatu:
   tumizani lamulo kuti mupeze magawo a chipangizo kuti mupeze magawo angodya ya chipangizocho kuti mufufuze deta;
   Gawo lachinayi:
   tumizani lamulo loyambira kuti mupeze deta yamtambo.
4. Malingaliro pakupanga zida zopatsira kuwala kwa mawindo a GS2:
   Ngati zenera lakutsogolo lakutsogolo lidapangidwa kuti likhale la GS2, tikulimbikitsidwa kugwiritsa ntchito PC ya infrared-permeable ngati zida zake zotumizira kuwala, ndipo malo opatsira kuwala amayenera kukhala athyathyathya (flatness ≤0.05mm), ndi madera onse ndege iyenera kukhala yowonekera mu gulu la 780nm mpaka 1000nm. Kuwala kowala ndi kwakukulu kuposa 90%.
5. Njira yogwiritsiridwa ntchito yosinthira GS2 mobwerezabwereza kuyatsa ndi kuyimitsa bolodi:
   Kuti muchepetse kugwiritsa ntchito mphamvu pa bolodi loyendetsa, ngati GS2 ikufunika kuyatsidwa ndikuzimitsa mobwerezabwereza, tikulimbikitsidwa kutumiza lamulo loyimitsa (onani gawo 3.5) musanayambe kuzimitsa, kenako konzani TX ndi RX ya Navigation board kupita ku high impedance. Kenako kokerani VCC otsika kuti muzimitsa. Nthawi ina mphamvu ikayatsidwa, choyamba kokani VCC, kenaka sinthani TX ndi RX ngati zotulutsa zanthawi zonse ndi zolowetsa, ndiyeno mukachedwetsa 300ms, tsatirani malamulo ndi laser mzere.
6. Pafupifupi nthawi yodikirira yodikirira pambuyo poti lamulo lililonse la GS2 litumizidwa:
   • Pezani adilesi: kuchedwa 800ms, pezani mtundu: kuchedwa 100ms;
   • Pezani magawo: kuchedwa 100ms, yambani kusanthula: kuchedwa 400ms;
   • Lekani kupanga sikani: kuchedwa 100ms, ikani baud mlingo: kuchedwa 800ms;
   • Khazikitsani m'mphepete: kuchedwa 800ms, yambani OTA: kuchedwa 800ms;

KHALANI

Tsiku	Baibulo	Zamkatimu
2019-04-24	1.0	Pangani chojambula choyamba
2021-11-08	1.1	Sinthani (Sinthani dongosolo la protocol kuti muphatikize data ya kamera yakumanzere ndi yakumanja; Malingaliro owonjezera mawonekedwe azenera; Kuwonjezera kuchuluka kwa baud kukhazikitsa lamulo)
2022-01-05	1.2	Sinthani mafotokozedwe olandila a lamulo kuti mupeze adilesi ya chipangizocho, komanso kufotokozera makamera akumanzere ndi kumanja
2022-01-12	1.3	Onjezani m'mphepete, kuwonjezera K, B, kufotokozera kuwerengera kwa BIAS
2022-04-29	1.4	Sinthani kufotokozera kwa mutu 3.2: Obtain Version Information Command
2022-05-01	1.5	Sinthani njira yosinthira adilesi ya lamulo loyambitsanso lofewa
2022-05-31	1.6	1) Kusintha gawo 3.7 2) Gawo 3.8 RESET lamulo limawonjezera yankho limodzi 3) Wowonjezera Mutu 5 kukweza kwa OTA
2022-06-02	1.6.1	1) Sinthani kayendedwe ka ntchito ka OTA 2) Sinthani Q&A ya OTA

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Zolemba / Zothandizira

YDLIDAR GS2 DEVELOPMENT Linear Array Solid LiDAR Sensor [pdf] Buku Logwiritsa Ntchito GS2 DEVELOPMENT Linear Array Solid LiDAR Sensor, GS2 DEVELOPMENT, Linear Array Solid LiDAR Sensor, Array Solid LiDAR Sensor, Solid LiDAR Sensor, LiDAR Sensor, Sensor

Maumboni

• Buku Logwiritsa Ntchito