VL53L8CX Sensor Module
User Manual
Nhanganyaya
Chinangwa chebhuku rino remushandisi ndechekutsanangura mabatiro eVL53L8X Nguva-ye-Ndege (ToF) sensor, uchishandisa iyo yekupedzisira lite driver (ULD) API. Inotsanangura mabasa makuru ekuronga mudziyo, macalibrations, uye zvinobuda.
Zvichienderana neiyo ST's FlightSense tekinoroji, iyo VL53L8CX inosanganisira inoshanda metasurface lens (DOE) yakaiswa pane laser emitter inogonesa fungidziro ye45° x 45° square FoV panzvimbo.
Yayo multizone kugona inopa matrix ye8 × 8 nzvimbo (64 zone) uye inogona kushanda nekumhanya mhanya (60 Hz) kusvika 400 cm.
Kutenda kune inozvimiririra modhi ine programmable chinhambwe chikumbaridzo, iyo VL53L8CX yakanakira chero application inoda yakaderera-simba mushandisi kuona. ST's patented algorithms uye innovative module kuvaka inobvumira iyo VL53L8CX kuona, munzvimbo yega yega, zvinhu zvakawanda mukati meFoV nekunzwisisa kwakadzama. ST histogram algorithms inovimbisa kuvhara girazi crosstalk kusadzivirirwa kupfuura 60 cm.
Kufanana nemasensa ese eTime-ye-Ndege (ToF) akavakirwa paST's FlightSense tekinoroji, iyo VL53L8CX inorekodha, munharaunda yega yega, chinhambwe chakakwana zvisinei neruvara rwakananga uye kutaridzika.
Yakavakirwa mudiki diki reflowable package inobatanidza SPAD array, iyo VL53L8CX inowana yakanakisa kuita kwekuita mumamiriro akasiyana-siyana ekuvhenekesa ambient, uye neyakasiyana siyana yekuvhara magirazi emidziyo.
Yese yeST's ToF sensors inobatanidza VCSEL iyo inoburitsa isingaonekwe zvizere 940 nm IR mwenje, iyo yakachengeteka zvachose kumaziso (Kirasi 1 chitupa).
Acronyms uye zvipfupiso
| Acronym/kupfupisa | Tsanangudzo |
| DOE | diffractive optical element |
| FoV | munda we view |
| I2C | inter-integrated circuit (serial bhazi) |
| Kcps/SPAD | Kilo-kuverenga pasekondi pa spad (chikamu chinoshandiswa kuyera iyo nhamba yemafotoni muSPAD array) |
| RAM | random kuwana ndangariro |
| SCL | serial wachi mutsetse |
| SDA | serial data |
| SPAD | single photon avalanche diode |
| ToF | Nguva-yeNdege |
| ULD | Ultra lite driver |
| VCSEL | vertical cavity surface emitting diode |
| Xtalk | crosstalk |
Tsanangudzo inoshanda
2.1 Sistimu yaperaview
Iyo VL53L8CX sisitimu inoumbwa nehardware module uye iyo yekupedzisira lite driver software (VL53L8CX ULD) inomhanya pane muenzi (ona mufananidzo pazasi). Iyo hardware module ine ToF sensor. STMicroelectronics inopa mutyairi wesoftware, uyo anonzi mugwaro iri "mutyairi". Gwaro iri rinotsanangura mabasa emutyairi, ayo anowanikwa kune mubati. Aya mabasa anodzora sensor uye kuwana data rakasiyana.
2.2 Kutungamira kunoshanda
Iyo module inosanganisira lens pamusoro peiyo RX aperture, iyo inotenderera (yakatwasuka uye yakatwasuka) mufananidzo wakatorwa wechinangwa. Nekuda kweizvozvo, iyo zone inotaridzwa sezone 0, muzasi kuruboshwe kweSPAD array, inovhenekerwa nechinangwa chiri kumusoro kurudyi rwechiitiko.
2.3 Schematics uye I2C/SPI kumisikidza
Kukurukurirana pakati pemutyairi uye firmware inobatwa neI2C kana SPI. Iyo yakanyanya kugona yeI2C ndeye 1 MHz, uye iyo yakanyanya kugona yeSPI ndeye 20 MHz. Kuitwa kweimwe neimwe nzira yekutaurirana kunoda kudhonza kumusoro sekutsanangurwa kwazvino muVL53L8CX dheteti.
Iyo VL53L8CX mudziyo une default I2C kero ye0x52. Nekudaro, zvinogoneka kushandura kero yekusagadzikana kudzivirira kunetsana nemimwe michina, kana kufambisa kuwedzera akawanda VL53L8CX modules kune system kune yakakura system FoV. I2C kero inogona kuchinjwa uchishandisa vl53l8cx_set_i2c_address() basa. Kuti ushandise iyo SPI, iyo multisensor ine waya uchishandisa yakazvimiririra yevaranda kumisikidzwa (iyo NCS pini).
Kubvumira mudziyo kuita kuti I2C kero ichinje pasina kukanganisa vamwe paI2C bhazi, zvakakosha kuti
dzima iyo I2C kutaurirana kwemidziyo isiri kuchinjwa. Nzira yacho ndeiyi:
- Simba up system seyakajairika.
- Dhonza pini yeLPn yemudziyo usingazoshandurwe kero yayo.
- Dhonza pini yeLPn yemudziyo une kero yeI2C yachinjwa.
- Ronga iyo I2C kero kune mudziyo uchishandisa basa set_i2c_address() basa.
- Dhonza pini yeLPn yemudziyo usiri kurongwazve.
Zvese zvishandiso zvino zvinofanirwa kuwanikwa paI2C bhazi. Dzokorora matanho ari pamusoro kune ese maturusi ari musystem anoda kero itsva yeI2C.
Package content uye data flow
3.1 Mutyairi dhizaini uye zvirimo
Iyo VL53L8CX ULD package inoumbwa nemaforodha mana. Mutyairi ari mufolda /VL53L8CX_ULD_API.
Mutyairi anoumbwa nekusungirwa uye sarudzo files. Optional files vari plugins inoshandiswa kuwedzera ULD maitiro.
Imwe neimwe plugin inotanga neshoko rekuti "vl53l8cx_plugin" (semuenzaniso vl53l8cx_plugin_xtalk.h). Kana mushandisi asingadi zvakarongwa plugins, anogona kubviswa pasina kukanganisa mamwe madhiraivha maficha. Nhamba inotevera inomiririra inosungirwa files uye sarudzo plugins.
Cherechedza:
Mushandisi anofanirawo kuita maviri files iri mu/Platform folda. Nzvimbo yakarongwa igoko risina chinhu, uye inofanira kuzadzwa nemabasa akazvipira.
Platform.h file ine macros anosungirwa kushandisa iyo ULD. Zvese file zvemukati zvinosungirwa kushandisa nemazvo ULD.
3.2 Calibration kuyerera
Crosstalk (Xtalk) inotsanangurwa sehuwandu hwechiratidzo chakagamuchirwa pane SPAD array, iyo inokonzerwa neVCSEL chiedza chekuratidzira mukati mewindo rekudzivirira (girazi rekuvhara) rakawedzerwa pamusoro pe module. Iyo VL53L8CX module yakazvimisikidza, uye inogona kushandiswa pasina imwe yekuwedzera calibration.
Xtalk calibration inogona kudikanwa kana module yakadzivirirwa negirazi rekuvhara. Iyo VL53L8CX haina kudzivirirwa kuXtalk kupfuura 60 cm nekuda kwehistogram algorithm. Nekudaro, pazvinhambwe zvishoma pazasi 60 cm, Xtalk inogona kunge yakakura kupfuura iyo chaiyo yakadzoserwa chiratidzo. Izvi zvinopa chinangwa chenhema kuverenga kana kuita kuti zvinangwa zvioneke zviri padyo kupfuura zvavari chaizvo. Ese Xtalk calibration mabasa anosanganisirwa muXtalk plugin (sarudzo). Mushandisi anofanira kushandisa iyo file 'vl53l8cx_plugin_xtalk'.
Iyo Xtalk inogona kuverengerwa kamwe chete, uye data inogona kuchengetwa saka inogona kushandiswa zvakare gare gare. Chinangwa chiri chinhambwe chakatarwa, chine ratidziro inozivikanwa inodiwa. Hurefu hudiki hunodiwa i600 mm, uye chinangwa chinofanira kuvhara FoV yese. Zvichienderana nekuseta, mushandisi anogona kugadzirisa marongero kuitira kugadzirisa iyo Xtalk calibration, sezvakarongwa mutafura inotevera.
Tafura 1. Zvirongwa zviripo zvekugadzirisa
| Setting | Min | Proposed by STMicroelectronics |
Max |
| Distance [mm] | 600 | 600 | 3000 |
| Nhamba yesamples | 1 | 4 | 16 |
| Reflectance [%] | 1 | 3 | 99 |
Cherechedza:
Kuwedzera nhamba yesampLes inowedzera kurongeka, asi inowedzerawo nguva yekuenzanisa. Nguva inoenderana nenhamba yesamples is linear, uye tsika dzinotevera fungidziro yekupedza nguva:
- 1 pample ≈ 1 sekondi
- 4 pampzvishoma ≈ 2.5 masekondi
- 16 pampzvishoma ≈ 8.5 masekondi
Iyo calibration inoitwa uchishandisa basa vl53l8cx_calibrate_xtalk(). Ichi chishandiso chinogona kushandiswa chero nguva.
Nekudaro, iyo sensor inofanirwa kutanga yatangwa. Iyi inotevera nhamba inomiririra xtalk calibration kuyerera.
Mufananidzo 7. Xtalk calibration flow
3.3 Kuyerera kwemavara
Mufananidzo unotevera unomiririra kuyerera kwepakati kunoshandiswa kuwana kuyerwa. Xtalk calibration uye sarudzo dzekuita mafoni dzinofanirwa kushandiswa usati watanga chikamu chekufamba. Iwo tora/seta mabasa haagone kushandiswa panguva yechikamu, uye 'on-the-fly' chirongwa hachitsigirwe.
Available features
Iyo VL53L8CX ULD API inosanganisira akati wandei mabasa, ayo anobvumira mushandisi kurongedza sensor, zvichienderana nenyaya yekushandisa. Mabasa ese aripo emutyairi akanyorwa muzvikamu zvinotevera.
4.1 Kutanga
Kutanga kunofanirwa kuitwa usati washandisa iyo VL53L8CX sensor. Kushanda uku kunoda kuti mushandisi a:
- Simba pa sensor (VDDIO, AVDD, CORE_1V8, uye mapini eLPn akaiswa kuPamusoro
- Fonera basa vl53l8cx_init(). Basa racho rinokopa firmware (~ 84 Kbytes) kune module. Izvi zvinoitwa nekuisa kodhi pamusoro peiyo I2C/SPI interface, uye kuita bhutsu routine kuti upedze kutanga.
4.2 Sensor reset manejimendi
Kuti usete zvakare mudziyo, mapini anotevera anoda kuchinjwa:
- Isa mapini eVDDIO, AVDD, uye CORE_1V8 kusvika pasi.
- Mirira 10 ms.
- Isa mapini VDDIO, AVDD, uye CORE_1V8 mapini kusvika kumusoro.
Cherechedza:
Kuchinja chete I2C_RST pini kunogadzirisa kutaurirana kweI2C.
4.3 Chisarudzo
Sarudzo inoenderana nehuwandu hwenzvimbo dziripo. Iyo VL53L8CX sensor ine maviri anogona kugadziriswa: 4 × 4 (16 zone) uye 8 × 8 (64 nzvimbo). Nekusagadzikana sensor inorongwa mu4 × 4.
Basa vl53l8cx_set_resolution () rinobvumira mushandisi kuchinja sarudzo. Sezvo kuwanda kwe frequency kunoenderana nekugadziriswa, basa iri rinofanirwa kushandiswa risati ragadziridza ma frequency. Zvakare, kushandura gadziriso inowedzerawo saizi yetraffic paI2C/SPI bhazi kana mhedzisiro yaverengwa.
4.4 Range frequency
Range frequency inogona kushandiswa kushandura kuyerwa frequency. Sezvo huwandu hwehuwandu hwakasiyana pakati pe4 × 4 uye 8 × 8 zvisarudzo, basa iri rinoda kushandiswa mushure mekusarudza sarudzo. Hushoma uye huwandu hunotenderwa hunotenderwa hwakanyorwa mutafura inotevera.
Tafura 2. Minimum uye yakanyanya kusimuka mafrequency
| Resolution | Min range frequency [Hz] | Kuwanda kwema frequency [Hz] |
| 4×4 | 1 | 60 |
| 8×8 | 1 | 15 |
Range frequency inogona kuvandudzwa uchishandisa basa vl53l8cx_set_ranging_frequency_hz(). Nekusagadzikana, iyo frequency frequency inoiswa ku1 Hz.
4.5 Kutarisa maitiro
Range modhi inobvumira mushandisi kusarudza pakati pekubva mukuita kwepamusoro kana kuderera kwesimba rekushandisa.
Pane nzira mbiri dzakarongwa:
- Inoenderera: Chishandiso chinoramba chichibata mafuremu ane frequency inotsanangurwa nemushandisi. Iyo VCSEL inogoneswa panguva yese yekufamba, saka kureba kubva kure uye ambient kusadzivirirwa kuri nani. Iyi modhi inorayirwa kuti iite zviyero zvekukurumidza kana kuita kwepamusoro.
- Autonomous: Iyi ndiyo default mode. Chishandiso chinoramba chichibata mafuremu ane frequency inotsanangurwa nemushandisi. VCSEL inogoneswa panguva inotsanangurwa nemushandisi, uchishandisa basa vl53l8cx_set_integration_time_ms(). Sezvo iyo VCSEL isiri nguva dzose inogoneswa, simba rekushandisa rinoderedzwa. Mabhenefiti anonyanya kuoneka nekuderedzwa kwakawanda. Iyi modhi inorayirwa kune yakaderera magetsi maapplication.
Iyo yekutenderera modhi inogona kuchinjwa uchishandisa basa vl53l8cx_set_ranging_mode ().
4.6 Nguva yekubatanidza
Nguva yekubatanidza chinhu chinongowanikwa uchishandisa Autonomous inotangira modhi (tarisa Chikamu 4.5 Kutarisa maitiro).
Inobvumira mushandisi kuchinja nguva apo VCSEL inogoneswa. Kuchinja nguva yekubatanidza kana Ranging modhi yakaiswa kuti ienderere mberi haina mhedzisiro. Iyo yekusarudzika yekubatanidza nguva yakaiswa kune 5 ms.
Mhedzisiro yenguva yekubatanidza yakasiyana kune 4 × 4 uye 8 × 8 sarudzo. Resolution 4 × 4 inoumbwa nenguva imwe yekubatanidza, uye 8 × 8 resolution inoumbwa neina nguva dzekubatanidza. Nhamba dzinotevera dzinomiririra kuburitswa kweVCSEL kune zvese zvakagadziriswa.
Huwandu hwenguva dzese dzekubatanidza + 1 ms pamusoro inofanira kunge yakaderera pane yekuyera nguva. Zvikasadaro nguva yekufamba inowedzerwa otomatiki.
4.7 Power modes
Masimba emagetsi anogona kushandiswa kuderedza kushandiswa kwesimba kana mudziyo usingashandiswe. Iyo VL53L8CX inogona kushanda mune imwe yeanotevera magetsi modhi:
- Kumuka-Kumuka: Chishandiso chakaiswa muHP isina basa (yakakwirira simba), ichimirira mirairo.
- Kurara: Chishandiso chakaiswa muLP isina basa (yakaderera simba), iyo yakaderera simba mamiriro. Chishandiso hachigone kushandiswa kusvika chaiswa mukumuka-modhi. Iyi modhi inochengeta iyo firmware uye nekumisikidza.
Iyo magetsi modhi inogona kuchinjwa uchishandisa basa vl53l8cx_set_power_mode (). Iyo default mode ndeye kumuka.
Cherechedza:
Kana mushandisi achida kushandura maitiro emagetsi, chishandiso hachifanirwe kunge chiri munzvimbo inotenderera.
4.8 Sharpener
Chiratidzo chakadzoserwa kubva kune chinangwa hachisi puruzi yakachena ine micheto inopinza. Mipendero yacho inotsvedza uye inogona kukanganisa madaro anotaurwa munzvimbo dziri pedyo. Iyo inopinza inoshandiswa kubvisa chimwe kana chese chechiratidzo chinokonzerwa nekuvhara kupenya.
The exampLe inoratidzwa mumufananidzo unotevera inomiririra chinangwa chepedyo pa 100 mm chakananga muFoV, uye chimwe chinangwa, chiri kumashure pa500 mm. Zvichienderana nehuwandu hwekupinza, chinangwa chepedyo chinogona kuoneka munzvimbo dzakawanda kupfuura chaiyo.
Mufananidzo 11. Example yechiitiko uchishandisa akati wandei anopinza kukosha
Sharpener inogona kuchinjwa uchishandisa basa vl53l8cx_set_sharpener_percent(). Izvo zvinotenderwa zvakakosha zviri pakati pe0% ne99%. Iko kukosha kwekutanga ndeye 5%.
4.9 Target order
Iyo VL53L8CX inogona kuyera akati wandei nhanho panharaunda. Nekuda kweiyo histogram processing, mugamuchiri anokwanisa kusarudza kurongeka kwezvakarehwa zvinangwa. Pane zvingasarudzwa zviviri:
- Pedyo-pedyo: Chinangwa chepedyo ndechekutanga kushumwa
- Yakasimba kwazvo: Chinangwa chakasimba ndechekutanga kushumwa
Kurongeka kwechinangwa kunogona kuchinjwa uchishandisa basa vl53l8cx_set_target_order(). The default order is Strongest.
The example mumufananidzo unotevera unomiririra kuonekwa kwezvinangwa zviviri. Imwe pa100 mm ine ratidziro yakaderera, uye imwe pa700 mm ine ratidziro yepamusoro.
4.10 Zvinangwa zvakawanda panharaunda
Iyo VL53L8CX inogona kuyera kusvika kune mana nhanho panharaunda. Mushandisi anogona kugadzirisa nhamba yezvinangwa zvakadzoserwa ne sensor.
Cherechedza:
Chinhambwe chepakati pakati pezvinangwa zviviri zvichaonekwa ndeye 600 mm.
Kusarudzwa hakugoneki kubva kumutyairi; zvinofanirwa kuitwa mu 'platform.h' file. The macro
VL53L8CX_NB_ TARGET_PER_ZONE inoda kusetwa kuukoshi huri pakati pe1 ne4. The target order inotsanangurwa muChikamu 4.9 Kurongeka kwechinangwa kunokanganisa zvakananga kurongeka kwechinangwa chaonekwa. Nekumisikidza, iyo sensor inongoburitsa huwandu hwechinangwa chimwe chete panharaunda.
Cherechedza:
Nhamba yakawedzera yezvinangwa pazone inowedzera inodiwa RAM saizi.
4.11 Xtalk margin
Iyo Xtalk margin ndechimwe chinhu chekuwedzera chinongowanikwa uchishandisa plugin Xtalk. The .c uye .f files 'vl53l8cx_plugin_xtalk' inoda kushandiswa.
Iyo margin inoshandiswa kushandura chikumbaridzo chekuona kana girazi rekuvhara riripo pamusoro pe sensor. Iyo chikumbaridzo inogona kuwedzerwa kuve nechokwadi chekuti girazi rekuvhara harina kumboonekwa, mushure mekuisa Xtalk calibration data.
For example, mushandisi anogona kumhanyisa Xtalk calibration pane imwe chete mudziyo, uye shandisa zvakare yakafanana calibration data kune ese maturusi. Iyo Xtalk margin inogona kushandiswa kugadzirisa iyo Xtalk kururamisa. Mufananidzo uri pazasi unomiririra iyo Xtalk margin.
Mufananidzo 13. Xtalk margin
4.12 Mabatiro ekuona
Pamusoro peiyo yenguva dzose yekugonesa kugona, iyo sensor inogona kurongwa kuti ione chinhu pasi pemamwe maitiro akafanotsanangurwa. Ichi chimiro chinowanikwa uchishandisa plugin "detection thresholds", inova sarudzo isingabatanidzwe nekusarudzika muAPI. The files inonzi 'vl53l8cx_plugin_detection_thresholds' inoda kushandiswa.
Iyo ficha inogona kushandiswa kukonzeresa kukanganisa kupinza A1 (INT) kana mamiriro anotsanangurwa nemushandisi asangana. Pane zvitatu zvinogoneka zvigadziriso:
- Resolution 4 × 4: kushandisa 1 chikumbaridzo panharaunda (yese yegumi nematanhatu zvikumbaridzo)
- Resolution 4 × 4: kushandisa 2 zvikumbaridzo panharaunda (yese ye32 zvikumbaridzo)
- Resolution 8 × 8: kushandisa 1 chikumbaridzo panharaunda (yese yegumi nematanhatu zvikumbaridzo)
Chero kurongeka kunoshandiswa, maitiro ekugadzira zvikumbaridzo uye saizi ye RAM zvakafanana. Pamusanganiswa wega wega wechikumbaridzo, minda yakati wandei inoda kuzadzwa: - Zone id: id yenzvimbo yakasarudzwa (tarisa Chikamu 2.2 Inoshanda kutaridzika)
- Kuyera: kuyerwa kubata (kure, chiratidzo, nhamba yeSPADs, ...)
- Type: mahwindo ezviyero (mumahwindo, kunze kwemahwindo, pazasi pechikumbaridzo, ...)
- Yakaderera chikumbaridzo: yakaderera chikumbaridzo mushandisi wekukonzeresa. Mushandisi haafanire kuseta iyo fomati, inongobatwa neiyo API.
- Yakakwira chikumbaridzo: yakakwira chikumbaridzo mushandisi wekukonzeresa. Mushandisi haafanire kuseta iyo fomati, inongobatwa neiyo API.
- Kushanda kwemasvomhu: inoshandiswa chete kune 4 × 4 - 2 chikumbaridzo musanganiswa panharaunda. Mushandisi anogona kuseta musanganiswa achishandisa akati wandei zvikumbaridzo munzvimbo imwe.
4.13 Kukanganisa autostop
Iyo inovhiringidza autostop ficha inoshandiswa kubvisa iyo yekutenderera chikamu panguva yechiyero. Nekumisikidza, iyo sensor haigone kumira panguva yekuyerwa, nekuti iyo furemu zviyero zvinoda kupedzwa. Nekudaro, nekushandisa autostop, zviyero zvefuremu zvinobviswa kana kukanganisa kuchinge kwatanga.
Iyo autostop ficha inobatsira kana yasanganiswa nekuona chikumbaridzo. Kana chinangwa chikaonekwa, kuyerwa kwazvino kunobviswa. Autostop inogona kushandiswa mumutengi wenyika muchina kushandura nekukurumidza kune imwe sensor kumisikidza.
Kuvhiringidza autostop ficha inogona kugoneswa nekushandisa basa vl53l8cx_set_detection_threshold_auto_stop().
Mushure mekunge kuyerwa kwabviswa, zvinokurudzirwa kumisa sensor nekushandisa basa vl53l8cx_stop_ranging().
4.14 Chiratidzo chekufamba
Iyo VL53L8CX sensor ine yakamisikidzwa Firmware chimiro inobvumira kufamba kunoonekwa muchiitiko. Chiratidzo chekufamba chinoverengerwa pakati pemafuremu anoteedzana. Iyi sarudzo inowanikwa uchishandisa plugin 'vl53l8cx_plugin_motion_indicator'.
Chiratidzo chekufamba chinotangwa uchishandisa vl53l8cx_motion_indicator_init() basa. Kana mushandisi achida kushandura sensor resolution, anofanirwa kugadzirisa chiratidziro chekufamba achishandisa basa rakatsaurirwa: vl53l8cx_motion_indicator_set_resolution().
Mushandisi anogona zvakare kushandura hudiki uye hurefu hwemadaro ekuona mafambiro. Musiyano uripo pakati pehudiki uye marefu madaro haugone kupfuura 1500 mm. Nekusagadzika, madaro anotangwa aine kukosha pakati pe400 mm ne1500 mm.
Mhinduro dzakachengetwa mumunda 'motion_indicator'. Mundima iyi, rondedzero 'yekufamba' inopa kukosha kuine kusimba kwekufamba kwenzvimbo. Kukosha kwepamusoro kunoratidza kuchinja kwepamusoro pakati pemafuremu. Kufamba kwakajairika kunopa kukosha pakati pe100 ne500. Uku kunzwisiswa kunoenderana nenguva yekubatanidza, chinhambwe chinonangwa, uye chinangwa chekuratidzira.
Musanganiswa wakakodzera weakaderera magetsi maapplication ndiko kushandiswa kwechiratidzo chekufamba neAutonomous inotangira modhi, uye yekuona zvikumbaridzo zvakarongwa pakufamba. Izvi zvinobvumira kutariswa kwekusiyana kwekufamba muFoV ine mashoma ekushandisa simba.
4.15 Pini yekuyananisa yekunze
Kunobva kunze kunogona kushandiswa kuwiriranisa kutora. Kana iko kuwiriranisa kwekunze kuchinge kwagoneswa, iyo VL53L8CX inomirira kukanganisa paSYNC pini kuti itange kutora kunotevera. Kuti ushandise iyi ficha, iyo SYNC pini (B1) inoda kubatana sekutsanangurwa kwazvino mudhetebheti yechigadzirwa.
Iko hakuna chaiyo inodiwa yekushandisa iyo yekunze synchronization. Nekudaro, iyo VL53L8CX inotenderera frequency inofanirwa kunge yakakwira kupfuura yekunze chiratidzo frequency.
Iko kuwiriranisa kwekunze kunogona kugoneswa kana kuvharwa nekushandisa vl53l8cx_set_external_sync_pin_enable(). Kutara kunogona kutangwa semazuva ese uchishandisa basa vl53l8cx_start_ranging(). Kana mushandisi achida kumisa sensor, zvinokurudzirwa kushandura SYNC pini kuti urege kumisa VL53L8CX firmware.
Kuyerera kwemusoro wekushandisa kwekunze kwepini yekubatanidza kunoratidzwa pazasi muChikamu 4.15.
Mufananidzo 14. Kuyerera kwekudyidzana kwekunze
Kuchinja mhedzisiro
5.1 Data iripo
Rondedzero yakawandisa yechinangwa uye data yenzvimbo inogona kubuda panguva yezviitiko zvenhanho. Tafura inotevera inotsanangura maparameter anowanikwa kumushandisi.
Tafura 3. Inowanikwa inobuda uchishandisa VL53L8CX sensor
|
Element |
Nb bytes (RAM) | Unit |
Tsanangudzo |
| Ambient per SPAD | 256 | Kcps/SPAD | Ambient rate kuyerwa kwakaitwa paSPAD array, pasina inoshanda photon emission, kuyera ambient signal rate nekuda kweruzha. |
| Nhamba yezvinangwa zvaonekwa |
64 |
Hapana | Nhamba yezvinangwa zvakaonekwa munzvimbo yazvino. Kukosha uku ndiko kunofanirwa kunge kuri kwekutanga kutarisa kuziva kuyerwa kwechokwadi. |
| Nhamba yeSPADs yakagoneswa | 256 | Hapana | Nhamba yeSPADs inogoneswa kuyerwa kwazvino. Iyo iri kure kana yakaderera inoratidzira tarisiro inomutsa mamwe maSPAD. |
|
Signal per SPAD |
256 x nb zvinangwa zvakarongwa |
Kcps/SPAD |
Huwandu hwemafotoni akayerwa panguva yeVCSEL
pulse. |
|
Range sigma |
128 x nb zvinangwa zvakarongwa |
Mamirimita |
Sigma estimator yeruzha mune yakataurwa chinhambwe chakatarwa. |
|
Distance |
128 x nb zvinangwa zvakarongwa | Mamirimita | Chinhambwe chechinangwa |
| Chimiro chechinangwa | 64 x nb zvinangwa zvakarongwa | Hapana | Kuyerwa kwechokwadi. Ona Chikamu 5.5 Tsanangudzo yekududzira kuti uwane rumwe ruzivo. |
| Reflectance | 64 x nhamba zvinangwa zvakarongwa | Percent | Inofungidzirwa kutariswa kwechinangwa muzana |
| Chiratidzo chekufamba | 140 | Hapana | Chimiro chine chiratidzo chekufamba. The field 'motion' ine simba rekufamba. |
Cherechedza:
Pazvinhu zvakati wandei (signal per spad, sigma, …) kuwana data kwakasiyana kana mushandisi akaronga zvinodarika 1 tarisiro panharaunda (ona Chikamu 4.10 Zvinangwa zvakawanda panharaunda). Ona example macode kuti uwane rumwe ruzivo.
5.2 Gadzirisa sarudzo yekubuda
Nekutadza, zvese zvinobuda zveVL53L8CX zvinogoneswa. Kana zvichidikanwa, mushandisi anogona kudzima imwe sensor inobuda.
Kuremara kuyerwa hakusi kuwanikwa pamutyairi; inofanira kuitwa mu 'platform.h' file. Mushandisi anogona kuzivisa anotevera macros kudzima zvinobuda:
#define VL53L8CX _DISABLE_AMBIENT_PER_SPAD
#define VL53L8CX _DISABLE_NB_SPADS_INOITA
#define VL53L8CX _DISABLE_NB_TARGET_DETECTED
#define VL53L8CX _DISABLE_SIGNAL_PER_SPAD
#define VL53L8CX _DISABLE_RANGE_SIGMA_MM
#define VL53L8CX _DISABLE_DISTANCE_MM
#define VL53L8CX _DISABLE_TARGET_STATUS
#define VL53L8CX _DISABLE_REFLECTANCE_PERCENT
#define VL53L8CX _DISABLE_MOTION_INDICATOR
Nekuda kweizvozvo, iyo minda haina kuziviswa muchimiro chemhedzisiro, uye iyo data haina kuendeswa kune iyo host.
Iyo RAM saizi uye I2C / SPI saizi yakaderedzwa.
Kuti ive nechokwadi chekuenderana kwedata, ST inokurudzira kugara uchichengeta 'nhamba yechinangwa chaonekwa' uye 'nzvimbo yechinangwa' yakagoneswa. Iyo inobvumira kusefa zviyero zvinoenderana nechimiro chakanangwa (tarisa Chikamu 5.5 Mibairo yekududzira).
5.3 Kuwana mhinduro dzakasiyana
Munguva yechikamu chekufamba, pane nzira mbiri dzekuziva kana data nyowani iripo:
- Polling mode: Kuramba uchishandisa basa vl53l8cx_check_data_ready (). Inoona nhamba itsva yerukova yakadzorerwa ne sensor.
- Kuvhiringidza maitiro: Kumirira kukanganisa kwakasimudzwa papini A1 (INT). Iyo yekukanganisa inocheneswa otomatiki mushure me ~ 100 μs.
Kana data idzva ragadzirira, mibairo inogona kuverengwa uchishandisa basa vl53l8cx_get_ranging_data(). Inodzosa chimiro chakagadziridzwa chine zvese zvakasarudzwa zvakabuda. Sezvo mudziyo uri asynchronous, hapana chekukanganisa kujekesa kuti uenderere mberi nechikamu.
Iyi ficha inowanikwa kune ese ari maviri anoenderera uye akazvimirira emhando modhi.
5.4 Kushandisa mbishi firmware format
Mushure mekutamisa data kubva kuI2C/SPI, pane shanduko pakati peiyo firmware fomati uye iyo host fomati. Kuvhiya uku kunowanzoitwa kuti kuve nechinhambwe chinotenderera mumamirimita sechigadziro chekubuda kwe sensor. Kana mushandisi achida kushandisa iyo firmware fomati, iyo inotevera macro inofanira kutsanangurwa pachikuva file:
VL53L8CX#define VL53L8CX _USE_RAW_FORMAT
5.5 Tsanangudzo yekuturikira
Iyo data yakadzoserwa neVL53L8CX inogona kusefa kuitira kuti itarise mamiriro akatarirwa. Chimiro chinoratidza kuyerwa kwechokwadi. Rondedzero yemamiriro akazara inotsanangurwa mutafura inotevera.
Tafura 4. Rondedzero yenzvimbo iripo yechinangwa
| Chimiro chechinangwa | Tsanangudzo |
| 0 | Nhamba yedata haina kuvandudzwa |
| 1 | Chiyero chechiratidzo chakaderera pane SPAD array |
| 2 | Chikamu chechinangwa |
| 3 | Sigma estimator yakakwira zvakanyanya |
| 4 | Kusaenderana kwechinangwa chakundikana |
| 5 | Range inoshanda |
| 6 | Kupeta kusingaitwe (Kazhinji mutsara wekutanga) |
| 7 | Kusawirirana kwechiyero kwakundikana |
| 8 | Chiyero chechiratidzo chakaderera zvakanyanya kune chinangwa chazvino |
| 9 | Range inoshanda nepuruzi hombe (inogona kunge iri nekuda kwechinangwa chakabatanidzwa) |
| 10 | Range inoshanda, asi hapana chinangwa chakaonekwa pane yapfuura |
| 11 | Kuyera kuenderana kwakatadza |
| 12 | Chinangwa chakadzima neimwe, nekuda kwekurodza |
| 13 | Chinangwa chakaonekwa asi data risingawirirani. Zvinowanzoitika kune zvechipiri zvinangwa. |
| 255 | Hapana chinangwa chakaonekwa (chete kana nhamba yechinangwa chaonekwa ichigoneswa) |
Kuti uve nedata rinoenderana, mushandisi anofanirwa kusefa isiriyo iyo inotarirwa mamiriro. Kupa chiyero chekuvimba, chinangwa chine chimiro 5 chinotorwa se 100 % inoshanda. Chimiro che6 kana 9 chinogona kutariswa nekuvimba kukosha kwe50%. Mamwe ese mastatus ari pasi pe50 % confidence level.
5.6 Zvikanganiso zvemutyairi
Kana kukanganisa kukaitika uchishandisa VL53L8CX sensor, mutyairi anodzosa imwe kukanganisa. Tafura inotevera inoronga zvikanganiso zvinogona kuitika.
Tafura 5. Rondedzero yezvikanganiso zviripo uchishandisa mutyairi
| Chimiro chechinangwa | Tsanangudzo |
| 0 | Hapana kukanganisa |
| 127 | Mushandisi akaronga zvisizvo zvigadziriso (zvisingazivikanwe sarudzo, inotangira frequency yakakwira zvakanyanya, ...) |
| 255 | Kukanganisa kukuru. Kazhinji kukanganisa kwenguva, nekuda kweI2C/SPI kukanganisa. |
| zvimwe | Musanganiswa wezvikanganiso zvakawanda zvinotsanangurwa pamusoro apa |
Cherechedza:
Mamwe macode ekukanganisa anogona kuitwa nemugamuchiri achishandisa chikuva files.
Tafura 6. Document revision history
| Date | Version | Kuchinja |
| 13-Jan-23 | 1 | Kusunungurwa kwekutanga |
CHIZIVISO CHINOKOSHA – VERENGA ZVAKANAKA
STMicroelectronics NV nevatsigiri vayo (“ST”) vanochengeta kodzero yekuita shanduko, kugadzirisa, kusimudzira, gadziridzo, nekuvandudza kune ST zvigadzirwa uye/kana kugwaro iri chero nguva pasina chiziviso. Vatengi vanofanirwa kuwana ruzivo rwazvino rwakakodzera pane zvigadzirwa zveST vasati vaisa maodha. ST zvigadzirwa zvinotengeswa zvichiteerana ne ST zvirevo uye mamiriro ekutengesa aripo panguva yekuodha kubvuma.
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Zvinyorwa / Zvishandiso
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ST VL53L8CX Sensor Module [pdf] User Manual UM3109, VL53L8CX Sensor Module, VL53L8CX, Sensor Module, Module |
