Inzwa ye-YDLIDAR GS2 YOKUTHUTHUKISA Linear Array Solid LiDAR Sensor
UMSHINI WOKUSEBENZA
Imodi
Uhlelo lwe-YDLIDAR GS2(ngemuva kwalokhu olubizwa ngokuthi GS2) lunezindlela zokusebenza ezi-3: imodi yokungenzi lutho, imodi yokuskena, imodi yokumisa.
- Imodi yokungenzi lutho: Uma i-GS2 ivuliwe, imodi ezenzakalelayo iba imodi yokungenzi lutho. Kumodi yokungenzi-lutho, iyunithi ehlukahlukene ye-GS2 ayisebenzi futhi nelaser ayilula.
- Imodi yokuskena: Uma i-GS2 ikumodi yokuskena, iyunithi ehlukahlukene ivula i-laser. Uma i-GS2 iqala ukusebenza, iqhubeka sampinciphisa indawo yangaphandle futhi iyikhiphe ngesikhathi sangempela ngemva kokucubungula kwangasemuva.
- Misa imodi: Uma i-GS2 isebenza ngephutha, njengokuvula isithwebuli, i-laser iyavalwa, injini ayizungezi, njll.GS2 izocisha ngokuzenzakalelayo iyunithi yokulinganisa ibanga futhi iphendule ngekhodi yephutha.
Isimiso sokulinganisa
I-GS2 iyilida yesimo esiqinile yebanga elifushane enobubanzi obungu-25-300mm. Ikakhulukazi yakhiwe i-laser yomugqa nekhamera. Ngemuva kokuthi i-laser yomugqa owodwa ikhiphe ukukhanya kwe-laser, ithathwa yikhamera. Ngokwesakhiwo esimisiwe se-laser nekhamera, kuhlanganiswe nomgomo wokulinganisa ibanga elingunxantathu, singabala ibanga ukusuka entweni ukuya ku-GS2. Ngokuya ngamapharamitha alinganisiwe ekhamera, inani le-engeli lento elinganisiwe ohlelweni lokuxhumanisa isivalo lingaziwa. Ngenxa yalokho, sithole idatha yokulinganisa ephelele yento elinganisiwe.
Iphoyinti O liwumsuka wezixhumanisi, indawo ensomi i-engeli ye view yekhamera engakwesokudla, futhi indawo ewolintshi i-engeli ye view yekhamera yesokunxele.
Ngezimpawu zokubhala ze-mod njengomsuka wokuxhumanisa, ingaphambili liyisiqondiso sesistimu yokuxhumanisa idigri engu-0, futhi i-engeli ikhuphuka ngokwewashi. Lapho ifu lephoyinti liphuma, ukuhleleka kwedatha (S1~S160) ngu-L1~L80, R1~R80. I-engeli nebanga elibalwa yi-SDK konke kuvezwa kusistimu yokuxhumanisa njengokuhamba kwewashi.
UKUXHUMANA UHLELO
Indlela Yokuxhumana
I-GS2 ixhumana nemiyalo nedatha ngamadivayisi angaphandle ngembobo ye-serial. Uma idivayisi yangaphandle ithumela umyalo wesistimu ku-GS2, i-GS2 ixazulula umyalo wesistimu futhi ibuyisela umlayezo wempendulo ohambisanayo. Ngokusho kokuqukethwe komyalo, i-GS2 ishintsha isimo sokusebenza esihambisanayo. Ngokusekelwe kokuqukethwe komlayezo, isistimu yangaphandle ingancozulula umlayezo futhi ithole idatha yempendulo.
Umyalo Wesistimu
Uhlelo lwangaphandle lungasetha isimo sokusebenza esihambisanayo se-GS2 futhi luthumele idatha ehambisanayo ngokuthumela imiyalo yesistimu ehlobene. Imiyalo yesistimu ekhishwe yi-GS2 imi kanje:
ISHADI 1 YDLIDAR GS2 SYSTEM COMMAND
| Umyalo wesistimu | Incazelo | Ukushintsha imodi | Imodi yokuphendula |
| 0×60 | Ukuthola Ikheli Ledivayisi | Misa imodi | Impendulo eyodwa |
| 0×61 | Ukuthola amapharamitha wedivayisi | Misa imodi | Impendulo eyodwa |
| 0×62 | Ukuthola Ulwazi lwenguqulo | Misa imodi | Impendulo eyodwa |
| 0×63 | Qala ukuskena kanye nedatha yephuzu yefu | Imodi yokuskena | Impendulo eqhubekayo |
| 0x64 | Misa idivayisi, yeka ukuskena | Misa imodi | Impendulo eyodwa |
| 0x67 | Ukuqalisa kabusha okuthambile | / | Impendulo eyodwa |
| 0×68 | Setha isilinganiso se-serial port baud | Misa imodi | Impendulo eyodwa |
| 0×69 | Setha imodi yonqenqema (imodi yokulwa nomsindo) | Misa imodi | Impendulo eyodwa |
Imilayezo Yesistimu
Umlayezo wesistimu uwumlayezo wempendulo isistimu ewuphakelayo ngokusekelwe emyalweni wesistimu owamukelwe. Ngokwemiyalo ehlukene yesistimu, imodi yokuphendula nokuqukethwe kokuphendula komlayezo wesistimu nakho kuhlukile. Kunezinhlobo ezintathu zezindlela zokuphendula: akukho mpendulo, impendulo eyodwa, impendulo eqhubekayo.
Ayikho impendulo isho ukuthi uhlelo alubuyiseli noma yimiphi imilayezo. Impendulo eyodwa ibonisa ukuthi ubude bomlayezo wesistimu bunomkhawulo, futhi impendulo iphela kanye. Uma isistimu idlalwa ngamadivayisi amaningi e-GS2, eminye imiyalo izothola izimpendulo kumadivayisi amaningi e-GS2 ngokulandelana. Ukuphendula okuqhubekayo kusho ukuthi ubude bomlayezo wesistimu abupheli futhi budinga ukuthumela idatha ngokuqhubekayo, njengalapho ufaka imodi yokuskena.
Impendulo eyodwa, izimpendulo eziningi kanye nemilayezo eqhubekayo yokuphendula isebenzisa iphrothokholi yedatha efanayo. Okuqukethwe kwephrothokholi yilezi: unhlokweni wephakethe, ikheli ledivayisi, uhlobo lwephakethe, ubude bedatha, ingxenye yedatha kanye nekhodi yokuhlola, futhi kuphuma ngohlelo lwe-serial port hexadecimal.
ISHADI 2 YDLIDAR GS2 UDIYAGAMA WESCHEMATIC WEPROTOCOL YEDATHA YOHLELO LWEMILAYEZO
| Unhlokweni wephakethe | Ikheli ledivayisi | Uhlobo lwephakethe | Ubude bempendulo | Ingxenye yedatha | Hlola ikhodi |
| 4 Amabhayithi | 1 Byte | 1 Byte | 2 Amabhayithi | N Amabhayithi | 1 Byte |
I-Byte offset
- Unhlokweni wephakethe: Unhlokweni wephakethe lomlayezo we-GS2 ubhalwe ukuthi 0xA5A5A5A5.
- Ikheli ledivayisi: Ikheli ledivayisi ye-GS2, ngokwenani lama-cascade, lihlukaniswe laba: 0x01, 0x02, 0x04;
- Uhlobo lwephakethe: Bheka ishadi 1 ngezinhlobo zemiyalo yesistimu.
- Ubude bempendulo: Imele ubude bempendulo
- Ingxenye yedatha: Imiyalo yesistimu ehlukene iphendula kokuqukethwe kwedatha okuhlukile, futhi amaphrothokholi edatha yawo ahlukile.
- Hlola ikhodi: hlola ikhodi.
Qaphela: Ukuxhumana kwedatha ye-GS2 kusebenzisa imodi ye-endian encane, ukuhleleka okuphansi kuqala.
IPROTOCOL YEDATHA
Thola Umyalo Wekheli Ledivayisi
Uma idivayisi yangaphandle ithumela lo myalo ku-GS2, i-GS2 ibuyisela iphakethe lekheli ledivayisi, umlayezo uthi:
Ku-cascading, uma amadivayisi angu-N (afika ku-3 asekelwe) ewuchungechunge, umyalo ubuyisela izimpendulo ezingu-N kokuthi 0x01, 0x02, 0x04, ezihambisana namamojula angu-1-3 ngokulandelanayo.
Incazelo: Ikheli le-module 1 lithi 0x01, imojula 2 ithi 0x02, bese module 3 ithi 0x04.
Thola Umyalo Wolwazi Lwenguqulo
Uma idivayisi yangaphandle ithumela umyalo wokuskena ku-GS2, i-GS2 ibuyisela ulwazi lwenguqulo yayo. Umlayezo wempendulo uthi:
Endabeni ye-cascading, uma amadivayisi angu-N (ubukhulu obungu-3) axhunywe ochungechungeni, lo myalo uzobuyisela izimpendulo ezingu-N, lapho ikheli liyikheli ledivayisi yokugcina.
Inombolo yenguqulo ingu-3 bytes ubude, futhi inombolo ye-SN ingu-16 bytes ubude.
Thola i-Device Parameter Command
Uma idivayisi yangaphandle ithumela lo myalo ku-GS2, i-GS2 izobuyisela imingcele yedivayisi yayo, futhi umlayezo uthi:
Ku-cascading, uma amadivayisi angu-N (afika koku-3 asekelwe) ewuchungechunge, umyalo ubuyisela izimpendulo ezingu-N, ezihambisana nemingcele yedivayisi ngayinye.
U-K no-B abamukelwe iphrothokholi kuwuhlobo lwe-uint16, oludinga ukuguqulelwa ohlotsheni lwe-float bese luhlukaniswa ngo-10000 ngaphambi kokuthi kufakwe esikhundleni somsebenzi wokubala.
- d_compensateK0 = (ntanta)K0/10000.0f;
- d_compensateB0 = (ntanta)B0/10000.0f;
- d_compensateK1 = (ntanta)K1/10000.0f;
- d_compensateB1 = (ntanta)B1/10000.0f;
I-bias iwuhlobo lwe-int8, oludinga ukuguqulwa lube uhlobo lokuntanta futhi luhlukaniswe ngo-10 ngaphambi kokufaka umsebenzi wokubala.
- ukuchema = (ntanta)Ukuchema /10;
Umyalo
Skena Umyalo
Uma idivayisi yangaphandle ithumela umyalo wokuskena ku-GS2, i-GS2 ingena kumodi yokuskena futhi iqhubeke nokuphakela idatha yephoyinti lokubuyela emuva. Umlayezo uthi: Umyalo uthunyelwe: (Thumela ikheli elithi 0x00, i-cascade noma cha, izoqala wonke amadivayisi)
Umyalo wamukelwe: (Ezimweni ezishintshayo, lo myalo ubuyisela impendulo eyodwa kuphela, futhi ikheli liyikheli elikhulu kunawo wonke, ngokwesiboneloample: Idivayisi engu-No.3 i-cascade, futhi ikheli lithi 0x04.)
Ingxenye yedatha idatha yefu yephuzu eskenwa isistimu, ethunyelwa embobeni ye-serial nge-hexadecimal kudivayisi yangaphandle ngokuya ngesakhiwo sedatha esilandelayo. Ubude bedatha balo lonke iphakethe ngamabhayithi angu-322, okuhlanganisa ama-Byte angu-2 edatha yezemvelo kanye namaphoyinti angu-160 asukela (S1-S160), ngalinye elingamabhayithi angu-2, amabhithi angu-7 aphezulu ayidatha yokuqina, futhi amabhithi angu-9 aphansi ayidatha yebanga. . Iyunithi ingu-mm.
Misa Umyalo
Uma isistimu isesimweni sokuskena, i-GS2 ibilokhu ithumela idatha yamafu yephoyinti emhlabeni wangaphandle. Ukuze ukhubaze ukuskena ngalesi sikhathi, thumela lo myalo ukuze umise ukuskena. Ngemva kokuthumela umyalo wokumisa, imojula izophendula umyalo wokuphendula, futhi isistimu izongena esimweni sokulala esilindile ngokushesha. Ngalesi sikhathi, iyunithi ehlukahlukene yedivayisi ikumodi yokusetshenziswa kwamandla aphansi, futhi i-laser ivaliwe.
- Ukuthumela umyalo: (thumela ikheli 0x00, kungakhathaliseki ukuthi liyaphuma noma cha, wonke amadivayisi azovalwa).
Endabeni ye-cascading, uma amadivayisi angu-N (ubukhulu obungu-3) axhunywe ochungechungeni, lo myalo uzobuyisela impendulo kuphela, lapho ikheli liyikheli ledivayisi yokugcina, ngokwesibonelo.ample: uma amadivayisi angu-3 e-cascade, ikheli ngu-0x04.
Setha Umyalo we-Baud Rate
Uma idivayisi yangaphandle ithumela lo myalo ku-GS2, izinga lokuphumayo le-baud le-GS2 lingasethwa.
- Umyalo uthunyelwe: (ukuthumela ikheli 0x00, kusekela kuphela ukusetha izinga le-baud lawo wonke amadivaysi e-cascade ukuthi afane), umlayezo uthi:
Phakathi kwazo, ingxenye yedatha iyipharamitha yesilinganiso se-baud, okuhlanganisa amazinga amane e-baud (bps), ngokulandelana: 230400, 512000, 921600, 1500000 ehambisana nekhodi 0-3 (inothi: uxhumano lwe-serial lwamamojula amathathu kufanele lube ≥921600, okuzenzakalelayo ngu-921600).
Endabeni ye-cascading, uma amadivayisi we-N (ubukhulu bokusekela okungu-3) exhunywe ochungechungeni, umyalo uzobuyisela izimpendulo ezingu-N, ezihambisana nemingcele yedivayisi ngayinye, futhi amakheli yilawa: 0x01, 0x02, 0x04.
- Ngemuva kokusetha izinga le-baud, udinga ukuthambisa ukuqalisa kabusha idivayisi.
Setha i-Edge Mode (Imodi eqinile yokulwa ne-jamming)
Uma idivayisi yangaphandle ithumela lo myalo ku-GS2, imodi ye-anti-jamming ye-GS2 ingasethwa.
- Ukuthumela umyalo: (ikheli lokuthumela, ikheli le-cascade), umlayezo uthi:
ukwamukela umyalo
Ikheli ikheli lemojuli edinga ukumiswa kusixhumanisi se-cascade. Imodi=0 ihambisana nemodi ejwayelekile, Imodi=1 ihambisana nemodi yonqenqema (isitsha sibheke phezulu), Imodi=2 ihambisana nemodi yonqenqema (isitsha sibheke phansi). Kumodi yonqenqema, ukuphuma okungaguquki kwe-lidar kungu-10HZ, futhi umphumela wokuhlunga wokukhanya okuzungezile uzothuthukiswa. Imodi=0XFF isho ukufunda, isivalo sizobuyela kumodi yamanje. I-Lidar isebenza ngemodi evamile ngokuzenzakalelayo.
- Setha imojuli 1: Ikheli =0x01
- Setha imojuli 2: Ikheli =0x02
- Setha imojuli 3: Ikheli =0x04
Umyalo Wokusetha Kabusha Isistimu
Uma idivayisi yangaphandle ithumela lo myalo ku-GS2, i-GS2 izofaka ukuqalisa kabusha okuthambile, futhi isistimu izosetha kabusha futhi iqalise kabusha.
Ukuthunyelwa komyalo: (ikheli lokuthumela, kungaba yilona kheli elihlanganisiwe kuphela: 0x01/0x02/0x04)
Ikheli ikheli lemojuli edinga ukumiswa kusixhumanisi se-cascade.
- Setha kabusha imojuli 1: Ikheli =0x01
- Setha kabusha imojuli 2: Ikheli =0x02
- Setha kabusha imojuli 3: Ikheli =0x04
UKUHLAZIYWA KWEDATHA
ISHADI 3 INCAZELO YEDATHA YESIMO
| Okuqukethwe | Igama | Incazelo |
| I-K0(2B) | Amapharamitha wedivayisi | (uint16) Ipharamitha ye-engeli yekhamera yesokunxele i-k0 coefficient (bona isigaba 3.3) |
| B0(2B) | Amapharamitha wedivayisi | (uint16) Ipharamitha ye-engeli yekhamera yesokunxele i-k0 coefficient (bona isigaba 3.3) |
| I-K1(2B) | Amapharamitha wedivayisi | (uint16) Ipharamitha ye-engeli yekhamera elungile i-k1 coefficient (bona isigaba 3.3) |
| B1(2B) | Amapharamitha wedivayisi | (uint16) Ipharamitha ye-engeli yekhamera elungile i-b1 coefficient (bona isigaba 3.3) |
| I-BIAS | Amapharamitha wedivayisi | (int8) Ipharamitha ye-engeli yekhamera yamanje i-coefficient yokuchema (bona isigaba 3.3) |
| I-ENV(2B) | Idatha yemvelo | Ukuqina kokukhanya kwe-ambient |
| ISi(2B) | Idatha yokulinganisa ibanga | Amabhithi angu-9 aphansi yibanga, amabhithi angu-7 aphezulu yinani lokuqina |
- Ukuhlaziywa kwebanga
Ifomula yokubala ibanga: Ibanga = (_ ≪ 8|_) &0x01ff, iyunithi ingu-mm.
Isibalo samandla: Ikhwalithi = _ ≫ 1 - Ukuhlaziywa kwe-engeli
Isiqondiso sokukhishwa kwe-laser kuthathwa njengengaphambili lenzwa, ukuqagela kwesikhungo esiyindilinga se-laser endizeni ye-PCB kuthathwa njengomsuka wezixhumanisi, futhi uhlelo lokuxhumanisa lwe-polar luyasungulwa ngomugqa ojwayelekile wendiza ye-PCB njengoba inkomba engu-0-degree. Ngokulandela isiqondiso sokuhamba kwewashi, i-engeli iyanda kancane kancane.
Ukuze uguqule idatha yoqobo ehanjiswe yi-Lidar ohlelweni lokuxhumanisa esithombeni esingenhla, kudingeka uchungechunge lwezibalo. Umsebenzi wokuguqula umi kanje (ukuthola imininingwane, sicela ubheke i-SDK):
Hlola ukuhlaziya ikhodi
Ikhodi yokuhlola isebenzisa ukunqwabelana kwebhayithi eyodwa ukuhlola iphakethe ledatha lamanje. Isihloko sephakethe lamabhayithi amane kanye nekhodi yokuhlola ngokwayo akubambi iqhaza ekusebenzeni kokuhlola. Ifomula yesixazululo sekhodi yokuhlola ithi: 
- CheckSum = ADD1()
- = 1,2, ... ,
I-ADD1 iyifomula eqoqwayo, isho ukuqongelela izinombolo ukusuka ku-subscript 1 ukuze kugcine kusici.
Ukuthuthukiswa kwe-OTA
Thuthukisa ukuhamba komsebenzi
Thumela Iphrothokholi
IFOMU YEPHROTOKHOLI YEDATHA YESHADI 4 OTA (I-ENDIAN ENCANE)
| Ipharamitha | Ubude (BYTE) | Incazelo |
| Isihloko_sephakethe | 4 | Isihloko sephakethe ledatha, simiswe njenge-A5A5A5A5 |
| Ikheli_ledivayisi | 1 | Icacisa ikheli ledivayisi |
| Iphakethe_ID | 1 | I-ID yephakethe ledatha (uhlobo lwedatha) |
| Idatha_Len | 2 | Ubude bedatha bengxenye yedatha, 0-82 |
| Idatha | n | Idatha, n = Idatha_Len |
| Hlola_Isamba | 1 | I-Checksum, i-checksum yamabhayithi asele ngemva kokukhishwa kwesihloko |
ISHADI 5 OTA THUTHUKISA IMIYALELO
| Uhlobo lweziyalezo | Iphakethe_ID | Incazelo |
| Qala_IAP | 0x0A | Thumela lo myalo ukuze uqale i-IAP ngemva kokuvula amandla |
| Running_IAP | 0x0B | Qalisa i-IAP, hambisa amaphakethe |
| Qedela_IAP | 0x0c | Ukuphela kwe-IAP |
| ACK_IAP | 0x20 | Impendulo ye-IAP |
| RESET_SYSTEM | 0x67 | Setha kabusha bese uqala kabusha imojuli ekhelini elishiwo |
Imiyalelo ye-Start_IAP
Ukuthumela umyalo
- Ifomethi yedatha yengxenye yedatha:
- Idatha[0~1]: Okuzenzakalelayo kungu-0x00;
- IDATHA[2~17]: Ikhodi yokuqinisekisa yezinhlamvu engashintshi:
- 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
- Bheka ukuthumela umlayezo
- 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
Ukwamukela komyalo: Ngenxa yokusebenza komkhakha we-FLASH, ukubambezeleka kokubuyisela kude futhi kushintshashintsha phakathi kuka-80ms no-700ms)
Thola ifomethi yedatha
- Ikheli: ikheli lemojuli;
- I-ACK: Okuzenzakalelayo kungu-0x20, okubonisa ukuthi iphakethe ledatha liyiphakethe lokuvuma; Idatha[0~1]: Okuzenzakalelayo ngu-0x00;
- Idatha[2]: 0x0A ikhombisa ukuthi umyalo wokuphendula uthi 0x0A;
- Idatha[3]: I-0x01 ibonisa ukwamukela okuvamile, u-0 ubonisa ukwamukela okungavamile;
- Ireferensi yokwamukela:
A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30
Running_IAP Umyalelo
Ukuthumela umyalo
I-firmware izohlukaniswa ngesikhathi sokuthuthukiswa, futhi amabhayithi amabili okuqala engxenye yedatha (Idatha) abonisa ukususwa kwale ngxenye yedatha ngokuhlobene nebhayithi yokuqala ye-firmware.
- Idatha[0~1]:Iphakheji_Shift = Idatha[0]+ Idatha[1]*256;
- Idatha[2]~Idatha[17]: yikhodi yokuqinisekisa yochungechunge olungashintshi:
- 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: idatha ye-firmware;
- Bheka ukuthumela umlayezo
- 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 +
(Idatha[18]~Idatha[81]) + Hlola_Isamba
Ukwamukela umyalo
- Ikheli: is ikheli lemojuli;
- I-ACK: Okuzenzakalelayo kungu-0x20, okubonisa ukuthi iphakethe ledatha liyiphakethe lokuvuma;
Idatha[0~1] : Iphakheji_Shift = Idatha[0]+ Idatha[1]*256 ikhombisa ukusulwa kwedatha ye-firmware yempendulo. Kunconywa ukwahlulela i-offset njengendlela yokuvikela lapho uthola impendulo phakathi nenqubo yokuthuthukisa.
- Idatha[2]=0x0B ibonisa ukuthi umyalo wokuphendula ngu-0x0B;
- Idatha[3]=0x01 ibonisa ukwamukela okuvamile, u-0 ubonisa ukwamukela okungavamile;
Ireferensi yokwamukela
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31
Qedela_Iyalezo ye-IAP
Ukuthumela umyalo
- Idatha[0~1]: Okuzenzakalelayo kungu-0x00;
- Idatha[2]~Idatha[17]: Ikhodi yokuqinisekisa yochungechunge olungashintshi:
0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Idatha[18]~Idatha[21]: ifulegi lokubethela, uhlobo lwe-uint32_t, i-firmware ebethelwe ngu-1, i-firmware engabethelwe ngu-0;
Bheka ukuthumela umlayezo:
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 ifulegi lokubethela) + Hlola_Isamba
Ukwamukela umyalo
- Thola ifomethi yedatha:
- Ikheli: ikheli lemojuli;
- I-ACK: Okuzenzakalelayo kungu-0x20, okubonisa ukuthi iphakethe ledatha liyiphakethe lokuvuma;
- Idatha[0~1]: Okuzenzakalelayo kungu-0x00;
- Idatha[2]: I-0x0C ibonisa ukuthi umyalo wokuphendula ngu-0x0C;
- Idatha[3]: I-0x01 ibonisa ukwamukela okuvamile, u-0 ubonisa ukwamukela okungavamile;
- Bheka umlayezo owamukelwe:
A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32
RESET_SYSTEM Umyalelo
Sicela ubheke Isahluko 3.8 Sokusetha Kabusha Uhlelo ukuze uthole imininingwane.
I-Q&A
- Q: Indlela yokwahlulela ukusetha kabusha kuphumelele ngemuva kokuthumela umyalo wokusetha kabusha? Ukuthi ukubambezeleka kuyadingeka?
- A: Ukubulawa okuphumelelayo kungahlulelwa ngokusho kwephakethe lempendulo lomyalo wokusetha kabusha; kunconywa ukwengeza ukubambezeleka okungu-500ms ngemva kokuthola impendulo ngaphambi kokwenza imisebenzi elandelayo.
- Q: I-Module 4 ithola idatha ye-serial port engahambisani nephrothokholi ngemuva kokusetha kabusha, ukuthi ungabhekana kanjani nayo?
- A: Ilogi yamandla emojuli iwuchungechunge lwedatha ye-ASCII enamaheda angu-4 0x3E, angathinti ukuncozululwa kwedatha evamile ngamaheda angu-4 0xA5, futhi enganakwa. Ngenxa yesixhumanisi esibonakalayo, amalogu amamojula No. 1 kanye No. 2 awakwazi ukutholwa.
- Q: Ungabhekana kanjani uma inqubo yokuthuthukisa iphazanyiswe ukwehluleka kwamandla bese iqala kabusha?
- A: Thumela kabusha umyalo we-Start_IAP ukuze uthuthukise kabusha.
- Q: Yisiphi isizathu esingaba khona somsebenzi wokuthuthukisa okungavamile esimweni se-cascade?
- A: Qinisekisa ukuthi isixhumanisi esibonakalayo silungile, njengokuthi ingabe idatha yefu yephuzu yamamojula amathathu ingatholwa yini;
- Qinisekisa ukuthi amakheli amamojula amathathu awangqubuzani, futhi ungazama ukwabela kabusha amakheli;
- Setha kabusha imojuli ukuze ithuthukiswe bese uqala kabusha ukuzama;
- Q: Kungani inombolo yenguqulo efundiwe ingu-0 ngemva kokuthuthukiswa kwe-cascade?
- A: Kusho ukuthi ukuthuthukiswa kwemojuli akuphumelelanga, abasebenzisi badinga ukusetha kabusha imojuli bese bathuthukisa futhi.
QAPHELA
- Ngesikhathi sokusebenzelana komyalo ne-GS2, ngaphandle komyalo we-stop scan, eminye imiyalo ayikwazi ukusetshenziswa kumodi yokuskena, okungase kuholele kalula emaphutheni okudlulisa imiyalezo.
- I-GS2 ngeke iqale ngokuzenzakalelayo ukusuka lapho amandla avuliwe. Idinga ukuthumela umyalo wokuqala wokuskena ukuze ifake imodi yokuskena. Uma udinga ukuyeka ukuhluka, thumela umyalo wokumisa ukuskena ukuze uyeke ukuskena futhi ufake imodi yokulala.
- Qala i-GS2 ngokujwayelekile, inqubo yethu enconyiwe yile:
Isinyathelo sokuqala:
thumela umyalo othi Thola Ikheli Ledivayisi ukuze uthole ikheli ledivayisi yamanje kanye nenani lama-cascade, futhi ulungiselele ikheli;
Isinyathelo sesibili:
thumela umyalo wenguqulo ukuze uthole inombolo yenguqulo;
Isinyathelo sesithathu:
thumela umyalo ukuze uthole amapharamitha wedivayisi ukuze uthole amapharamitha e-engeli ocingo ukuze kuhlaziywe idatha;
Isinyathelo sesine:
thumela umyalo wokuskena wokuqala ukuze uthole idatha yefu yephuzu. - Iziphakamiso zokudizayina izinto ezidlulisa ukukhanya kumawindi okubuka i-GS2:
Uma iwindi lombono wekhava yangaphambili yakhelwe i-GS2, kuyanconywa ukusebenzisa i-PC ekwazi ukungena ngeso lefoni njengento edlulisa ukukhanya, futhi indawo edlulisa ukukhanya iyadingeka ukuthi ibe isicaba (i-flatness ≤0.05mm), nazo zonke izindawo indiza kufanele ibe sobala ebhendini engu-780nm kuya ku-1000nm. Izinga lokukhanya likhulu kuno-90%. - Inqubo yokusebenza enconyiwe yokuvula nokuvala i-GS2 ngokuphindaphindiwe ebhodini lokuzulazula:
Ukuze unciphise ukusetshenziswa kwamandla ebhodi lokuzula, uma i-GS2 idinga ukuvulwa futhi icishwe ngokuphindaphindiwe, kutuswa ukuthi uthumele umyalo wokuskena sokumisa (bona isigaba 3.5) ngaphambi kokucisha, bese ulungiselela i-TX ne-RX ibhodi lokuzulazula ukuya ku-impedance ephezulu. Bese udonsa i-VCC iphansi ukuze uyivale. Ngokuzayo lapho amandla evuliwe, qala udonse i-VCC, bese ulungisa i-TX ne-RX njengezimo ezivamile zokuphumayo nokokufaka, bese ngemva kokubambezeleka okungu-300ms, yenza ukusebenzisana komyalo nelaser yomugqa. - Cishe isikhathi esiphezulu sokulinda ngemva kokuthunyelwa komyalo ngamunye we-GS2:
- Thola ikheli: bambezeleka ngo-800ms, thola inguqulo: ukubambezeleka okungu-100ms;
- Thola amapharamitha: ukubambezeleka okungu-100ms, qala ukuskena: ukubambezeleka okungu-400ms;
- Misa ukuskena: ukubambezeleka okungu-100ms, setha izinga le-baud: ukubambezeleka okungu-800ms;
- Setha imodi yonqenqema: ukubambezeleka okungu-800ms, qala i-OTA: ukubambezeleka okungu-800ms;
VUSA
| Usuku | Inguqulo | Okuqukethwe |
| 2019-04-24 | 1.0 | Dala okusalungiswa kokuqala |
|
2021-11-08 |
1.1 |
Lungisa (Shintsha uhlaka lwephrothokholi ukuze uhlanganise idatha yekhamera yesokunxele nesokudla; Iziphakamiso zokwengeza izinto zewindi lokubuka; Ukwengeza izinga le-baud
umyalo wokusetha) |
| 2022-01-05 | 1.2 | Shintsha incazelo yokwamukela yomyalelo ukuze uthole ikheli ledivayisi, kanye nencazelo yamakhamera angakwesokunxele nangakwesokudla |
| 2022-01-12 | 1.3 | Engeza imodi yonqenqema, isengezo K, B, incazelo yokubala ye-BIAS |
| 2022-04-29 | 1.4 | Lungisa incazelo yesahluko 3.2: Thola Umyalo Wolwazi Lwenguqulo |
| 2022-05-01 | 1.5 | Shintsha indlela yokumisa ikheli lomyalo wokuqalisa kabusha okuthambile |
|
2022-05-31 |
1.6 |
1) Buyekeza isigaba 3.7
2) Isigaba 3.8 umyalo we-RESET wengeza impendulo eyodwa 3) Kwengezwe ukuthuthukiswa kwe-OTA yeSahluko 5 |
| 2022-06-02 | 1.6.1 | 1) Lungisa ukuhamba komsebenzi kokuthuthukisa i-OTA
2) Shintsha i-Q&A ye-OTA |
Amadokhumenti / Izinsiza
 |
Inzwa ye-YDLIDAR GS2 YOKUTHUTHUKISA Linear Array Solid LiDAR Sensor [pdf] Imaniwali yosebenzisayo I-GS2 DEVELOPMENT Linear Array Solid LiDAR Sensor, GS2 DEVELOPMENT, Linear Array Solid LiDAR Sensor, Array Solid LiDAR Sensor, Solid LiDAR Sensor, LiDAR Sensor, LiDAR Sensor |
