UM3038 Lokacin Flight Multizone Rage Sensor
Manual mai amfani

UM3038 Jagoran mai amfani
Jagora don amfani da VL53L7CX Lokaci-na-Flight Multizone mai firikwensin firikwensin 90° FoV

Gabatarwa

Manufar wannan littafin jagorar mai amfani shine don bayyana yadda ake sarrafa firikwensin lokacin-jigi (ToF), VL53L7CX, ta amfani da ultra Lite direba (ULD) API. Yana bayyana manyan ayyuka don tsara na'urar, ƙira, da sakamakon fitarwa.
An ƙera shi musamman don aikace-aikacen da ke buƙatar FoV mai fa'ida, VL53L7CX firikwensin Lokaci na Jirgin yana ba da diagonal FoV na 90°. Dangane da fasahar ST's FlightSense, VL53L7CX yana haɗa da ingantaccen ruwan tabarau na metasurface (DOE) wanda aka sanya akan firikwensin Laser wanda ke ba da damar hasashen 60° x 60° murabba'in FoV akan wurin.
Ƙarfin sa na multizone yana ba da matrix na yankuna 8 × 8 (shiyoyin 64) kuma yana iya aiki a cikin sauri sauri (60 Hz) har zuwa 350 cm.
Godiya ga yanayin mai cin gashin kansa tare da ƙofa mai nisa mai shirin haɗe zuwa babban FoV, VL53L7CX cikakke ne ga kowane aikace-aikacen da ke buƙatar gano mai amfani mai ƙarancin ƙarfi. Algorithms na ST's ƙwararrun algorithms da ƙirar ƙirar ƙirar ƙira sun ba da damar VL53L7CX don gano, a cikin kowane yanki, abubuwa da yawa a cikin FoV tare da zurfin fahimta. Algorithms na ST histogram suna tabbatar da kariya ta gilasan gilasai fiye da 60 cm.
An samo daga VL53L5CX, pinouts da direbobi na duka firikwensin sun dace, wanda ke tabbatar da ƙaura mai sauƙi daga wannan firikwensin zuwa wancan.
Kamar duk na'urori masu auna firikwensin Lokacin-Flight (ToF) bisa fasahar ST's FlightSense, VL53L7CX rikodin, a cikin kowane yanki, cikakken nisa ba tare da la'akari da launi da tunani ba.
An ajiye shi a cikin ƙaramin kunshin da za'a iya sake sakewa wanda ya haɗu da tsararrun SPAD, VL53L7CX yana samun mafi kyawun aiki a cikin yanayi daban-daban na hasken yanayi, kuma don nau'ikan kayan gilashin rufewa.
Duk na'urori masu auna firikwensin ST's ToF sun haɗa VCSEL wanda ke fitar da cikakken haske na 940nm mara ganuwa, wanda ke da aminci ga idanu (shaidar 1 Class).
VL53L7CX shine cikakkiyar firikwensin ga kowane aikace-aikacen da ke buƙatar FoV mai fa'ida kamar robotics, masu magana mai kaifin baki, na'urorin bidiyo, sarrafa abun ciki. Haɗin iyawar multizone da 90 ° FoV na iya haɓaka sabbin lamuran amfani-kamar sanin karimcin, SLAM don aikin mutum-mutumi, da ƙaramin tsarin kunna wutar lantarki don gini mai kaifin baki.
Hoto 1. VL53L7CX firikwensin firikwensin
Magana
Takardar bayanan VL53L7CX (DS13865)

Acronyms da gajarta

Gagararre/gajartawa	Ma'anarsa
DOE	bambance-bambancen gani na gani
FoV	filin na view
I2C	cirduit (serial bas)
Kcps/SPAD	Kilo-count a sakan daya a kowane spad (raka'a da ake amfani da ita don ƙididdige adadin photon a cikin tsararrun SPAD)
RAM	Ƙwaƙwalwar samun damar bazuwar
SCL	layin agogo serial
SDA	serial data
SPAD	guda photon avalanche diode
ToF	lokacin tashi
ULD	ultra Lite direba
VCSEL	a tsaye kogo surface emitting diode
Xtalk	zance

Bayanin aiki

2.1 Tsarin ya ƙareview
Tsarin VL53L7CX ya ƙunshi na'urar kayan masarufi da software na direba mara nauyi (VL53L7CX ULD) da ke gudana akan runduna (duba adadi a ƙasa). Tsarin kayan masarufi ya ƙunshi firikwensin ToF. ST yana ba da direban software wanda ake magana a kai a cikin wannan takaddar a matsayin "direba". Wannan daftarin aiki yana bayyana ayyukan direba waɗanda ke da damar mai masaukin. Waɗannan ayyuka suna sarrafa firikwensin kuma suna samun bayanan jeri.
Hoto 2. Tsarin VL53L7CX ya ƙareview
2.2 Ingantacciyar daidaitawa
Tsarin ya haɗa da ruwan tabarau akan buɗewar RX wanda ke juyewa (a tsaye da a tsaye) hoton da aka ɗauka na manufa. Sakamakon haka, yankin da aka gano a matsayin yanki na 0 a cikin ƙasan hagu na tsararrun SPAD yana haskaka ta wani maƙasudi da ke saman gefen dama na wurin.
Hoto 3. VL53L7CX tasiri mai tasiri

2.3 Schematics da I2C sanyi
Ana sarrafa sadarwa tsakanin direba da firmware ta I2C, tare da ikon aiki har zuwa 1 MHz. Aiwatar da aiwatarwa na buƙatar ja da baya akan layin SCL da SDA. Da fatan za a duba takaddar VL53L7CX don ƙarin bayani.
Na'urar VL53L7CX tana da adireshin I2C tsoho na 0x52. Koyaya, yana yiwuwa a canza adireshin tsoho don guje wa rikice-rikice tare da wasu na'urori, ko sauƙaƙe ƙara nau'ikan VL53L7CX da yawa zuwa tsarin don babban tsarin FoV. Ana iya canza adireshin I2C ta amfani da aikin vl53l7cx_set_i2c_address().
Hoto 4. Na'urori masu auna firikwensin da yawa akan bas ɗin I2C
Don ba da damar na'urar ta canza adireshin I2C ba tare da shafar wasu a cikin bas ɗin I2C ba, yana da mahimmanci a kashe sadarwar I2C na na'urorin ba a canza su ba. Hanyar ita ce kamar haka:

1. Ƙarfafa tsarin kamar yadda aka saba.
2. Zazzage fil ɗin LPn na na'urar wanda ba zai canza adireshinsa ba.
3. Ciro fil ɗin LPn na na'urar da aka canza adireshin I2C.
4. Shirya adireshin I2C zuwa na'urar ta amfani da aikin set_i2c_address().
5. Ciro fil ɗin LPn na na'urar ba a sake tsara shi ba.

Ya kamata yanzu duk na'urori su kasance a kan bas ɗin I2C. Maimaita matakan da ke sama don duk na'urorin VL53L7CX a cikin tsarin da ke buƙatar sabon adireshin I2C.

Kunshin abun ciki da kwararar bayanai

3.1 Gine-ginen direbobi da abun ciki
Kunshin VL53L7CX ULD ya ƙunshi manyan fayiloli guda huɗu. Direba yana cikin babban fayil / VL53L7CX_ULD_API.
Direban ya ƙunshi na tilas kuma na zaɓi files. Na zaɓi files su ne plugins amfani da shi don tsawaita fasalin ULD. Kowane plugin yana farawa da kalmar "vl53l7cx_plugin" (misali vl53l7cx_plugin_xtalk.h). Idan mai amfani baya son abin da aka tsara plugins, ana iya cire su ba tare da tasiri ga sauran fasalulluka na direba ba. Hoto mai zuwa yana wakiltar wajibi files da na zaɓi plugins.
Hoto 5. Gine-ginen direbobi
Mai amfani kuma yana buƙatar aiwatar da biyu files yana cikin babban fayil / Platform. Dandalin da aka tsara shine harsashi mara kyau, kuma dole ne a cika shi da ayyukan sadaukarwa.
Lura: Plat form h file ya ƙunshi macro na wajibi don amfani da ULD. Duka file abun ciki ya zama dole don amfani da ULD daidai.
3.2 Calibration kwarara
Lura: Crosstalk (xtalk) an bayyana shi azaman adadin siginar da aka karɓa akan tsararrun SPAD wanda ya faru ne saboda hasken VCSEL a cikin taga mai kariya (gilashin murfin) wanda aka ƙara a saman tsarin. Modulin VL53L7CX an daidaita shi da kansa, kuma ana iya amfani dashi ba tare da wani ƙarin daidaitawa ba.
Ana iya buƙatar daidaitawar Xtalk idan ƙirar tana da kariya ta gilashin rufewa. VL53L7CX ba shi da kariya ga xtalk fiye da 60 cm godiya ga algorithm na histogram, amma a ɗan gajeren nisa da ke ƙasa da 60 cm, xtalk na iya zama mafi girma fiye da ainihin siginar da aka dawo, yana ba da karatun ƙarya ko sanya maƙasudin su bayyana kusa fiye da yadda suke. Duk ayyukan daidaita xtalk an haɗa su cikin plugin xtalk (na zaɓi). Mai amfani yana buƙatar amfani da file `vl53l7cx_plugin_xtalk'.
Ana iya daidaita xtalk sau ɗaya, kuma ana iya adana bayanai don sake amfani da su daga baya. Ana buƙatar maƙasudi a tsayayyen nisa, tare da sanannen tunani. Matsakaicin nisa da ake buƙata shine mm 600, kuma dole ne maƙasudin ya rufe duka FoV. Dangane da saitin, mai amfani zai iya canza saituna don daidaita ma'aunin Xtalk, kamar yadda aka tsara a cikin tebur mai zuwa.
Tebur 1. Akwai saitunan don daidaitawa

Saita	Min	ST	Max
Nisa [mm]	600	600	3000
Adadin samples	1	4	16
Tunani [%]	1	3	99

Lura Ƙara yawan samples yana ƙara daidaito, amma kuma yana ƙara lokacin daidaitawa. Lokacin dangane da adadin samples yana layi ne, kuma ƙididdiga suna bin ƙayyadadden lokacin ƙarewa:

• 1 s kuampku 1 seconds
• 4 s kuampkasa 2.5 seconds
• 16 s kuampkasa 8.5 seconds

Ana yin gyare-gyare ta amfani da aikin vl53l7cx_calibrate_xtalk(). Ana iya amfani da wannan aikin a kowane lokaci. Koyaya, dole ne a fara fara firikwensin. Hoton da ke gaba yana wakiltar kwararar daidaitawar Xtalk.
Hoto 6. Xtalk calibration kwarara

3.3 Gudun tafiya
Hoton da ke gaba yana wakiltar kewayon kwararar da aka yi amfani da shi don samun ma'auni. Dole ne a yi amfani da gyare-gyaren Xtalk da kiran ayyuka na zaɓi kafin fara zangon jeri. Ba za a iya amfani da ayyukan samu/saitin ba yayin zaman jeri, kuma ba a tallafawa shirye-shiryen 'kan-da-tashi'.
Hoto 7. Rage kwarara ta amfani da VL53L7CX

Akwai fasali

VL53L7CX ULD API ya haɗa da ayyuka da yawa waɗanda ke ba mai amfani damar kunna firikwensin, ya danganta da yanayin amfani. Dukkan ayyuka da ake da su na direba an kwatanta su a cikin sassan masu zuwa.
4.1 Farawa
Dole ne a fara farawa kafin amfani da firikwensin VL53L7CX. Wannan aikin yana buƙatar mai amfani don:

1. Ƙarfin firikwensin (VDDIO, AVDD, LPn da aka saita zuwa High, da fil I2C_RST saita zuwa 0)
2. Kira aikin vl53l7cx_init(). Aikin yana kwafin firmware (~ 84 kbytes) zuwa module ta hanyar ɗora lambar akan ƙirar I2C da aiwatar da tsarin taya don kammala farawa.

4.2 Gudanar da sake saitin Sensor
Don sake saita na'urar, ana buƙatar kunna fil masu zuwa:

1. Sanya fil VDDIO, AVDD, da LPn zuwa ƙananan.
2. Jira 10 ms.
3. Sanya fil VDDIO, AVDD, da LPn zuwa sama. Juyawa I2C_RST fil kawai yana sake saita sadarwar I2C.

4.3 Ƙaddamarwa
Ƙudurin ya yi daidai da adadin yankunan da ake da su. Firikwensin VL53L7CX yana da shawarwari guda biyu masu yiwuwa: 4 × 4 (yankuna 16) da 8 × 8 (shiyoyin 64). Ta tsohuwa ana tsara firikwensin a cikin 4 × 4.
Aikin vl53l7cx_set_resolution() yana bawa mai amfani damar canza ƙuduri. Kamar yadda mitar kewayo ya dogara da ƙuduri, dole ne a yi amfani da wannan aikin kafin sabunta mitar kewayo. Haka kuma, canza ƙudurin kuma yana ƙara girman zirga-zirga akan bas ɗin I2C lokacin da aka karanta sakamakon.
4.4 Mitar jeri
Ana iya amfani da mitar jeri don canza mitar awo. Kamar yadda matsakaicin mitar ya bambanta tsakanin ƙudurin 4 × 4 da 8 × 8, ana buƙatar amfani da wannan aikin bayan zaɓin ƙuduri. An jera mafi ƙanƙanta da matsakaicin ƙimar da aka yarda a cikin tebur mai zuwa.
Tebura 2. Mafi ƙanƙanta da matsakaicin mitoci

Ƙaddamarwa	Matsakaicin matsakaicin matsakaici [Hz]	Matsakaicin mitar mitar [Hz]
4×4	1	60
8×8	1	15

Za a iya sabunta mitar jeri ta amfani da aikin vl53l7cx_set_ranging_frequency_hz(). Ta tsohuwa, ana saita mitar jeri zuwa 1 Hz.
4.5 Yanayin kewayawa
Yanayin jeri yana bawa mai amfani damar zaɓar tsakanin jeri cikin babban aiki ko ƙarancin wutar lantarki.
Akwai hanyoyi guda biyu da aka tsara:

• Ci gaba: Na'urar tana ci gaba da ɗaukar firam ɗin tare da kewayon mitar da mai amfani ya ayyana. Ana kunna VCSEL yayin duk jeri, don haka matsakaicin matsakaicin nisa da rigakafi na yanayi ya fi kyau. Ana ba da shawarar wannan yanayin don ma'auni masu sauri ko manyan ayyuka.
• Mai sarrafa kansa: Wannan shine yanayin tsoho. Na'urar tana ci gaba da ɗaukar firam ɗin tare da kewayon mitar da mai amfani ya ayyana. Ana kunna VCSEL a lokacin da mai amfani ya ayyana, ta amfani da aikin vl53l7cx_set_integration_time_ms(). Kamar yadda ba koyaushe ake kunna VCSEL ba, ana rage yawan amfani da wutar lantarki. Fa'idodin sun fi bayyane tare da raguwar mitar jeri. Ana ba da shawarar wannan yanayin don aikace-aikacen ƙananan wuta.

Ana iya canza yanayin jeri ta amfani da aikin vl53l7cx_set_ranging_mode().
4.6 Lokacin haɗin kai
Lokacin haɗawa siffa ce kawai samuwa ta amfani da yanayin jeri mai sarrafa kansa (koma zuwa Sashe na 4.5 Yanayin jeri). Yana bawa mai amfani damar canza lokacin yayin da aka kunna VCSEL. Canja lokacin haɗin kai idan an saita yanayin jeri zuwa ci gaba ba shi da wani tasiri. An saita lokacin haɗawa ta asali zuwa 5 ms.
Sakamakon lokacin haɗin kai ya bambanta don 4 × 4 da 8 × 8 ƙuduri. Resolution 4 × 4 ya ƙunshi lokacin haɗin kai ɗaya, kuma ƙudurin 8 × 8 ya ƙunshi lokutan haɗin kai huɗu. Alkaluman da ke gaba suna wakiltar fitar da VCSEL na shawarwarin biyu.
Hoto 8. Lokacin haɗin kai don 4 × 4 mai zaman kansa

Jimlar duk lokacin haɗin kai + 1 ms sama da ƙasa dole ne ya kasance ƙasa da lokacin aunawa. In ba haka ba, lokacin kewayon yana ƙaruwa ta atomatik don dacewa da ƙimar lokacin haɗin kai.
4.7 Yanayin wutar lantarki
Ana iya amfani da yanayin wutar lantarki don rage yawan wutar lantarki lokacin da ba a yi amfani da na'urar ba. VL53L7CX na iya aiki a ɗayan hanyoyin wutar lantarki masu zuwa:

• Farkawa: An saita na'urar a cikin rashin aiki na HP (babban iko), jiran umarni.
• Barci: An saita na'urar a cikin LP mara amfani (ƙananan wutar lantarki), ƙarancin wutar lantarki. Ba za a iya amfani da na'urar ba har sai an saita ta a yanayin farkawa. Wannan yanayin yana riƙe da firmware da daidaitawa.

Ana iya canza yanayin wutar lantarki ta amfani da aikin vl53l7cx_set_power_mode(). Yanayin tsoho shine Farkawa.
Lura Idan mai amfani yana son canza yanayin wutar lantarki, dole ne na'urar ta kasance cikin tsaka-tsakin yanayi.
4.8 Mai kaifi
Siginar da aka dawo daga maƙasudi ba bugu mai tsabta ba ne mai kaifi. Gefuna sun gangara kuma suna iya shafar nisan da aka ruwaito a yankuna da ke kusa. Ana amfani da mai kaifi don cire wasu ko duk siginar da ke haifar da walƙiya. The exampLe da aka nuna a cikin adadi mai zuwa yana wakiltar makasudin kusa a 100 mm a tsakiya a cikin FoV, da kuma wani manufa, gaba a baya a 500 mm. Dangane da ƙimar mai kaifi, maƙasudin kusa zai iya bayyana a ƙarin yankuna fiye da na ainihi.
Hoto 10. Example of scene ta amfani da ƙima mai ƙima da yawa
Za a iya canza mai kaifi ta amfani da aikin vl53l7cx_set_sharpener_percent(). Abubuwan da aka yarda suna tsakanin 0 % da 99 %. Matsakaicin ƙima shine 5%.
4.9 Tsarin manufa
VL53L7CX na iya auna maƙasudi da yawa a kowane yanki. Godiya ga sarrafa histogram, mai watsa shiri zai iya zaɓar tsari na abubuwan da aka ruwaito. Akwai zaɓuɓɓuka guda biyu:

• Mafi kusa: Maƙasudin mafi kusa shine farkon rahoton
• Mafi ƙarfi: Maƙasudin mafi ƙarfi shine farkon rahoton

Ana iya canza tsarin da aka yi niyya ta amfani da aikin vl53l7cx_set_target_order(). Tsarin tsoho shine Mafi ƙarfi.
The example a cikin adadi mai zuwa yana wakiltar gano maƙasudai biyu. Daya a 100 mm tare da ƙananan tunani, kuma ɗaya a 700 mm tare da babban tunani.
Hoto 11. Example of histogram tare da 2 hari

4.10 Maƙasudi da yawa a kowane yanki
VL53L7CX na iya auna har zuwa maƙasudai huɗu a kowane yanki. Mai amfani zai iya saita adadin maƙasudin da firikwensin ya dawo.
Lura Matsakaicin tazara tsakanin maƙasudai biyu da za a gano shine 600 mm. Zaɓin ba zai yiwu ba daga direba; dole ne a yi shi a cikin 'platform.h' file. Macro VL53L7CX_NB_ TARGET_PER_ZONE yana buƙatar saita zuwa ƙima tsakanin 1 da 4. Tsarin manufa da aka kwatanta a Sashe na 4.9 Tsarin manufa yana tasiri kai tsaye ga tsarin da aka gano. Ta hanyar tsoho, firikwensin firikwensin kawai yana fitar da iyakar manufa ɗaya a kowane yanki.
Lura  Ƙara yawan maƙasudin kowane yanki yana ƙara girman RAM da ake buƙata.
4.11 Xtalk iyaka
Gefen Xtalk ƙarin fasali ne kawai samuwa ta amfani da plugin Xtalk. .c da .f files 'vl53l7cx_plugin_xtalk' yana buƙatar amfani.
Ana amfani da gefe don canza iyakar ganowa lokacin da murfin murfin ya kasance a saman firikwensin. Ana iya ƙara ƙofa don tabbatar da cewa ba a taɓa gano abin rufewa ba, bayan saita bayanan daidaita maganar X. Domin misaliampHar ila yau, mai amfani zai iya gudanar da daidaitawar Xwalk akan na'ura guda ɗaya, kuma ya sake amfani da bayanan daidaitawa iri ɗaya don duk sauran na'urori. Za a iya amfani da gefen magana na X don daidaita gyaran maganar X. Hoton da ke ƙasa yana wakiltar gefen Xwalk.
Hoto 12. X gefen magana
4.12 Gane kofofin
Baya ga iyawar jeri na yau da kullun, ana iya tsara firikwensin don gano abu a ƙarƙashin wasu ƙayyadaddun ƙayyadaddun sharuɗɗa. Ana samun wannan fasalin ta amfani da plugin "masu gano kofa", wanda zaɓi ne da ba a haɗa shi ta tsohuwa a cikin API ba. The fileAna buƙatar amfani da abubuwan da ake kira `vl53l7cx_plugin_detection_thresholds'. Ana iya amfani da fasalin don jawo katsewa zuwa fil A3 (INT) lokacin da yanayin da mai amfani ya ayyana. Akwai yiwuwar daidaitawa guda uku:

• Ƙimar 4 × 4: ta amfani da ƙofa 1 a kowane yanki (jimilar mashigin 16)
• Ƙimar 4 × 4: ta amfani da ƙofofin 2 a kowane yanki (jimilar mashigin 32)
• Ƙimar 8 × 8: ta amfani da ƙofa 1 a kowane yanki (jimilar mashigin 64)

Ko menene tsarin da aka yi amfani da shi, hanyar ƙirƙirar ƙofofin da girman RAM iri ɗaya ne.
Ga kowane haɗin bakin kofa, ana buƙatar cike filaye da yawa:

• Yanki id: id na yankin da aka zaɓa ( koma zuwa Sashe 2.2 Ingantacciyar daidaitawa)
• Aunawa: auna don kamawa (nisa, sigina, adadin SPADs, ...)
• Nau'in: windows na ma'auni (a cikin windows, daga cikin windows, ƙasa da ƙananan kofa, ...)
• Ƙarƙashin ƙaƙƙarfan kofa: ƙananan mai amfani don faɗakarwa. Mai amfani baya buƙatar saita tsarin, API ɗin yana sarrafa shi ta atomatik.
• Babban ƙofa: babban mai amfani don faɗakarwa. Mai amfani baya buƙatar saita tsarin, API ɗin yana sarrafa shi ta atomatik.
• Aiki na lissafi: kawai ana amfani da shi don 4 × 4 2 haɗuwa kofa a kowane yanki. Mai amfani zai iya saita haɗin kai ta amfani da ƙofofi da yawa a cikin yanki ɗaya.

4.13 Alamar motsi
Firikwensin VL53L7CX yana da fasalin Firmware wanda ke ba da izinin gano motsi a wurin. Ana lissafta alamar motsi tsakanin firam ɗin jeri. Ana samun wannan zaɓi ta amfani da plugin `vl53l7cx_plugin_motion_indicator'.
An fara nuna alamar motsi ta amfani da aikin vl53l7cx_motion_indicator_init(). Idan mai amfani yana son canza ƙudurin firikwensin, dole ne ya sabunta ƙudurin nunin motsi ta amfani da aikin sadaukarwa: vl53l7cx_motion_indicator_set_resolution().
Mai amfani kuma na iya canza ƙarami da matsakaicin nisa don gano motsi. Bambanci tsakanin mafi ƙanƙanta da matsakaicin nisa ba zai iya zama sama da mm 1500 ba. Ta hanyar tsoho, ana fara nisa tare da ƙima tsakanin 400 mm zuwa 1500 mm.
Ana adana sakamakon a cikin filin 'alamar motsi'. A cikin wannan filin, tsararrun 'motsi' tana ba da ƙima mai ɗauke da ƙarfin motsi kowane yanki. Babban ƙima yana nuna babban bambancin motsi tsakanin firam. Motsi na yau da kullun yana ba da ƙima tsakanin 100 da 500. Wannan azancin ya dogara da lokacin haɗin kai, nisan nisa, da hangen nesa.
Kyakkyawan haɗuwa don ƙananan aikace-aikacen wutar lantarki shine amfani da alamar motsi tare da yanayin kewayo mai sarrafa kansa, da matakan ganowa da aka tsara akan motsi. Wannan yana ba da damar gano bambance-bambancen motsi a cikin FoV tare da mafi ƙarancin wutar lantarki.

Sakamakon sakamako

5.1 Akwai bayanai
Za a iya fitar da jeri mai yawa na maƙasudi da bayanan muhalli yayin ayyukan keɓancewa. Tebur mai zuwa yana bayyana sigogin da ke akwai ga mai amfani.
Tebur 3. Samfuran fitarwa ta amfani da firikwensin VL53L7CX

Abun ciki	Nb bytes (RAM)	Naúrar	Bayani
Ambient ta SPAD	256	Kcps/SPAD	Ma'aunin ƙimar yanayi da aka yi akan tsararrun SPAD, ba tare da fitar da iska mai aiki ba, don auna ƙimar siginar yanayi saboda amo.
Adadin abubuwan da aka gano	64	Babu	Adadin abubuwan da aka gano a yankin na yanzu. Wannan ƙimar yakamata ta zama farkon wanda zai bincika don sanin ingancin awo.
An kunna adadin SPADs	256	Babu	Adadin SPAD da aka kunna don ma'aunin na yanzu. Maƙasudin tunani mai nisa ko ƙananan zai kunna ƙarin SPADs.
Sigina kowane SPAD	256 x nb da aka tsara	Kcps/SPAD	Adadin photons da aka auna yayin bugun bugun VCSEL.
Range sigma	128 x nb da aka tsara	Milimita	Sigma estimator don amo a cikin rahoton nisa manufa.
Nisa	128 x nb da aka tsara	Milimita	Nisan manufa
Matsayin manufa	64 x nb da aka tsara	Babu	Ingantattun ma'auni. Duba Sashe na 5.5 fassarar sakamako don ƙarin bayani.
Tunani	64 x lambar da aka tsara	kashi dari	Kiyasin hasashe a cikin kashi
Alamar motsi	140	Babu	Tsarin da ke ɗauke da sakamakon nunin motsi. Filin 'motsi' ya ƙunshi ƙarfin motsi.

Lura: Don abubuwa da yawa (sigina kowane sped, sigma, …) samun damar bayanai ya bambanta idan mai amfani ya tsara fiye da manufa 1 a kowane yanki (duba Sashe na 4.10 Maƙasudi da yawa a kowane yanki). Duba example codes don ƙarin bayani.
5.2 Keɓance zaɓin fitarwa
Ta hanyar tsoho, duk abubuwan VL53L7CX ana kunna su. Idan an buƙata, mai amfani zai iya kashe wasu firikwensin firikwensin. Babu ma'auni na kashewa akan direba; dole ne a yi shi a cikin 'platform's' file. Mai amfani na iya ayyana macro masu zuwa don kashe abubuwan da aka fitar:
# ayyana VL53L7CX_DISABLE_AMBIENT_PER_SPAD
# ayyana VL53L7CX_DISABLE_NB_SPADS_ENABLED
# ayyana VL53L7CX_DISABLE_NB_TARGET_DETECTED
# ayyana VL53L7CX_DISABLE_SIGNAL_PER_SPAD
# ayyana VL53L7CX_DISABLE_RANGE_SIGMA_MM
# ayyana VL53L7CX_DISABLE_DISTANCE_MM
# ayyana VL53L7CX_DISABLE_TARGET_MATSAYI
# ayyana VL53L7CX_DISABLE_REFLECTANCE_PERCENT
# ayyana VL53L7CX_DISABLE_MOTION_INDICATOR
Saboda haka, ba a bayyana filayen a cikin tsarin sakamako ba, kuma ba a canza bayanan zuwa mai watsa shiri ba. An rage girman RAM da girman I2C. Don tabbatar da daidaiton bayanai, ST yana ba da shawarar a koyaushe a kiyaye 'yawan abin da aka gano' da' matsayin manufa' a kunna. Yana ba da damar tace ma'auni dangane da matsayin manufa (koma zuwa fassarar Sashe na 5.5).
5.3 Samun sakamako masu yawa
A yayin zaman jeri, akwai hanyoyi guda biyu don sanin idan akwai sabbin bayanan jeri:

• Yanayin jefa kuri'a: Ci gaba da amfani da aikin vl53l7cx_check_data_ready(). Yana gano sabon adadin rafi da firikwensin ya dawo.
• Yanayin katsewa: Yana jira an ɗaga katsewa akan fil A3 (GPIO1). Ana share katsewar ta atomatik bayan ~100 s.

Lokacin da aka shirya sabbin bayanai, ana iya karanta sakamakon ta amfani da aikin vl53l7cx_get_ranging_data(). Yana dawo da tsarin da aka sabunta wanda ya ƙunshi duk abin da aka zaɓa. Kamar yadda na'urar ta kasance asynchronous, babu katsewa don sharewa don ci gaba da jeri.
Wannan fasalin yana samuwa duka biyun ci gaba da yanayin jeri mai cin gashin kansa.
5.4 Amfani da ingantaccen tsarin firmware
Bayan canja wurin kewayon bayanai ta hanyar I2C, akwai juyi tsakanin tsarin firmware da tsarin mai watsa shiri. Ana yin wannan aikin yawanci don samun tazara mai nisa a cikin millimeters azaman tsoho fitarwa na firikwensin. Idan mai amfani yana son yin amfani da tsarin firmware, dole ne a ayyana macro mai zuwa a cikin dandamali file:
# ayyana VL53L7CX_USE_RAW_FORMAT
5.5 Fassarar sakamako
Ana iya tace bayanan da VL53L7CX ya dawo don yin la'akari da matsayin manufa. Matsayin yana nuna ingancin ma'auni. An kwatanta cikakken jerin matsayi a cikin tebur mai zuwa.

Matsayin manufa	Bayani
0	Ba a sabunta bayanan jeri ba
1	Yawan sigina yayi ƙasa sosai akan tsararrun SPAD
2	Matsayin manufa
3	Sigma estimator yayi girma sosai
4	daidaiton manufa ya kasa
5	Kewayon inganci
6	Kunna ba a yi ba (Yawanci kewayon farko)
7	daidaiton ƙimar ya gaza
8	Matsakaicin sigina yayi ƙasa sosai don manufa ta yanzu
9	Range yana aiki tare da babban bugun bugun jini (yana iya zama saboda hadadden manufa)
10	Kewayon yana aiki, amma ba a gano manufa a kewayon baya ba
11	daidaiton auna ya kasa
12	Nufin wani ya ruɗe, saboda mai kaifi
13	An gano manufa amma bayanai marasa daidaituwa. Yawanci yana faruwa ga maƙasudai na biyu.
255	Babu manufa da aka gano (kawai idan an kunna adadin abin da aka gano)

Don samun daidaiton bayanai, mai amfani yana buƙatar tace matsayin manufa mara inganci. Don ba da ƙimar amincewa, manufa mai matsayi na 5 ana ɗaukarta azaman 100 % inganci. Ana iya la'akari da matsayi na 6 ko 9 tare da ƙimar amincewar 50%. Duk sauran matsayi suna ƙasa da matakin amincewa 50%.
5.6 Kurakurai Direbobi
Lokacin da kuskure ya faru ta amfani da firikwensin VL53L7CX, direban ya dawo da takamaiman kuskure. Tebur mai zuwa yana lissafin kurakurai masu yuwuwa.
Tebur 5. Jerin kurakurai akwai ta amfani da direba

Matsayin manufa	Bayani
0	Babu kuskure
127	Mai amfani ya tsara saitin da ba daidai ba (ƙudurin da ba a san shi ba, mitar mitoci ya yi yawa,…)
255	Babban kuskure. Yawancin lokaci kuskuren ɓata lokaci, saboda kuskuren I2C.
sauran	Haɗin kurakurai da yawa da aka kwatanta a sama

Lura Ana iya aiwatar da ƙarin lambobin kuskure ta hanyar mai watsa shiri ta amfani da dandamali files.
Tarihin bita
Tebur 6. Tarihin bitar daftarin aiki

Kwanan wata	Sigar	Canje-canje
2-Aug-22	1	Sakin farko
2-Satumba-22	2	Sabunta Gabatarwa Sashe Ƙara bayanin kula game da mafi ƙarancin tazara tsakanin maƙasudi zuwa Sashe na 4.10 Maƙasudi da yawa a kowane yanki

MUHIMMAN SANARWA A KARANTA A HANKALI
STMicroelectronics NV da rassan sa ("ST") sun tanadi haƙƙin yin canje-canje, gyare-gyare, haɓakawa, gyare-gyare, da haɓakawa ga samfuran ST da/ko ga wannan takaddar a kowane lokaci ba tare da sanarwa ba. Ya kamata masu siye su sami sabbin bayanai masu dacewa akan samfuran ST kafin yin oda. Ana siyar da samfuran ST bisa ga sharuɗɗa da sharuɗɗan siyarwa na ST a wurin lokacin amincewa.
Masu siye ke da alhakin zaɓi, zaɓi, da amfani da samfuran ST kuma ST ba ta ɗaukar alhakin taimakon aikace-aikacen ko ƙirar samfuran masu siye. Babu lasisi, bayyananne ko fayyace, ga kowane haƙƙin mallakar fasaha da ST ke bayarwa a nan. Sake siyar da samfuran ST tare da tanadi daban-daban da bayanan da aka gindaya a ciki zai ɓata kowane garantin da ST ya bayar don irin wannan samfurin. ST da tambarin ST alamun kasuwanci ne na ST. Don ƙarin bayani game da alamun kasuwanci na ST, koma zuwa  www.st.com/trademarks.
Duk sauran samfuran ko sunayen sabis mallakin masu su ne. Bayanin da ke cikin wannan takarda ya maye gurbin bayanan da aka kawo a baya a cikin kowane juzu'in wannan takaddar.
© 2022 STMicroelectronics Duk haƙƙin mallaka

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