ST VL53L3CX Lokaci na Madaidaicin Jirgin Jirgin Jagoran Mai Amfani

VL53L3CX ne na Time-of-Flight (ToF) kewayon firikwensin firikwensin.
Manufar wannan littafin jagorar mai amfani shine don bayyana ƙirar haɗin kai da saitin ayyuka don kira don samun jeri-jerun bayanai ta amfani da direba mara amfani na VL53L3CX.

Saukewa: VL53L3CXview

Tsarin VL53L3CX ya ƙunshi tsarin VL53L3CX da direban da ke gudana akan rundunar.
Wannan daftarin aiki yana bayyana ayyukan direba masu isa ga Mai watsa shiri, don sarrafa na'urar da samun jeri na bayanai don haɗin kai tare da rundunonin da ba na Linux ba.

Hoto 1. VL53L3CX tsarin

Lura:
Daftarin aiki na yanzu yana bayyana ayyukan da aka aiwatar da ingantattun ayyuka. Duk wani aiki da ke cikin direbobi bai kamata a yi amfani da shi ba idan ba a bayyana shi a cikin wannan takaddar ba.
Direban da ba komai shine aiwatar da saitin ayyuka da ake buƙata don amfani da na'urar VL53L3CX. Yana yin ƙaramin zato akan haɗin OS da sabis. Don haka, jeri na ayyuka, ƙirar kisa/ zare, daidaitawar dandamali, da rarraba tsarin na'ura ba sa cikin aiwatar da direban da babu komai amma an bar shi a buɗe ga mai haɗawa.
Dole ne jeri na kiran direban da ba a sani ba dole ne ya bi ka'idoji, wanda aka ayyana a cikin wannan takaddar.

Matsakaicin bayanin aiki

Wannan sashe a taƙaice yana bayyana iyawar aikin na'urar jeri na VL53L3CX.

Jeri jeri

Na'urar tana aiki tare da hanyar musafaha, dangane da daidaitaccen tsarin sarrafa katsewa.
Bayan kowane jeri, mai watsa shiri yana samun bayanan jerawa kuma yana ba da damar jeri na gaba ta hanyar share katsewa. Ana kiran wannan tsari azaman hanyar musafaha. Ana kunna jeri na gaba idan an gama na yanzu kuma idan mai watsa shiri ya share katsewar da ta gabata.
Tsarin katsewa yana ba da damar canja wurin bayanai cikin sauri, ba tare da rasa kowane ƙima ba saboda al'amurran sadarwa ko asynchronism. Yayin lokacin musafaha, mai gida yana yin wasu sarrafa bayanai. An kwatanta jerin jeri da aiki a cikin hoton da ke ƙasa.

Jerin musafaha yana ba da damar ƙididdige sigogi na ciki kuma a yi amfani da su don kewayo na gaba.
Dole ne mai amfani da direban babur ya yi musafaha. Jinkiri don ba da damar sabon jeri bayan an karɓi sabon ma'auni shine maɓalli ga ƙimar ma'aunin tsarin gaba ɗaya.

Tunanin lokaci

Ana gabatar da lokuta a cikin Hoto na 3. Jeri jeri da maƙasudin lokaci.
Mai watsa shiri na iya samun sabbin abubuwan da ake samu a lokacin tsawon lokaci (jerewar kasafin kuɗi) na kewayon yanzu.
Idan mai watsa shiri ya gabatar da jinkiri don share katsewar, za a dakatar da jeri na gaba har sai an share katsewar da ke jira.

Lura: An nuna lokaci a cikin Hoto na 3. Jeri jeri da maƙasudin lokaci lokaci ne na yau da kullun. Mai watsa shiri na iya canza tsohowar kasafin kuɗi ta hanyar amfani da aikin direba mai kwazo da aka kwatanta a Sashe na 5.1 kasafin kuɗi na lokaci. Mai watsa shiri na iya yanke shawarar canza kasafin lokacin lokaci ko dai don aiki tare akan aikace-aikacen ko don ƙara daidaitattun jeri.
A cikin adadi mai zuwa, "Boot", "SW jiran aiki" da "Init" yana ɗaukar 40 ms. Ana buƙatar wannan lokacin don aiwatar da farkon na'urar daidai, kuma ta kasance mai zaman kanta daga dandamali ko kasafin lokacin amfani da ita. Kewayon farko, "Range1", ba shi da inganci, kasancewar duba-zagaye ba zai yiwu ba. Wannan yana nufin cewa ƙimar jeri na farko shine "Range2", ana samunsa bayan 40 ms da sau biyu na lokacin kasafin kuɗi.

Hoto 3. Jeri jeri da maƙasudin lokaci

Bare direba ainihin bayanin ayyuka

Wannan sashe yana bayyana ayyukan aikin direban da ya kamata a bi don aiwatar da ma'auni
Saukewa: VL53L3CX.
Ana amfani da direban VL53L3CX a cikin nau'ikan aikace-aikace guda biyu:

Aikace-aikacen masana'anta da aka yi amfani da su don daidaita na'urar, yawanci a ƙarshen gwajin masana'anta (gudanar da masana'anta)

Aikace-aikacen filin, waɗanda ke tattara duk aikace-aikacen masu amfani ta ƙarshe ta amfani da na'urar VL53L3CX (gudanar ruwa)

Bare direba

An kwatanta kwararar masana'antar direbobi a cikin wannan adadi mai zuwa.

Hoto 4. VL53L3CX API yana gudana (ma'aikata)

Lura: Gudun daidaitawa yana canza yanayin nisa. Wajibi ne a kira aikin SetDistanceMode() idan kuna son amfani da firikwensin bayan an daidaita shi.
An kwatanta yadda direban ke tafiya a cikin wannan adadi mai zuwa.

Hoto 5. VL53L3CX API kewayon kwarara (filin)

Farkon tsarin

Sashe na gaba yana nuna ayyukan API ɗin da ake buƙata don aiwatar da ƙaddamar da tsarin, kafin fara aunawa.

Jira boot

Ayyukan VL53LX_WaitDeviceBooted() yana tabbatar da cewa an kunna na'urar kuma a shirye. Ba dole ba ne a kira wannan aikin.

Lura: Wannan aikin yana toshe aikin mai watsa shiri. Wannan aikin bai kamata ya toshe sama da 4 ms ba, yana ɗauka:

400 kHz I2C mita
Latency 2 ms kowace ciniki

Data init

Dole ne a kira aikin VL53LX_DataInit() a duk lokacin da na'urar ta fita daga yanayin "boot na farko". Yana aiwatar da ƙaddamar da na'ura. Bayan kiran aikin VL53LX_DataInit() dole ne a loda bayanan daidaitawa ta amfani da aikin VL53LX_SetCalibrationData().

Saukewa: VL53L3CX

A kan rundunonin da ba Linux ba, mai amfani da jerin direbobin babur ya yi kira ga direba ta hanyar da ta dace da buƙatun aikace-aikacen, damar dandamali da kuma direban direba mara izini ya kira ka'idojin jeri.

Fara aunawa

Dole ne a kira aikin VL53LX_StartMeasurement() don fara aunawa.

Jira sakamako: zabe ko katsewa

Akwai hanyoyi guda 3 don sanin cewa akwai ma'auni. Mai masaukin baki na iya:

kira aikin zabe
zabe kan aikin direba
jira katsewar jiki

Zaɓen direba don samun matsayin sakamako
Aikin VL53LX_WaitMeasurementDataReady() yana yin zabe akan matsayi na ciki har sai an shirya ma'auni.

Lura: Wannan aikin yana toshewa, yayin da ake yin zaɓe na ciki.

Zaɓen mai masaukin baki don samun matsayin sakamako
Mai watsa shiri na iya yin zabe akan aikin VL53LX_GetMeasurementDataReady() don sanin lokacin da aka shirya sabon ma'auni. Wannan aikin baya tarewa.

Amfani da katsewar jiki

Wata hanyar da aka fi so don samun matsayi na jeri ita ce amfani da fitowar katsewar jiki. Ta hanyar tsoho, GPIO1 yana raguwa lokacin da aka shirya sabon ma'auni.
Wannan fil fil ɗin fitarwa ne kawai, babu abin shigar da katsewa akan wannan na'urar. Dole ne a share tsangwama ta hanyar kiran aikin direba VL53LX_ClearInterruptAndStartMeasurement().

Samu auna

Ana iya gano abubuwa da yawa a kowane jere, kuma ana ba da rahoton bayanan ma'auni akan kowane abu VL53LX_GetMultiRangingData() ana iya amfani dashi don samun jeri na bayanai lokacin da abubuwa da yawa ke cikin filin view. Lokacin kiran wannan aikin don samun sakamakon jeri na na'urar, ana dawo da tsarin da ake kira VL53LX_MultiRangingData_t.

Tsaya ma'auni

A cikin ci gaba da yanayin, mai watsa shiri na iya dakatar da ma'auni ta kiran aikin VL53LX_StopMeasurement(). Idan buƙatar tasha ta faru yayin auna kewayo, to ana soke ma'aunin nan da nan.

Tsare-tsaren bayanai

Tsarin mai suna VL53LX_MultiRangingData_t ya ƙunshi bayanai masu zuwa waɗanda ke dacewa da duk makasudin da aka gano:

Lokaci St.amp: ba a aiwatar da shi ba.
Ƙididdiga Mai Ruwa: wannan lamba 8-bit yana ba da ƙima a kowane kewayon. Ƙimar tana farawa a 0, yana ƙaruwa 1 ta 1 har zuwa 255. Idan ya kai 255, zai sake farawa daga 128 zuwa 255.
Yawan Abubuwan Da Aka Samu: Ƙimar lamba 8-bit wanda ke ba da adadin abubuwan da aka samo.

Bayanan Rage [VL53LX_MAX_RANGE_RESULTS]: tebur na tsarin nau'in VL53LX_TargetRangeData_t. VL53LX_MAX_RANGE_RESULTS ne ya ba da matsakaicin adadin maƙasudi, kuma ta tsohuwa daidai yake da 4.
Ya Canza Ƙimar magana ta X: Ƙimar lamba 8-bit wanda ke nuna idan an canza ƙimar crosstalk.

Ingantacciyar Ƙididdigar Spad Rtn: Integer 16-bit wanda ke dawo da ingantacciyar ƙimar photon avalanche diode (SPAD) don kewayon yanzu. Don samun ƙimar gaske ya kamata a raba shi da 256.

Tsari ɗaya akan kowane manufa da aka gano (har zuwa 4 ta tsohuwa) mai suna VL53LX_TargetRangeData_t wanda ya ƙunshi takamaiman sakamako masu zuwa ga kowane manufa da aka gano.

RangeMaxMilliMeter: lamba ce 16-bit, yana nuna mafi girman nisa da aka gano.
RangeMinMilliMeter: lamba ce 16-bit, yana nuna ƙaramin nesa da aka gano.
SiginaRtnMegaCps: wannan ƙimar ita ce ƙimar siginar dawowa a cikin MegaCountPer Second (MCPS), wannan ƙimar madaidaicin 16.16 ce. Don samun ainihin ƙimar ya kamata a raba ta 65536.
AmbientRateRtnMegaCps: wannan ƙimar ita ce ƙimar yanayi ta dawowa (a cikin MCPS), wannan ƙimar madaidaicin maki 16.16 ne, wanda shine ma'auni daidai gwargwadon adadin hasken yanayi da aka auna ta firikwensin. Don samun ainihin ƙimar ya kamata a raba ta 65536.
SigmaMilliMeter: wannan darajar 16.16 gyara maki shine ƙididdige ma'auni na daidaitattun kewayon kewayon yanzu, wanda aka bayyana a cikin millimita. Don samun ainihin ƙimar ya kamata a raba ta 65536.
RangeMilliMeter: lamba ce 16-bit da ke nuna nisan kewayo a cikin millimita.
Matsayin Range: wannan lamba ce 8-bit da ke nuna matsayin kewayon ma'aunin na yanzu. Darajar = 0 yana nufin jeri yana aiki. Duba Tebur 1. Matsayin kewayon.
Faɗakarwa: wannan lamba ce 8-bit wanda ke nuna idan an buɗe kewayon (don nesa kawai)

Ana aiwatar da wata ɗabi'a ta musamman lokacin da ba a gano abin da ake nufi ba. Idan ba a gano maƙasudin ba, kuma ma'aunin yana aiki, ana ba da rahoton ƙimar waɗannan ƙididdiga a cikin tsarin VL53LX_TargetRangeData_t:

RangeMaxMilliMeter: tilastawa zuwa 8191.
RangeMinMilliMeter: Tilastawa zuwa 8191.
SignalRateRtnMegaCps: tilastawa zuwa 0.
AmbientRateRtnMegaCps: ƙimar ƙimar yanayi yawanci ana lissafta shi.
SigmaMilliMeter: tilastawa zuwa 0.
RangeMilliMeter: tilastawa zuwa 8191.
RangeStatus: Tilastawa zuwa 255.
ExtendedRange: tilas zuwa 0.

Tebur 1. Matsayin iyaka

Daraja	RangeStatus String	Sharhi
0	VL53LX_RANGESTATUS_RANGE_VALID	Ma'aunin jeri yana aiki
1	VL53LX_RANGESTATUS_SIGMA_FAIL	Tasowa idan sigma estimator check yana sama da ƙayyadaddun ƙofa na ciki. Sigma estimator yana ba da ingantaccen bayani game da siginar.
2	VL53LX_RANGESTATUS_SIGNAL_FAIL	Taso lokacin da siginar tayi ƙasa sosai don gano manufa.
4	VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL	Tashe lokacin da sakamakon kewayon ya fita daga kan iyaka
5	VL53LX_RANGESTATUS_HARDWARE_FAIL	Tashe idan akwai gazawar HW ko VCSEL
6	VL53LX_RANGESTATUS_RANGE_VALID_NO_WR AP_CHECK_FAIL	Ba a yi rajistan abin rufe fuska ba (wannan shine farkon zangon farko)
7	VL53LX_RANGESTATUS_WRAP_TARGET_FAIL	Rufewa ya faru
8	VL53LX_RANGESTATUS_PROCESSING_FAIL	Kuskuren sarrafawa na ciki
10	VL53LX_RANGESTATUS_SYNCRONISATION_INT	An ɗaga shi sau ɗaya bayan ƙaddamarwa, dole ne a yi watsi da ƙimar jeri
11	VL53LX_RANGESTATUS_RANGE_VALID_MERGE D_PULSE	Matsakaicin ya yi kyau, amma nisan da aka ruwaito shine sakamakon haɗuwa da maƙasudai da yawa.
12	VL53LX_RANGESTATUS_TARGET_PRESENT_LA CK_OF_SIGNAL	Nuna cewa akwai manufa, amma siginar ta yi ƙasa da ƙasa don ba da rahoton jeri
14	VL53LX_RANGESTATUS_RANGE_INVALID	Rage bayanai mara kyau ne kuma dole ne a yi watsi da su
255	VL53LX_RANGESTATUS_NONE	Ba a gano manufa ba, ba tare da an taso da faɗakarwa ko kuskure ba

Ma'aunin farko ba ya haɗa da duban kundi. Ana iya jefar da wannan ma'auni na jeri.
Lura: Matsayin kewayon 1 galibi yana haifar da ma'aunin hayaniya. Sigma estimator yana tasiri ta SNR na siginonin da aka jiyya.
Lura: Matsayin kewayon 4 yana tasowa lokacin da wasu kuskure akan ma'aunin ya faru. Wannan na iya haifar da ƙetare a matsayin ma'auni mara kyau ko maɗaukakin ƙima.

Ƙarin bayanin ayyukan direba

Kasafin kudin lokaci

Kasafin kuɗi na lokaci shine lokacin da mai amfani ya keɓe don yin ma'aunin kewayo ɗaya. VL53LX_SetMeasurementTimingBudgetMicroSeconds() shine aikin da za'a yi amfani dashi don saita kasafin kuɗi na lokaci. Matsakaicin ƙimar kasafin lokacin tsoho shine 33 ms. Mafi qarancin shine 8 ms, matsakaicin shine 500 ms.
Don misaliample, don saita kasafin lokaci zuwa 66 ms: matsayi = VL53LX_SetMeasurementTimingBudgetMicroSeconds(&VL53L3Dev, 66000);
Aikin VL53LX_GetMeasurementTimingBudgetMicroSeconds() yana dawo da kasafin lokacin da aka tsara.

Yanayin nisa

An ƙara wani aiki don inganta saitunan ciki dangane da kewayon nisa da mai amfani ya nema. Amfanin canza yanayin nisa an yi cikakken bayani a cikin tebur mai zuwa.

Tebur 2. Hanyoyin nisa

Yanayin nisa mai yiwuwa	Amfani / sharhi
Gajere	Kyakkyawan rigakafi na yanayi
Matsakaici (Tsoho)	Matsakaicin nisa
Doguwa	Ƙananan amfani da wutar lantarki

Aikin da za a yi amfani da shi ana kiransa VL53LX_SetDistanceMode().
Direba na iya taimaka wa mai gida don zaɓar mafi kyawun yanayin nisa. Ana mayar da takamaiman ƙima a kowane jeri don nuna mafi kyawun zaɓi, ya danganta da yanayin yanayi.
Ƙididdiga masu yiwuwa sune:

VL53LX_DISTANCE_SHORT
VL53LX_DISTANCE_MEDIUM
VL53LX_DISTANCE_LONG

Daidaita sigogi

Daidaita sigogi suna ba da damar nemo mafi dacewa tsakanin firikwensin da yanayin amfani da rundunar. Ga kowane yanayin amfani, za'a iya bayyana saitin sigogin kunnawa kuma a loda su a cikin direba.
Yawancin sigogin kunnawa sune madaidaitan madaidaitan, ana amfani da su a cikin algorithm jiyya na sigina. Gyara waɗannan sigogi yana ba da damar algorithm don yin cinikin fasaha zuwa takamaiman yanayin amfani da abokin ciniki.

Saita sigar daidaitawa

Akwai ƙarin aiki don loda sigogin kunnawa. Don takamaiman lokuta na amfani, ST na iya ba da shawarar wasu takamaiman sigogi waɗanda suka ƙunshi maɓalli da ƙima.
An ba da jerin sigogin daidaitawa da tsoffin ƙimar su a cikin vl53lx_tuning_parm_defaults.h file. Ko dai canza darajar siga a wannan file kuma sake tattara lambar, ko amfani da aikin VL53LX_SetTuningParameter() don loda wannan sigar kunnawa.
Canza sigar daidaitawa na iya canza ayyukan na'urar. ST yana ba da shawarar amfani da tsoffin ƙima don sakamako mafi kyau.

Inganta daidaito

Domin inganta daidaiton na'urar, yi amfani da ma'aunin kunnawa mai suna VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER. Ta hanyar tsoho ba a amfani da wannan sigar kunnawa (an saita ƙimar zuwa 0).
ST yana ba da shawarar saita ƙimar daidaitawa da jeri zuwa 2 bayan static_init. A wannan yanayin, lokacin yin ma'aunin siginar nuni yana ƙaruwa kuma yana ba da damar ingantaccen daidaito. Saita wannan siga zuwa 2 yana ƙara tsawon lokaci don samun awo na farko da 240 ms.

Inganta latency da matsakaicin nisa

Lokacin da manufa ke motsawa, VL53L3CX na iya buƙatar jeri da yawa don amsawa, ya danganta da wurin. Hanya don inganta latency shine a daidaita ma'aunin VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD. Tsohuwar ƙimar ita ce 15000. Ana iya saukar da shi don haɓaka latency, amma matsakaicin matsakaicin nisa zai yi tasiri.
Idan mai amfani ya ƙara ƙimar, matsakaicin matsakaicin nisa na iya inganta, amma latency yana tasiri.

Rufe gano ɓarnar gilashin

Za a iya shafan maganganun da ake yi ta hanyar smudge akan gilashin murfin. VL53L3CX yana haɗa aikin da zai iya gano ɓarna a kan tashi da amfani da sabon ƙimar gyaran magana. Mai amfani zai iya kunna / kashe wannan aikin ta kiran VL53LX_SmudgeCorectionEnable().

Za a iya saita zaɓuɓɓuka guda uku masu zuwa tare da wannan aikin:

VL53LX_SMUDGE_CORRECTION_NONE don kashe gyaran
VL53LX_SMUDGE_CORRECTION_CONTINUOUS don ba da damar gyara ci gaba
VL53LX_SMUDGE_CORRECTION_SINGLE don kunna gyara guda ɗaya bayan an karɓi umarnin farawa.

Gano ɓarna yana gudana a kowane jeri. Idan an cika wasu sharuɗɗa (babu wani abu da ke ƙasa da 80 cm, matakin haske na yanayi a ƙasa da kofa, da ƙimar magana sama da 1kcps), ana ƙididdige sabon ƙimar crosstalk.
Idan an saita gyaran smudge, ana gyara ƙimar ƙetaren magana kuma an saita tuta HasXtalkValueChanged. Ana share wannan tuta ta atomatik a kewayo na gaba.

Lura: Gyaran smudge yana iyakance ga:

1.2m ta amfani da yanayin ɗan gajeren lokaci
1.7m ta amfani da yanayin nisa na matsakaici
3.8 m ta amfani da yanayin nesa mai nisa.

Adireshin I2C

Tsohuwar adireshin I2C na VL53L3CX shine 0x52. Wasu aikace-aikacen suna buƙatar saita adireshin na'urar I2C daban. Wannan shine lamarin, ga example, lokacin da VL53L3CX da yawa sassa raba bas I2C iri ɗaya.

Ya kamata abokin ciniki ya yi amfani da hanya mai zuwa:

Dole ne a tsara allon da ke hawa VL53L3CX a hankali. Xshut da GPIO1 (katsewa) fil dole ne a sarrafa su daban-daban ga kowane VL53L3CX
Dole ne mai watsa shiri ya sanya a cikin HW Standby, yana saita fil ɗin Xshut ƙasa, duk VL53L3CX.

Mai watsa shiri yana ɗaga fil ɗin Xshut na 1 na VL53L3CX
Mai watsa shiri yana kiran aikin VL53LX_SetDeviceAddress()
Mai watsa shiri yana maimaita maki uku na ƙarshe tunda an saita duk adiresoshin VL53L3CX daidai.

Don misaliample, ta hanyar kiran aikin: matsayi = VL53LX_SetDeviceAddress(&VL53L3Dev, WantedAddress) an saita darajar WantedAddress azaman sabon adireshin I2C.

Ayyukan ma'aikata na abokin ciniki

Domin amfana da cikakken aikin na'urar, direban VL53L3CX ya haɗa da ayyukan daidaitawa da za a gudanar sau ɗaya a layin samar da abokin ciniki.
Dole ne a gudanar da hanyoyin daidaitawa don rama sigogin bangare-zuwa-bangare wanda zai iya shafar ayyukan na'urar. Bayanan daidaitawa da aka adana a cikin mai watsa shiri dole ne a ɗora su a cikin VL53L3CX a kowace farawa ta amfani da aikin da aka keɓe. Ana buƙatar ƙira guda uku: refSPAD, crosstalk da biya.

Ana kiran tsarin aikin daidaitawa kamar haka:

refSPAD
zance
biya diyya

Ana iya yin ayyukan daidaitawa guda uku a yanayin jeri ko ɗaya ɗaya. Lokacin da ake gudanar da ɗaiɗaiku, dole ne a loda bayanan matakin da ya gabata kafin gudanar da daidaitawa.

RefSPAD daidaitawa

An ƙididdige adadin adadin photon avalanche diode (SPAD) yayin gwajin ƙirar ƙarshe a ST. Ana adana wannan ƙimar kashi-zuwa-ɓangare a cikin NVM kuma ana loda shi ta atomatik a cikin na'urar yayin taya.
Wannan gyare-gyare yana ba da damar daidaita adadin SPAD don inganta ƙarfin na'urar.
Koyaya, ƙara gilashin murfi a saman ƙirar na iya shafar wannan daidaitawar. ST yana ba da shawarar cewa abokin ciniki ya sake yin wannan daidaitawa a cikin aikace-aikacen samfur na ƙarshe. Ana amfani da algorithm iri ɗaya da ke gudana a FMT lokacin da ake kiran wannan aikin: algorithm yana bincika ta wurare uku: 1 (1x attenuated SPADs), 2 (5 x attenuated SPADs) da 3 (10 x attenuated SPADs). Ana yin adadin SPADs da aka zaɓa don guje wa jikewar sigina.

RefSPAD aikin daidaitawa

Ana samun aikin mai zuwa don daidaitawar SPAD: VL53LX_PerformRefSpadManagement(VL53LX_DEV Dev)

Lura: Dole ne a fara kiran wannan aikin a cikin tsarin daidaitawa.

Ayyukan na iya fitar da saƙonnin gargaɗi guda uku masu zuwa:

VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPA S Kasa da 5 Kyakkyawan SPAD akwai, fitarwa ba ta aiki
VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH A ƙarshen ƙimar bincike > 40.0 Mcps na iya lalata kwanciyar hankali.
VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW A karshen ƙimar bincike <10.0 Mcps. Ana iya ɓata kwanciyar hankali.

Hanyar daidaitawa ta RefSPAD

Babu takamaiman sharuɗɗan da za a bi don wannan daidaitawar, sai dai kada a sanya manufa a saman na'urar.
Lokacin yin wannan gyare-gyaren 'yan millise seconds ne kawai.
Dole ne a kira wannan aikin bayan an kira aikin VL53LX_DataInit().

Samun sakamakon daidaitawa na refSPAD

Aikin VL53LX_GetCalibrationData() yana dawo da duk bayanan daidaitawa. Tsarin da aka dawo da shi VL53LX_CalibrationData_t ya ƙunshi wani tsarin da ake kira VL53LX_customer_nvm_managed_t, wanda ya ƙunshi ma'auni guda takwas na refSPAD:

ref_spad_man__num_requested_ref_spads: wannan darajar tana tsakanin 5 da 44. Yana ba da adadin SPADs da aka zaɓa

ref_spad_man__ref_location: wannan darajar na iya zama 1, 2 ko 3. Yana ba da wurin SPADs a cikin yankin tunani.
ƙarin sigogi shida suna ba da taswirar spad daidai don wurin da aka zaɓa:
- global_config__spad_enables_ref_0
- global_config__spad_enables_ref_1
- global_config__spad_enables_ref_2
- global_config__spad_enables_ref_3
- global_config__spad_enables_ref_4
- global_config__spad_enables_ref_5

Saita bayanan daidaitawa na refSPAD

A kowane farawa, bayan farkon taya, aikace-aikacen filin abokin ciniki na iya ɗaukar bayanan daidaitawa na refSPAD bayan ana kiran aikin VL53LX_DataInit(), ta amfani da VL53LX_SetCalibrationData ().
Ana ba da shawarar samun duk tsarin daidaitawa ta hanyar kiran VL53LX_GetCalibrationData(). Gyara sigogi takwas da aka kwatanta a Sashe na 6.1.3 Samar da sakamakon gyara refSPAD kuma a kira VL53LX_SetCalibrationData().

Gyaran magana

Crosstalk (XTalk) an bayyana shi azaman adadin siginar da aka karɓa akan tsarin dawowa wanda ya faru ne saboda hasken VCSEL a cikin taga mai kariya (gilashin murfin) wanda aka ƙara a saman tsarin don dalilai na ado.
Dangane da ingancin gilashin murfin, wannan siginar parasitic na iya shafar ayyukan na'urar. VL53L3CX yana da ginanniyar gyara wanda ke rama wannan matsalar.
Ana amfani da daidaitawar magana don ƙididdige adadin gyare-gyaren da ake buƙata don rama tasirin gilashin murfin da aka ƙara a saman tsarin.
Fitowar daidaita magana ta ƙunshe da sigogi da yawa waɗanda ke ayyana ƙirar ƙetaren magana, kamar yadda aka bayyana a Sashe na 6.2.3 Samun sakamakon daidaita magana.

Aikin daidaita magana

Ana samun aikin sadaukarwa mai zuwa don daidaita magana: VL53LX_PerformXTalkCalibration(&VL53L3Dev);

Lura: Dole ne a kira wannan aikin a matsayi na biyu a cikin tsarin daidaitawa, bayan an yi gyaran gyare-gyaren refSPAD, da kuma kafin daidaitawa.

Hanyar daidaita magana

Don yin aikin daidaita magana, dole ne a sanya manufa a nesa na 600mm daga na'urar. Ya kamata a gudanar da daidaitawar magana a cikin yanayi mai duhu ba tare da gudummawar IR ba. Bayan ana kiran ayyukan VL53LX_DataInit() da VL53LX_PerformRefSpadManagement() ayyuka, dole ne a kira aikin da aka keɓe, ta amfani da: VL53LX_PerformXTalkCalibration(&VL53L3Dev). Lokacin da ake kiran waɗannan ayyuka, ana yin gyaran murya kuma ana amfani da gyaran magana ta tsohuwa.

Samun sakamakon daidaita magana

Sakamakon gyare-gyaren ya ƙunshi, da sauransu, na histogram da ma'auni da ake kira "offset jirgin sama". Matsakaicin jirgin yana wakiltar adadin gyaran da aka yi amfani da shi, kuma lissafin lissafin shine jujjuyar gyaran akan kowane bin. Aikin VL53LX_GetCalibrationData() yana dawo da duk bayanan daidaitawa. Tsarin da aka dawo VL53LX_CalibrationData_t ya ƙunshi wasu sifofi. Adadin jirgin yana ƙunshe a cikin VL53LX_customer_nvm_managed_t: algo_crosstalk_compensation_plane_offset_kcps ƙayyadaddun maki 7.9 ne mai lamba. Dole ne a raba shi da 512 don samun ainihin lambar.
An dawo da wasu sifofi biyu masu dacewa: VL53LX_xtalk_histogram_data_t da algo__xtalk_cpo_HistoMerge_kcps. Wajibi ne a adana su.

Saita bayanan daidaita magana

Da zarar an kira aikin VL53LX_DataInit(), abokin ciniki zai iya loda bayanan daidaitawa ta hanyar amfani da: VL53LX_SetCalibrationData()
Yana da kyau a kira VL53LX_GetCalibrationData(), gyara ma'aunin da aka bayyana a sashin da ya gabata, tsarin xtalk_histogram ya haɗa, kuma a kira VL53LX_SetCalibrationData()

Kunna/kashe ramuwar magana

Aikin VL53LX_SetXTalkCompensationEnable() yana ba da damar ko kuma ya hana ramuwar giciye.

Lura: An kashe diyya ta Crosstalk ta tsohuwa. Don ba da damar ramuwa ta crosstalk kira V53LX_SetXTalkCompensationEnable&VL53L3Dev, 1);
Don kashe diyya ta giciye kira VL53LX_SetXTalkCompensationEnable&VL53L3Dev, 0);
Lura: Wannan aikin baya yin kowane gyare-gyare ko loda bayanai, yana ba da damar ramuwa kawai.
Lura: gyare-gyare, ko loda aikin bayanan ƙididdiga, dole ne a kira shi daban daga wannan aikin kunnawa/ musaki (duba sassan sama).

Gyaran daidaitawa

Siyar da na'urar akan allon abokin ciniki ko ƙara gilashin murfi na iya gabatar da diyya a cikin kewayon nisa. Dole ne a auna wannan juzu'i-zuwa-bangare yayin daidaitawa. Ƙimar daidaitawa kuma tana ba da damar daidaita ƙimar dmax, ta amfani da yanayin daidaitawa iri ɗaya fiye da daidaitawa.

Ayyukan daidaitawa na kashewa

Akwai ayyuka guda biyu masu zuwa don daidaita ma'auni:

VL53LX_PerformOffsetSimple Calibration (Dev, CalDistanceMilliMeter)
VL53LX_PerformOffsetPerVCSELdaidaitawa(Dev, CalDistanceMilliMeter)

Hujja na ayyuka shine nisan manufa a cikin millimeters. Dole ne a yi gyaran gyare-gyare bayan gyaran magana.
VL53LX_PerformOffsetPerVCSELcalibration shine mafi daidaitaccen aiki, amma yana ɗaukar lokaci mai tsawo don yin daidaitawar (lokacin da aka ninka ta 3).

Hanyar daidaita ma'auni
Abokan ciniki za su iya zaɓar kowane kwatancen ginshiƙi da aka sanya a kowace tazara (ta amfani da saitin iri ɗaya da daidaita magana ta giciye). Iyakar abin da za a bincika shine don tabbatar da an auna ƙimar siginar tsakanin 2 da 80 MCps tare da zaɓin saitin.

Tebura 3. Saitin daidaita daidaitawa

Jadawalin	Nisa	Yanayin yanayi	Yawan sigina
Kowa	Kowa	Dark (babu gudunmawar IR)	2MCps < ƙimar sigina <80Mcps

Ana dawo da saƙonnin gargaɗi guda biyu ta waɗannan ayyuka:

VL53LX_WARNING_OFFSET_CAL_INSUFFICIENT_MM1_SP DS Siginar tayi ƙasa sosai, Ana iya ƙasƙantar da daidaiton daidaitawa.

Sigina na GH VL53LX_WARNING_OFFSET_CAL_PRE_RANGE_RATE_TOO_H yayi yawa. Ana iya ƙasƙantar da daidaiton daidaitawa.

Samun sakamakon daidaitawa

Aikin VL53LX_GetCalibrationData() yana dawo da duk bayanan daidaitawa. Tsarin da aka dawo VL53LX_CalibrationData_t ya ƙunshi wani tsarin da ake kira VL53LX_customer_nvm_managed_t wanda ya ƙunshi sakamakon daidaitawa guda uku:

algo__bangare_zuwa_bangare_bangare_offset_mm
mm_config__inner_offset_mm
mm_config__outer_offset_mm

Matsakaicin adadin da aka yi amfani da shi ga na'urar shine matsakaita na ƙimar ƙarshe biyu. Idan aka zaɓi perVSSELcalibration, fitowar aikin ya haɗa da bayanan masu zuwa:

short_a_offset_mm
short_b_offset_mm
matsakaici_a_offset_mm
matsakaici_b_offset_mm
dogon_a_offset_mm
dogon_bb_offset_mm

Ya danganta da yanayin nisa (lokacin VCSEL) da aka zaɓa, ɗaya daga cikin waɗannan abubuwan ana amfani da su ta atomatik.

Zaɓin yanayin gyara gyara

Za'a iya saita yanayin gyara kashewa tare da zaɓuɓɓuka biyu, ta amfani da aikin VL53LX_SetOffsetCorectionMode.

Lura: VL53LX_OFFSETCORRECTIONMODE_PERVCSEL yakamata ayi amfani dashi ta tsohuwa. Yana ba da damar haɓaka daidaiton daidaitawa a kowane lokacin VCSEL.

Tebura 4. Zaɓuɓɓukan gyaran gyare-gyare

Ana kiran aikin daidaitawa	Zaɓin yanayin gyaran da za a yi amfani da shi
YiSimpleOffsetKalibration	VL53LX_OFFSETCORRECTIONMODE_STANDARD
YiPerVCSELOffsetCalibration	VL53LX_OFFSETCORRECTIONMODE_PERVCSEL

Lura: Idan nau'in daidaitawa guda ɗaya kawai yana samuwa, ya zama tilas a saita yanayin gyare-gyare zuwa zaɓin da ya dace. Ba a yin wannan ta atomatik.

Saita bayanan daidaita ma'auni
Abokin ciniki zai iya loda bayanan daidaitawa bayan an kira aikin VL53LX_DataInit(), ta amfani da VL53LX_SetCalibrationData().
Yana da kyau a kira VL53LX_GetCalibrationData(), gyara sigogi da aka kwatanta a sassan da suka gabata, kuma a kira VL53LX_SetCalibrationData()

Abokin ciniki gyaran shagon calibrations

Idan an rasa ƙimar daidaitawa, saboda canjin sashi a cikin shagon gyarawa, abokin ciniki na iya amfani da ƙayyadaddun tsari, inda babu takamaiman saitin (manufa) da ake buƙata.

Daidaiton ya ƙunshi matakai uku:

RefSpad
Katsalandan
Ƙimar daidaitawa

RefSpad da Xtalk iri ɗaya ne kamar yadda aka bayyana a Sashe na 6.1 RefSPAD daidaitawa da Sashe na 6.2 na daidaita magana.
Akwai aikin sadaukarwa don aiwatar da daidaitawa: VL53LX_PerformOffsetZeroDistanceCalibration.
Dole ne a saita manufa a gaban na'urar, ta taɓa gilashin murfin. Maƙasudin na iya zama takarda mai sauƙi (ba tare da buƙatar musamman don tunanin takarda ba).
Dole ne a kira aikin da ke sama kuma ana iya dawo da sakamakon kamar yadda aka bayyana a cikin sassan da suka gabata.

Bare kuskuren direba da gargadi

Ana ba da rahoton kuskuren direba lokacin da aka kira kowane aikin direba. An bayyana ma'auni masu yiwuwa don kurakuran direba a cikin tebur mai zuwa. Gargadi suna nan don sanar da mai amfani cewa wasu sigogi ba a inganta su ba. Gargadin ba ya toshewa ga mai watsa shiri.

Table 5. Bare kuskuren direba da bayanin gargadi

Ƙimar kuskure	API ɗin kuskuren kirtani	Abin da ya faru
0	VL53LX_ERROR_NONE	Babu kuskure
-1	VL53LX_ERROR_CALIBRATION_WARNING	Bayanan daidaitawa mara inganci
-4	VL53LX_ERROR_INVALID_PARAMS	An saita siga mara inganci a cikin aiki
-5	VL53LX_ERROR_NOT_TAIMAKA	Ba a samun goyan bayan siga da ake buƙata a cikin tsarin da aka tsara
-6	VL53LX_ERROR_RANGE_ERROR	Matsayin katsewa ba daidai bane
-7	VL53LX_ERROR_TIME_OUT	An zubar da jeri saboda ƙarewar lokaci
-8	VL53LX_ERROR_MODE_NOT_SUPPORTED	Yanayin da ake nema baya tallafawa
-10	VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL	Buffer da aka kawo ya fi girma fiye da tallafin I2C
-13	VL53LX_ERROR_CONTROL_INTERFACE	An ruwaito kuskure daga aikin IO
-14	VL53LX_ERROR_INVALID_COMMAND	Umurnin ba daidai ba ne
-16	VL53LX_ERROR_REF_SPAD_INIT	Kuskure ya faru yayin daidaitawa na SPAD
-17	VL53LX_ERROR_GPH_SYNC_CHECK_FAIL	Direba ya ƙare aiki tare da na'ura. Ana iya buƙatar tsayawa/farawa ko sake yi
-18	VL53LX_ERROR_STREAM_COUNT_CHECK_FAIL
-19	VL53LX_ERROR_GPH_ID_CHECK_FAIL
-20	VL53LX_ERROR_ZONE_STREAM_COUNT_CHEC K_FAIL
-21	VL53LX_ERROR_ZONE_GPH_ID_CHECK_FAIL
-22	VL53LX_ERROR_XTALK_EXTRACTION_FAIL	Babu nasara samples lokacin amfani da cikakken jeri zuwa sampda crosstalk. A wannan yanayin babu isassun bayanai don samar da sabuwar ƙima ta crosstalk. Ayyukan zai fita kuma ya bar sigogin crosstalk na yanzu ba su canza ba
-23	VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_L IMIT_FAIL	Matsakaicin sigma na sigma na crosstalk sample shine> fiye da iyakar iyakar da aka yarda. A cikin wannan harka ta tabarbarewar sample yana da surutu da yawa don aunawa. Ayyukan zai fita kuma ya bar sigogin crosstalk na yanzu ba su canza ba
-24	VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FA IL	Kuskure ya faru yayin daidaitawa. Duba saitin yayi daidai da shawarwarin ST.
-25	VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENA BLED_FAIL
-28	VL53LX_WARNING_REF_SPAD_CHAR_NOT_EN OUGH_SPADS	Gargaɗi: adadin spad ɗin da aka samo ya yi ƙasa da ƙasa don samun ingantaccen daidaitawar refSpadManagement. Tabbatar saitin yayi daidai da shawarwarin ST.
-29	VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_HIGH	Gargadi: an sami ƙarancin sigina don samun ingantaccen daidaitawar refSpadManagement. Tabbatar saitin yayi daidai da shawarwarin ST.
-30	VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_LOW	Gargadi: Adadin magudanar ruwa da aka samu sun yi ƙasa da ƙasa don samun ingantaccen daidaitawa. Tabbatar saitin yayi daidai da shawarwarin ST.
-31	VL53LX_WARNING_OFFSET_CAL_MISSING_SA MPLES	Gargaɗi ya faru a lokacin daidaitawa. Tabbatar saitin yayi daidai da shawarwarin ST.
-32	VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_ HIGH
-33	VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HI GH
-34	VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW
-38	VL53LX_WARNING_XTALK_MISSING_SAMPLES	Gargaɗi ya faru yayin daidaita magana. Tabbatar saitin yayi daidai da shawarwarin ST.
-41	VL53LX_ERROR_Ba a aiwatar da shi ba	Ba a aiwatar da aikin da ake kira

Tarihin bita

Kwanan wata	Sigar	Canje-canje
28-Satumba-2020	1	Sakin farko
02-Dec-2021	2	An sabunta tsarin da aka dawo a Sashe na 6.2.3 Samun sakamakon daidaita magana
03-Yuni-2022	3	Sashe na 3.1 direban bare: ya kara bayanin kula game da daidaitawa Sashe na 5.4 Rufe gawar gilashin: ƙara bayanin kula game da gyaran fuska

MUHIMMAN SANARWA – KU 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.

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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.
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Takardu / Albarkatu

ST VL53L3CX Lokacin Matsakaicin Jirgin Jirgin [pdf] Manual mai amfani
Lokaci VL53L3CX na Ma'aunin Matsakaicin Jirgin Sama, VL53L3CX, Lokacin Matsakaicin Matsayin Jirgin sama, Matsakaicin Matsayin Jirgin, Sensor Mai Ragewa

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