Bayanan Bayani na VL53L8CX
Manual mai amfani

Gabatarwa

Manufar wannan littafin jagorar mai amfani shine don bayyana yadda ake sarrafa firikwensin Lokacin-Flight (ToF), ta amfani da ultra Lite direba (ULD) API. Yana bayyana manyan ayyuka don tsara na'urar, ƙira, da sakamakon fitarwa.
Dangane da fasahar ST's FlightSense, VL53L8CX yana haɗa da ingantaccen ruwan tabarau na metasurface (DOE) wanda aka sanya akan firikwensin Laser wanda ke ba da damar tsinkayar 45° x 45° 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 400 cm.
Godiya ga yanayin mai cin gashin kansa tare da ƙofa mai nisa, VL53L8CX cikakke ne ga kowane aikace-aikacen da ke buƙatar gano mai amfani mai ƙarancin ƙarfi. Algorithms na ST's ƙetaren ƙira da ƙirar ƙirar ƙira suna ba da damar VL53L8CX 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.
Kamar duk na'urori masu auna firikwensin Lokacin-Flight (ToF) dangane da fasahar FlightSense na ST, VL53L8CX rikodin, a cikin kowane yanki, cikakkiyar nisa ba tare da la'akari da launi da tunani ba.
An ajiye shi a cikin ƙaramin kunshin da za a sake sakewa wanda ke haɗa tsarin SPAD, VL53L8CX yana samun mafi kyawun aiki a cikin yanayi daban-daban na hasken yanayi, kuma don kewayon kayan gilashin murfin.
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).

Acronyms da gajarta

Gagararre/gajartawa	Ma'anarsa
DOE	bambance-bambancen gani na gani
FoV	filin na view
I2C	da'irar haɗin kai (Serial bas)
Kcps/SPAD	Kidayar Kilo a cikin daƙiƙa ɗaya a kowane spad (naúrar da aka yi amfani da ita don ƙididdige adadin adadin photons 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 VL53L8CX ya ƙunshi na'urar kayan masarufi da software na direba mara nauyi (VL53L8CX ULD) da ke gudana akan runduna (duba adadi a ƙasa). Tsarin kayan masarufi ya ƙunshi firikwensin ToF. STMicroelectronics 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 watsa shiri. Waɗannan ayyuka suna sarrafa firikwensin kuma suna samun bayanan jeri.

2.2 Ingantacciyar daidaitawa
Tsarin ya ƙunshi ruwan tabarau akan buɗewar RX, wanda ke juyewa (a tsaye da a tsaye) hoton da aka ɗauka na manufa. Saboda haka, yankin da aka bayyana a matsayin yanki na 0, a cikin ƙasan hagu na tsararrun SPAD, yana haskaka ta hanyar manufa da ke saman gefen dama na wurin.

2.3 Tsare-tsare da I2C/SPI daidaitawa
Ana sarrafa sadarwa tsakanin direba da firmware ta I2C ko SPI. Matsakaicin ƙarfin I2C shine 1 MHz, kuma matsakaicin ƙarfin SPI shine 20 MHz. Aiwatar da kowace ƙa'idar sadarwa tana buƙatar ɗaukar sama kamar yadda aka bayyana a cikin takaddar bayanan VL53L8CX.
Na'urar VL53L8CX tana da adireshin I2C tsoho na 0x52. Duk da haka, yana yiwuwa a canza adireshin tsoho don guje wa rikici tare da wasu na'urori, ko don sauƙaƙe ƙara yawan VL53L8CX modules zuwa tsarin don tsarin FoV mafi girma. Ana iya canza adireshin I2C ta amfani da aikin vl53l8cx_set_i2c_address(). Don amfani da SPI, ana haɗa multisensor ta amfani da tsarin bawa mai zaman kansa (pin NCS).

Don ba da damar na'urar ta canza adireshin I2C ba tare da shafar wasu a cikin bas ɗin I2C ba, yana da mahimmanci
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 da ke cikin tsarin da ke buƙatar sabon adireshin I2C.

Kunshin abun ciki da kwararar bayanai

3.1 Gine-ginen direbobi da abun ciki
Kunshin VL53L8CX ULD ya ƙunshi manyan fayiloli guda huɗu. Direba yana cikin babban fayil /VL53L8CX_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 "vl53l8cx_plugin" (misali vl53l8cx_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.

Lura:
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.
Dandalin.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
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 VL53L8CX 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 murfi. VL53L8CX ba shi da kariya daga Xtalk fiye da 60 cm godiya ga algorithm histogram. Koyaya, a ɗan gajeren nisa ƙasa da 60 cm, Xtalk na iya zama girma fiye da ainihin siginar da aka dawo. Wannan yana ba da karatun ƙirƙira na ƙarya ko sanya maƙasudin su bayyana kusa fiye da yadda suke. Duk ayyukan daidaitawa na Xtalk an haɗa su a cikin kayan aikin Xtalk (na zaɓi). Mai amfani yana buƙatar amfani da file 'vl53l8cx_plugin_xtalk'.
Ana iya daidaita Xtalk sau ɗaya, kuma ana iya adana bayanai don a iya sake amfani da shi 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	Wanda ya gabatar STMicroelectronics	Max
Nisa [mm]	600	600	3000
Adadin samples	1	4	16
Tunani [%]	1	3	99

Lura:
Ƙaraasing the number of 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 kuample ≈ 1 seconds
• 4 s kuampkasa ≈ 2.5 seconds
• 16 s kuampkasa ≈ 8.5 seconds
  Ana yin gyare-gyare ta amfani da aikin vl53l8cx_calibrate_xtalk(). Ana iya amfani da wannan aikin a kowane lokaci.
  Koyaya, dole ne a fara fara firikwensin. Hoto mai zuwa yana wakiltar kwararar daidaitawar xtalk.

Hoto 7. 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'.

Akwai fasali

VL53L8CX ULD API ya ƙunshi ayyuka da yawa, waɗanda ke ba mai amfani damar kunna firikwensin, ya danganta da yanayin amfani. Dukkan ayyukan da ke akwai don direba an tsara su a cikin sassan masu zuwa.
4.1 Farawa
Dole ne a fara farawa kafin amfani da firikwensin VL53L8CX. Wannan aikin yana buƙatar mai amfani don:

1. Ƙarfin firikwensin (VDDIO, AVDD, CORE_1V8, da LPn fil waɗanda aka saita zuwa High
2. Kira aikin vl53l8cx_init(). Aikin yana kwafin firmware (~ 84 Kbytes) zuwa tsarin. Ana yin wannan ta hanyar loda lambar akan hanyar sadarwa ta I2C/SPI, da kuma 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 CORE_1V8 zuwa ƙananan.
2. Jira 10 ms.
3. Sanya fil VDDIO, AVDD, da CORE_1V8 zuwa sama.

Lura:
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 VL53L8CX yana da ƙuduri biyu masu yiwuwa: 4 × 4 (yankuna 16) da 8 × 8 (shiyoyin 64). Ta tsohuwa ana tsara firikwensin a cikin 4 × 4.
Ayyukan vl53l8cx_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/SPI 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.

Tebur 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 vl53l8cx_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 cin gashin kansa: Wannan shine yanayin tsoho. Na'urar tana ci gaba da ɗaukar firam ɗin tare da kewayon mitar da mai amfani ya ayyana. An kunna VCSEL a lokacin da mai amfani ya ayyana, ta amfani da aikin vl53l8cx_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 vl53l8cx_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.

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.

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. VL53L8CX 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 a yanayin farkawa. Wannan yanayin yana riƙe da firmware da daidaitawa.
  Ana iya canza yanayin wutar lantarki ta amfani da aikin vl53l8cx_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 na 11. Example of scene ta amfani da ƙima mai ƙima da yawa

Za a iya canza mai kaifi ta amfani da aikin vl53l8cx_set_sharpener_percent(). Abubuwan da aka yarda suna tsakanin 0 % da 99 %. Matsakaicin ƙima shine 5%.

4.9 Tsarin manufa
VL53L8CX 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 vl53l8cx_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.

4.10 Maƙasudi da yawa a kowane yanki
VL53L8CX 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
VL53L8CX_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 'vl53l8cx_plugin_xtalk' yana buƙatar amfani.
Ana amfani da gefe don canza iyakar ganowa lokacin da gilashin murfin ya kasance a saman firikwensin. Ana iya ƙara ƙofa don tabbatar da cewa ba a taɓa gano gilashin murfin ba, bayan saita bayanan daidaitawar Xtalk.
Don misaliampHar ila yau, mai amfani zai iya gudanar da daidaitawar Xtalk akan na'ura guda ɗaya, kuma ya sake amfani da bayanan daidaitawa iri ɗaya don duk sauran na'urori. Ana iya amfani da gefen Xtalk don daidaita gyaran Xtalk. Hoton da ke ƙasa yana wakiltar gefen Xtalk.

Hoto 13. Margin Xtalk

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 s da ake kira 'vl53l8cx_plugin_detection_thresholds'.
Ana iya amfani da fasalin don haifar da katsewa zuwa fil A1 (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.
• Ayyukan lissafi: ana amfani da su kawai don 4 × 4 - 2 haɗuwa kofa a kowane yanki. Mai amfani zai iya saita haɗin kai ta amfani da ƙofofi da yawa a yanki ɗaya.

4.13 Katse autostop
Ana amfani da fasalin katsewar atomatik don zubar da kewayon zaman yayin aunawa. Ta hanyar tsoho, ba za a iya dakatar da firikwensin yayin aunawa ba, saboda ana buƙatar kammala ma'aunin firam. Koyaya, ta amfani da autostop, ana soke ma'aunin firam lokacin da aka jawo katsewa.
Fasalin autostop yana da amfani idan aka haɗa shi tare da iyakar ganowa. Lokacin da aka gano manufa, ana soke ma'aunin na yanzu ta atomatik. Ana iya amfani da Autostop a cikin injin jihar abokin ciniki don canzawa da sauri zuwa wani saitin firikwensin.
Ana iya kunna fasalin dakatarwar autostop ta amfani da aikin vl53l8cx_set_detection_threshold_auto_stop().
Bayan an zubar da ma'auni, ana ba da shawarar dakatar da firikwensin ta amfani da aikin vl53l8cx_stop_ranging().
4.14 Alamar motsi
Firikwensin VL53L8CX 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 'vl53l8cx_plugin_motion_indicator'.
An fara nuna alamar motsi ta amfani da aikin vl53l8cx_motion_indicator_init(). Idan mai amfani yana son canza ƙudurin firikwensin, dole ne ya sabunta ƙudurin nunin motsi ta amfani da aikin sadaukarwa: vl53l8cx_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 'motion_indicator'. A cikin wannan filin, jeri 'motsi' yana 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.

4.15 fil na aiki tare na waje
Ana iya amfani da tushen faɗakarwa na waje don aiki tare da saye. Lokacin da aka kunna aiki tare na waje, VL53L8CX yana jiran katsewa akan fil ɗin SYNC don fara saye na gaba. Don amfani da wannan fasalin, SYNC fil (B1) yana buƙatar haɗawa kamar yadda aka bayyana a cikin takardar bayanan samfur.
Babu takamaiman buƙatu don amfani da aiki tare na waje. Koyaya, mitar kewayon VL53L8CX yakamata ya zama sama da mitar siginar waje.
Ana iya kunna aiki tare ko kashewa ta waje ta amfani da aikin vl53l8cx_set_external_sync_pin_enable(). Za a iya fara jeri kamar yadda aka saba ta amfani da aikin vl53l8cx_start_ranging(). Lokacin da mai amfani yana son dakatar da firikwensin, ana ba da shawarar ya juya fil ɗin SYNC don cire firmware VL53L8CX.
Ana nuna kwararar yanayi don amfani da fil ɗin aiki tare na waje a ƙasa a Sashe na 4.15.

Hoto 14. Gudun aiki tare na waje

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. Akwai fitarwa ta amfani da firikwensin VL53L8CX

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 VCSEL bugun jini.
Range sigma	128 x nb da aka tsara	Milimita	Ƙididdigar Sigma don amo a cikin nisa da aka ruwaito.
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 spad, 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 VL53L8CX 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.h' file. Mai amfani na iya ayyana macro masu zuwa don kashe abubuwan da aka fitar:
# ayyana VL53L8CX _DISABLE_AMBIENT_PER_SPAD
# ayyana VL53L8CX _KASASHEN_NB_SPADS_EANABLED
# ayyana VL53L8CX _DISABLE_NB_TARGET_GANE
# ayyana VL53L8CX _DISABLE_SIGNAL_PER_SPAD
# ayyana VL53L8CX _DISABLE_RANGE_SIGMA_MM
# ayyana VL53L8CX _DISABLE_DISTANCE_MM
# ayyana VL53L8CX _KASHE_TARGET_MATSAYI
# ayyana VL53L8CX _DISABLE_REFLECTANCE_PERCENT
# ayyana VL53L8CX _DISABLE_MOTION_INDICATOR
Sakamakon 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/SPI.
Don tabbatar da daidaiton bayanai, ST yana ba da shawarar a koyaushe a kiyaye 'yawan abubuwan da aka gano' da 'matsayin manufa' 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 vl53l8cx_check_data_ready(). Yana gano sabon adadin rafi da firikwensin ya dawo.
• Yanayin katsewa: Yana jira an ɗaga katsewa akan fil A1 (INT). Ana share katsewa ta atomatik bayan ~100 μs.
  Lokacin da aka shirya sabbin bayanai, ana iya karanta sakamakon ta amfani da aikin vl53l8cx_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/SPI, akwai juyawa 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:
VL53L8CX#bayyana VL53L8CX _USE_RAW_FORMAT
5.5 Fassarar sakamako
Ana iya tace bayanan da VL53L8CX 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.

Tebura 4. Jerin samuwan matsayin manufa

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 VL53L8CX, 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/SPI.
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.

Tebur 6. Tarihin bitar daftarin aiki

Kwanan wata	Sigar	Canje-canje
13-Janairu-23	1	Sakin farko

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.
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.

© 2023 STMicroelectronics – Duk haƙƙin mallaka

Takardu / Albarkatu

Bayanan Bayani na ST VL53L8CX [pdf] Manual mai amfani UM3109, VL53L8CX Sensor Module, VL53L8CX, Module Sensor, Module

Magana

• Manual mai amfani