UM3038 Isikhathi Sendiza Yenzwa ye-Multizone Ranging
Imaniwali yosebenzisayo

UM3038 Imaniwali yosebenzisayo
Umhlahlandlela wokusebenzisa i-VL53L7CX Time-of-Flight multizone esukela inzwa eno-90° FoV

Isingeniso

Injongo yale manuwali yomsebenzisi ukuchaza indlela yokusingatha inzwa ye-VL53L7CX Time-of-Flight (ToF), kusetshenziswa i-ultra lite driver (ULD) API. Ichaza imisebenzi esemqoka yokuhlela idivayisi, ukulinganiswa, kanye nemiphumela yokuphumayo.
Idizayinelwe ngokukhethekile izinhlelo zokusebenza ezidinga i-ultrawide FoV, inzwa ye-VL53L7CX Time-of-Flight inikeza i-FoV eyidiagonal engu-90°. Ngokusekelwe kubuchwepheshe be-FlightSense be-ST, i-VL53L7CX ihlanganisa ilensi ye-metasurface esebenza kahle (DOE) ebekwe kumshini we-laser ovumela ukuboniswa kwe-FoV yesikwele esingu-60° x 60° endaweni yesigameko.
Ikhono layo le-multizone lihlinzeka nge-matrix yezindawo ezingu-8×8 (izindawo ezingu-64) futhi ingasebenza ngesivinini esisheshayo (60 Hz) kufika ku-350 cm.
Ngenxa yemodi yokuzimela enomkhawulo webanga ohlelekayo ohlanganiswe ne-ultrawide FoV, i-VL53L7CX ilungele noma yiluphi uhlelo lokusebenza oludinga ukutholwa komsebenzisi wamandla aphansi. Ama-algorithms anelungelo lobunikazi be-ST kanye nokwakhiwa kwemojuli emisha kuvumela i-VL53L7CX ukuthi ithole, endaweni ngayinye, izinto eziningi ngaphakathi kwe-FoV ngokuqonda okujulile. I-ST histogram algorithms iqinisekisa ukuvikeleka kwe-glass crosstalk ngaphezu kwama-60 cm.
Kususelwa ku-VL53L5CX, ama-pinouts kanye nezishayeli zazo zombili izinzwa ziyahambisana, okuqinisekisa ukufuduka okulula kusuka kwesinye inzwa kuya kwenye.
Njengazo zonke izinzwa ze-Time-of-Flight (ToF) ezisuselwe kubuchwepheshe be-FlightSense be-ST, i-VL53L7CX irekhoda, endaweni ngayinye, ibanga eliphelele ngokunganaki umbala oqondiwe nokubukeka kwayo.
Ifakwe kuphakeji elincane eligeleza kabusha elihlanganisa uhlu lwe-SPAD, i-VL53L7CX ifinyelela ukusebenza okungcono kakhulu okusukela ezimeni ezihlukahlukene zokukhanya ezizungezile, kanye nohlu olubanzi lwezinto zengilazi ezikhavayo.
Zonke izinzwa ze-ST's ToF zihlanganisa i-VCSEL ekhipha ukukhanya okungu-940 nm IR okungabonakali ngokuphelele, okuphephe ngokuphelele emehlweni (isitifiketi Sekilasi 1).
I-VL53L7CX iyinzwa ephelele yanoma yiluphi uhlelo lokusebenza oludinga i-Ultrawide FoV njengamarobhothi, izipikha ezihlakaniphile, amaphrojekhtha wevidiyo, ukuphathwa kokuqukethwe. Inhlanganisela yamandla e-multizone kanye ne-90° FoV ingathuthukisa izimo zokusebenzisa ezintsha njengokubonwa kokuthinta, i-SLAM yamarobhothi, nokusebenzisa isistimu yamandla aphansi yokwakha ngobuhlakani.
Umfanekiso 1. I-VL53L7CX module module
Izithenjwa
Idatha ye-VL53L7CX yePD13865

Ama-akhronimi nezifinyezo

Isifinyezo/isifinyezo	Incazelo
I-DOE	isici se-optical diffractive
I-FoV	inkambu ye view
I-I2C	i-inter-integrated cirduit (serial bus)
I-Kcps/SPAD	Isibalo sekhilo ngesekhondi ngayinye (iyunithi esetshenziselwa ukulinganisa inani lamaphothoni kulungu le-SPAD)
RAM	inkumbulo yokufinyelela okungahleliwe
I-SCL	umugqa wewashi we-serial
I-SDA	idatha ye-serial
I-SPAD	I-photon avalanche diode eyodwa
I-ToF	Isikhathi Sendiza
ULD	umshayeli we-ultra lite
VCSEL	I-diode ephumayo yomgodi ome mpo
Xtalk	i-crosstalk

Incazelo esebenzayo

2.1 Uhlelo luphelileview
Uhlelo lwe-VL53L7CX lwakhiwe imojula yehadiwe kanye nesoftware yomshayeli we-ultra lite (VL53L7CX ULD) esebenza kumsingathi (bona umfanekiso ngezansi). Imojula yehadiwe iqukethe inzwa ye-ToF. I-ST iletha umshayeli wesofthiwe okubhekiselwa kuye kulo mbhalo ngokuthi “umshayeli”. Lo mbhalo uchaza imisebenzi yomshayeli efinyeleleka kumsingathi. Le misebenzi ilawula inzwa futhi ithole idatha ehlukahlukene.
Umfanekiso 2. Uhlelo lwe-VL53L7CX luphelileview
2.2 Ukuma okusebenzayo
Imojula ihlanganisa ilensi ngaphezu kwembobo ye-RX ephendukayo (ivundlile futhi iqonde phezulu) isithombe esithwetshiwe sethagethi. Ngenxa yalokho, indawo ehlonzwe njengezoni 0 ngaphansi kwesokunxele sohlelo lwe-SPAD ikhanyiswa ithagethi etholakala phezulu kwesokudla sendawo.
Umfanekiso 3. VL53L7CX umumo osebenzayo

2.3 I-Schematics kanye nokucushwa kwe-I2C
Ukuxhumana phakathi komshayeli ne-firmware kusingathwa yi-I2C, enekhono lokusebenza kufika ku-1 MHz. Ukuqaliswa kudinga ukudonsa emigqeni ye-SCL kanye ne-SDA. Sicela ubheke imininingwane ye-VL53L7CX ukuze uthole ulwazi olwengeziwe.
Idivayisi ye-VL53L7CX inekheli le-I2C elizenzakalelayo elingu-0x52. Nokho, kungenzeka ukuguqula ikheli elimisiwe ukuze ugweme ukungqubuzana namanye amadivaysi, noma ukusiza ukungeza amamojula amaningi e-VL53L7CX ohlelweni ukuze uthole uhlelo olukhulu lwe-FoV. Ikheli le-I2C lingashintshwa kusetshenziswa umsebenzi we-vl53l7cx_set_i2c_address().
Umfanekiso 4. Izinzwa eziningi ebhasini le-I2C
Ukuze uvumele idivayisi ukuthi ikheli layo le-I2C lishintshwe ngaphandle kokuthikameza abanye ebhasini le-I2C, kubalulekile ukukhubaza ukuxhumana kwe-I2C kwamadivayisi angashintshiwe. Inqubo yile elandelayo:

1. Nika amandla isistimu njengokujwayelekile.
2. Donsela phansi iphinikhodi ye-LPn yedivayisi engeke ishintshwe ikheli layo.
3. Donsela phezulu iphinikhodi ye-LPn yedivayisi enekheli le-I2C elishintshile.
4. Hlela ikheli le-I2C kudivayisi usebenzisa umsebenzi set_i2c_address() function.
5. Donsela phezulu iphinikhodi ye-LPn yedivayisi engahlelwa kabusha.

Wonke amadivayisi manje kufanele atholakale ebhasini le-I2C. Phinda lezi zinyathelo ezingenhla kuwo wonke amadivayisi we-VL53L7CX ohlelweni adinga ikheli elisha le-I2C.

Okuqukethwe kwephakheji nokugeleza kwedatha

3.1 Isakhiwo sabashayeli kanye nokuqukethwe
Iphakethe le-VL53L7CX ULD lakhiwe ngamafolda amane. Umshayeli ukufolda / VL53L7CX_ULD_API.
Umshayeli wakhiwe ngempoqo futhi ozikhethela files. Ongakukhetha files kukhona plugins esetshenziselwa ukunweba izici ze-ULD. I-plugin ngayinye iqala ngegama elithi “vl53l7cx_plugin” (isb. vl53l7cx_plugin_xtalk.h). Uma umsebenzisi engakufuni okuhlongozwayo plugins, zingasuswa ngaphandle kokuba nomthelela kwezinye izici zomshayeli. Inombolo elandelayo imele impoqo files kanye nokuzikhethela plugins.
Umfanekiso 5. Isakhiwo somshayeli
Umsebenzisi futhi udinga ukusebenzisa ezimbili files itholakala kufolda ye-/Platform. Inkundla ehlongozwayo iyigobolondo elingenalutho, futhi kufanele igcwaliswe ngemisebenzi ezinikele.
Qaphela: Ifomu le-Plat h file iqukethe amamakhro ayimpoqo ukuze usebenzise i-ULD. Konke file okuqukethwe kuyisibopho ukuze usebenzise kahle i-ULD.
3.2 Ukugeleza kokulinganisa
Qaphela: I-Crosstalk (xtalk) ichazwa njengenani lesiginali elitholwe kuhlu lwe-SPAD olubangelwa ukukhanya okukhanyayo kwe-VCSEL ngaphakathi kwefasitela elivikelayo (ingilazi yekhava) engezwe phezu kwemojuli. Imojula ye-VL53L7CX iyazilinganisa, futhi ingasetshenziswa ngaphandle kokulinganiswa okwengeziwe.
Ukulinganisa kwe-Xtalk kungase kudingeke uma imojuli ivikelwe ingilazi ekhavayo. I-VL53L7CX ivikelekile ekutheni i-xtalk ibe ngaphezu kuka-60 cm ngenxa ye-histogram algorithm, kodwa ebangeni elifushane elingaphansi kuka-60 cm, i-xtalk ingaba nkulu kunesiginali yangempela ebuyisiwe, inikeze ukufundwa kwethagethi okungamanga noma ukwenza okuhlosiwe kubonakale kuseduze kunalokho obuyikho ngempela. Yonke imisebenzi yokulinganisa i-xtalk ifakiwe ku-plugin ye-xtalk (kuyakhetheka). Umsebenzisi udinga ukusebenzisa i- file `vl53l7cx_plugin_xtalk'.
I-xtalk ingalinganiswa kanye, futhi idatha ingalondolozwa ukuze iphinde isetshenziswe kamuva. Ithagethi ebangeni elingashintshi, enokubonisa okwaziwayo kuyadingeka. Ibanga elincane elidingekayo ngu-600 mm, futhi okuhlosiwe kufanele kukhave yonke i-FoV. Ngokuya ngokusetha, umsebenzisi angashintsha izilungiselelo ukuze avumelane nokulinganisa kwe-Xtalk, njengoba kuhlongoziwe kuthebula elilandelayo.
Ithebula 1. Izilungiselelo ezitholakalayo zokulinganisa

Ukusetha	Okuncane	Kuhlongozwe i-ST	Ubukhulu
Ibanga [mm]	600	600	3000
Inombolo ye-sampLes	1	4	16
I-Reflectance [%]	1	3	99

Qaphela Ukwandisa inani lika-sampLes kwandisa ukunemba, kodwa futhi kwandisa isikhathi sokulinganisa. Isikhathi esihlobene nenani lika-sampi-les iwumugqa, futhi amanani alandela isikhathi sokuvala:

• 1 sample 1 isekhondi
• 4 sampngaphansi kwemizuzwana engu-2.5
• 16 sampngaphansi kwemizuzwana engu-8.5

Ukulinganisa kwenziwa kusetshenziswa umsebenzi vl53l7cx_calibrate_xtalk(). Lo msebenzi ungasetshenziswa noma nini. Nokho, inzwa kumele iqaliswe kuqala. Isibalo esilandelayo simele ukugeleza kokulinganisa kwe-Xtalk.
Umfanekiso 6. Ukugeleza kokulinganisa kwe-Xtalk

3.3 Ukugeleza okuhlukahlukene
Isibalo esilandelayo simele ukugeleza okuhlukahlukene okusetshenziselwa ukuthola izilinganiso. Ukulinganisa kwe-Xtalk kanye namakholi ongawakhetha kufanele asetshenziswe ngaphambi kokuqala iseshini yokuhlukanisa. Imisebenzi yokuthola/setha ayikwazi ukusetshenziswa phakathi neseshini ehlukahlukene, futhi uhlelo lwe-'on-the-fly' alusekelwe.
Umfanekiso 7. Ukugeleza okuphakathi usebenzisa i-VL53L7CX

Izici ezitholakalayo

I-VL53L7CX ULD API ihlanganisa imisebenzi eminingana evumela umsebenzisi ukuthi ashune inzwa, kuya nge-usecase. Yonke imisebenzi etholakalayo yomshayeli ichazwe ezigabeni ezilandelayo.
4.1 Ukuqaliswa
Ukuqaliswa kufanele kwenziwe ngaphambi kokusebenzisa inzwa ye-VL53L7CX. Lo msebenzi udinga ukuthi umsebenzisi:

1. Amandla enzwa (VDDIO, AVDD, LPn pins set to High, bese uphina i-I2C_RST isethwe ku-0)
2. Shayela umsebenzi vl53l7cx_init(). Umsebenzi ukopisha i-firmware (~84 kbytes) kumojula ngokulayisha ikhodi kusixhumi esibonakalayo se-I2C nokwenza umjikelezo wokuqalisa ukuze uqedele ukuqalisa.

4.2 Ukulawulwa kokusetha kabusha izinzwa
Ukuze usethe kabusha idivayisi, amaphinikhodi alandelayo adinga ukuguqulwa:

1. Setha izikhonkwane ze-VDDIO, AVDD, ne-LPn zibe phansi.
2. Linda 10 ms.
3. Misa izikhonkwane ze-VDDIO, AVDD, ne-LPn zibe phezulu. Ukuguqula iphinikhodi ye-I2C_RST kuphela kusetha kabusha ukuxhumana kwe-I2C.

4.3 Isinqumo
Ukulungiswa kuhambisana nenani lezindawo ezitholakalayo. Inzwa ye-VL53L7CX inezinqumo ezimbili ezingenzeka: 4×4 (izindawo eziyi-16) kanye ne-8×8 (izindawo ezingama-64). Ngokuzenzakalelayo inzwa ihlelwe ngo-4×4.
Umsebenzi vl53l7cx_set_resolution() uvumela umsebenzisi ukuthi aguqule ukulungiswa. Njengoba i-range frequency incike ekulungisweni, lo msebenzi kufanele usetshenziswe ngaphambi kokubuyekeza i-range frequency. Ngaphezu kwalokho, ukushintsha isixazululo kukhulisa nosayizi wethrafikhi ebhasini le-I2C lapho kufundwa imiphumela.
4.4 I-Range frequency
Imvamisa yokulinganisa ingasetshenziswa ukushintsha imvamisa yokulinganisa. Njengoba imvamisa ephezulu ihlukile phakathi kwezinqumo ezingu-4×4 nezingu-8×8, lo msebenzi udinga ukusetshenziswa ngemva kokukhetha isixazululo. Amanani amancane naphezulu avunyelwe afakwe ohlwini lwethebula elilandelayo.
Ithebula 2. Ubuncane kanye namafrikhwensi asukela phezulu

Isixazululo	Imvamisa ebangeni elincane [Hz]	Imvamisa ebange kakhulu [Hz]
4×4	1	60
8×8	1	15

Imvamisa yobubanzi ingabuyekezwa kusetshenziswa umsebenzi vl53l7cx_set_ranging_frequency_hz(). Ngokuzenzakalelayo, imvamisa ehlukanisiwe isethwe ku-1 Hz.
4.5 Imodi yokulinganisa
Imodi yokulinganisa ivumela umsebenzisi ukuthi akhethe phakathi kokusukela ekusebenzeni okuphezulu noma ukusetshenziswa kwamandla okuphansi.
Kunezindlela ezimbili eziphakanyisiwe:

• Okuqhubekayo: Idivayisi ibamba ngokuqhubekayo amafreyimu anefrikhwensi ehlukahlukene echazwe umsebenzisi. I-VCSEL inikwe amandla ngaso sonke isikhathi, ngakho-ke ibanga eliphakeme elisukela nokuvikeleka kwe-ambient kungcono. Le modi yelulekwa ngezilinganiso ezisukela ngokushesha noma ukusebenza okuphezulu.
• Okuzenzakalelayo: Lena imodi ezenzakalelayo. Idivayisi ngokuqhubekayo ibamba ozimele ngefrikhwensi ehlukahlukene echazwe umsebenzisi. I-VCSEL inikwe amandla phakathi nesikhathi esichazwe umsebenzisi, kusetshenziswa umsebenzi vl53l7cx_set_integration_time_ms(). Njengoba i-VCSEL ingahlali ivuliwe, ukusetshenziswa kwamandla kuyehla. Izinzuzo zisobala kakhulu nge-frequency encishisiwe esukela. Le modi yelulekwa ezinhlelweni zamandla aphansi.

Imodi esukelayo ingashintshwa kusetshenziswa umsebenzi vl53l7cx_set_ranging_mode().
4.6 Isikhathi sokuhlanganisa
Isikhathi sokuhlanganisa siyisici esitholakala kuphela kusetshenziswa Imodi yokuhlukahluka kwe-Autonomous (bheka Imodi yoKubala Kwesigaba 4.5). Ivumela umsebenzisi ukuthi aguqule isikhathi ngenkathi i-VCSEL inikwe amandla. Ukushintsha isikhathi sokuhlanganisa uma Imodi yokulinganisa isethwe kokuqhubekayo akunawo umthelela. Isikhathi sokuhlanganisa esimisiwe sisethelwe ku-5 ms.
Umthelela wesikhathi sokuhlanganisa uhlukile ezinqumweni ezingu-4×4 nezingu-8×8. Ukulungiswa 4×4 kwakhiwe isikhathi esisodwa sokuhlanganisa, futhi isinqumo se-8×8 sakhiwe izikhathi ezine zokuhlanganisa. Izibalo ezilandelayo zimelela ukuphuma kwe-VCSEL kuzo zombili izinqumo.
Umfanekiso 8. Isikhathi sokuhlanganisa se-4 × 4 ezizimele

Isamba sazo zonke izikhathi zokuhlanganisa + 1 ms ngaphezulu kufanele sibe ngaphansi kwesikhathi sokulinganisa. Uma kungenjalo isikhathi sokulinganisa sikhuphuka ngokuzenzakalelayo ukuze silingane ivelu yesikhathi sokuhlanganisa.
4.7 Izindlela zamandla
Izindlela zamandla zingasetshenziswa ukunciphisa ukusetshenziswa kwamandla uma idivayisi ingasetshenziswa. I-VL53L7CX ingasebenza kwenye yalezi zindlela zamandla ezilandelayo:

• Ukuvuka: Idivayisi isethwe kokungenzi lutho kwe-HP (amandla aphezulu), ilinde imiyalelo.
• Ukulala: Idivayisi isethwe kokungenzi lutho kwe-LP (amandla aphansi), isimo samandla aphansi. Idivayisi ayikwazi ukusetshenziswa ize isethwe kumodi yokuvuka. Le modi igcina i-firmware nokucushwa.

Imodi yamandla ingashintshwa kusetshenziswa umsebenzi we-vl53l7cx_set_power_mode(). Imodi ezenzakalelayo ithi Wake-up.
Qaphela Uma umsebenzisi efuna ukushintsha imodi yamandla, idivayisi akumele ibe sesimweni esihlukile.
4.8 I-Sharper
Isignali ebuyisiwe isuka kokuqondisiwe ayiwona ukushaya kwenhliziyo ehlanzekile enemiphetho ebukhali. Amaphethelo ehlela kude futhi angase athinte amabanga abikwe ezindaweni eziseduze. I-Sharpener isetshenziselwa ukususa enye noma yonke isignali ebangelwa i-veiling glare. I-exampI-le eboniswe esithombeni esilandelayo imele ithagethi eseduze ku-100 mm egxile ku-FoV, kanti enye ithagethi, engemuva kakhulu ngo-500 mm. Kuye ngevelu yokucija, ithagethi eseduze ingase ivele ezindaweni eziningi kunaleyo yangempela.
Umfanekiso 10. Isbample yesigcawu usebenzisa amanani okucija amaningana
I-Sharpener ingashintshwa kusetshenziswa umsebenzi vl53l7cx_set_sharpener_percent(). Amanani avunyelwe aphakathi kuka-0 % no-99%. Inani elizenzakalelayo lingu-5%.
4.9 Ukuhleleka okuhlosiwe
I-VL53L7CX ingakala okuhlosiwe okumbalwa kwendawo ngayinye. Ngenxa yokucubungula i-histogram, umsingathi uyakwazi ukukhetha ukuhleleka kokuqondisiwe okubikiwe. Kunezinketho ezimbili:

• Okuseduze kakhulu: Ithagethi eseduze eyokuqala ebikiwe
• Okuqine kakhulu: Ithagethi enamandla eyokuqala ebikiwe

I-oda eliqondiwe lingashintshwa kusetshenziswa umsebenzi vl53l7cx_set_target_order(). I-oda elizenzakalelayo Liqine Kakhulu.
I-exampi-le emfanekisweni olandelayo imele ukutholwa kokuhlosiwe okubili. Eyodwa ku-100 mm enokukhanya okuphansi, futhi enye ku-700 mm ngokubonakala okuphezulu.
Umfanekiso 11. Isbampi-histogram enamathagethi angu-2

4.10 Amathagethi amaningi ngezoni ngayinye
I-VL53L7CX ingakala amathagethi afinyelela kwamane ngezoni ngayinye. Umsebenzisi angamisa inani lokuhlosiwe elibuyiswe inzwa.
Qaphela Ibanga elincane phakathi kokuhlosiwe okubili okuzotholwa ngu-600 mm. Ukukhetha akunakwenzeka kumshayeli; kufanele kwenziwe `emsamo.h' file. I-macro VL53L7CX_NB_ TARGET_PER_ZONE idinga ukusethwa kunani eliphakathi kuka-1 no-4. Uhlelo oluqondiwe oluchazwe eSigabeni 4.9 Uhlelo oluqondisiwe luthinta ngokuqondile ukuhleleka kwethagethi etholiwe. Ngokuzenzakalela, inzwa ikhipha kuphela umkhawulo wethagethi eyodwa zoni ngayinye.
Qaphela  Inani elikhushuliwe lokukhonjiwe kwendawo ngayinye linyusa usayizi we-RAM odingekayo.
4.11 Xtalk imajini
Imajini ye-Xtalk iyisici esengeziwe esitholakala kuphela kusetshenziswa i-plugin Xtalk. I-.c kanye ne.f fileI-'vl53l7cx_plugin_xtalk' idinga ukusetshenziswa.
Imajini isetshenziselwa ukushintsha umkhawulo wokuthola lapho i-lass yekhava ikhona phezulu kwenzwa. I-threshold inganyuswa ukuze kuqinisekiswe ukuthi i-coverless ayitholakali, ngemva kokusetha idatha yokulinganisa inkulumo engu-X. OkwesiboneloampUma kunjalo, umsebenzisi angakwazi ukuqalisa ukulinganisa kwe-Xwalk kudivayisi eyodwa, futhi aphinde asebenzise idatha yokulinganisa efanayo kuwo wonke amanye amadivayisi. Imajini yenkulumo engu-X ingasetshenziselwa ukushuna ukulungiswa kwenkulumo ka-X. Isibalo esingezansi simele imajini ye-Xwalk.
Umfanekiso 12. X talk margin
4.12 Amazinga okuthola ulwazi
Ngokungeziwe emandleni ajwayelekile okusukela, inzwa ingahlelwa ukuthi ibone into ngaphansi kwemibandela ethile echazwe ngaphambilini. Lesi sici sitholakala kusetshenziswa i-plugin “detection thresholds”, okuyinketho engafakiwe ngokuzenzakalela ku-API. I files ebizwa ngokuthi `vl53l7cx_plugin_detection_thresholds' idinga ukusetshenziswa. Isici singasetshenziswa ukuqalisa ukuphazamiseka ukuze uphine i-A3 (INT) uma izimo ezichazwe umsebenzisi zifinyelelwa. Kunezindlela ezintathu zokucushwa okungenzeka:

• Ukulungiswa 4×4: kusetshenziswa i-threshold engu-1 indawo ngayinye (inani lama-threshold angu-16)
• Ukulungiswa 4×4: kusetshenziswa amathreshold angu-2 ngezoni ngayinye (inani lama-threshold angama-32)
• Ukulungiswa 8×8: kusetshenziswa i-threshold engu-1 indawo ngayinye (inani lama-threshold angu-64)

Noma ngabe yikuphi ukucushwa okusetshenzisiwe, inqubo yokudala ama-threshold kanye nosayizi we-RAM kuyafana.
Ngokuhlanganiswa kwe-threshold ngayinye, izinkambu ezimbalwa zidinga ukugcwaliswa:

• I-id yendawo: i-id yendawo ekhethiwe (bheka Isigaba 2.2 umumo osebenzayo)
• Isilinganiso: ukukala okuzobanjwa (ibanga, isignali, inani lama-SPAD, ...)
• Uhlobo: amawindi ezilinganiso (kumafasitela, ngaphandle kwamafasitela, ngaphansi komkhawulo ophansi, ...)
• I-threshold ephansi: i-threshold ephansi yomsebenzisi we-trigger. Umsebenzisi akadingi ukusetha ifomethi, iphathwa ngokuzenzakalelayo yi-API.
• I-threshold ephezulu: umsebenzisi ophezulu we-trigger. Umsebenzisi akadingi ukusetha ifomethi, iphathwa ngokuzenzakalelayo yi-API.
• Ukusebenza kwezibalo: kusetshenziselwa kuphela inhlanganisela ye-4×4 2 threshold zoni ngayinye. Umsebenzisi angasetha inhlanganisela esebenzisa ama-threshold ambalwa endaweni eyodwa.

4.13 Inkomba yokunyakaza
Inzwa ye-VL53L7CX inesici esishumekiwe se-Firmware esivumela ukutholwa kokunyakaza endaweni yesehlakalo. Inkomba yokunyakaza ibalwa phakathi kozimele abalandelanayo. Le nketho iyatholakala kusetshenziswa i-plugin `vl53l7cx_plugin_motion_indicator'.
Inkomba yokunyakaza iqalwa kusetshenziswa umsebenzi we-vl53l7cx_motion_indicator_init(). Uma umsebenzisi efuna ukushintsha ukulungiswa kwenzwa, kufanele abuyekeze ukulungiswa kwesikhombi sokunyakaza esebenzisa umsebenzi ozinikele: vl53l7cx_motion_indicator_set_resolution().
Umsebenzisi angase futhi ashintshe amabanga amancane nawumkhawulo wokubona ukunyakaza. Umehluko phakathi kwamabanga amancane nawumkhawulo awukwazi ukuba mkhulu kuno-1500 mm. Ngokuzenzakalelayo, amabanga aqalwa ngamanani aphakathi kuka-400 mm no-1500 mm.
Imiphumela igcinwa endaweni `inkomba yokunyakaza'. Kule nkambu, amalungu afanayo `ukunyakaza' anikeza inani eliqukethe ukuqina kokunyakaza kwendawo ngayinye. Inani eliphezulu libonisa ukuhluka kokunyakaza okuphezulu phakathi kozimele. Ukunyakaza okuvamile kunikeza inani eliphakathi kuka-100 no-500. Lokhu kuzwela kuncike esikhathini sokuhlanganisa, ibanga eliqondiwe, nokubonakala okuqondiwe.
Inhlanganisela ekahle yezinhlelo zokusebenza zamandla aphansi ukusetshenziswa kwenkomba yokunyakaza enemodi ye-Autonomous esukela, kanye namathreshold okuthola ahlelwe ekunyakazeni. Lokhu kuvumela ukutholwa kokuhluka kokunyakaza ku-FoV ngokusetshenziswa kwamandla okuncane.

Imiphumela ehlukahlukene

5.1 Idatha etholakalayo
Uhlu olubanzi lwedatha yethagethi neyendawo ingase ikhishwe ngesikhathi semisebenzi ehlukahlukene. Ithebula elilandelayo lichaza amapharamitha atholakalayo kumsebenzisi.
Ithebula 3. Okukhiphayo okutholakalayo kusetshenziswa inzwa ye-VL53L7CX

Isici	I-Nb bytes (RAM)	Iyunithi	Incazelo
I-ambient nge-SPAD ngayinye	256	I-Kcps/SPAD	Isilinganiso sesilinganiso se-ambient esenziwe kumalungu afanayo e-SPAD, ngaphandle kokukhishwa kwe-photon okusebenzayo, ukukala izinga lesignali ye-ambient ngenxa yomsindo.
Inombolo yokuhlosiwe etholiwe	64	Lutho	Inani lamathagethi atholiwe endaweni yamanje.Leli nani kufanele kube elokuqala elihlolwayo ukuze kwaziwe ukufaneleka kwesilinganiso.
Inombolo yama-SPAD anikwe amandla	256	Lutho	Inombolo yama-SPAD anikwe amandla esilinganisweni samanje. Ithagethi ekhanyayo ekude noma ephansi izovula ama-SPAD engeziwe.
Isiginali nge-SPAD ngayinye	256 x nb okuqondiwe kuhleliwe	I-Kcps/SPAD	Inani lama-photon likalwa ngesikhathi sokushaya kwe-VCSEL.
Ibanga lesigma	128 x nb okuqondiwe kuhleliwe	Isigidi	Isilinganiso se-Sigma somsindo okubikiwe ibanga eliqondiwe.
Ibanga	128 x nb okuqondiwe kuhleliwe	Isigidi	Ibanga eliqondiwe
Isimo sokuhlosiwe	64 x nb okuqondiwe kuhleliwe	Lutho	Ukufaneleka kwezilinganiso. Bheka ukutolikwa kwemiphumela yeSigaba 5.5 ukuze uthole ulwazi olwengeziwe.
Ukucabangisisa	64 x izinombolo eziqondiwe ezihleliwe	Amaphesenti	Ukubonakaliswa okuhlosiwe okulinganiselwe ngamaphesenti
Inkomba yokunyakaza	140	Lutho	Isakhiwo esiqukethe imiphumela yesikhombi sokunyakaza. Inkambu ethi 'motion' iqukethe ukuqina kokunyakaza.

Qaphela: Ezicini ezimbalwa (isiginali ngesivinini ngasinye, i-sigma, …) ukufinyelela kudatha kuhlukile uma umsebenzisi ehlele okuqondiwe okungaphezu koku-1 indawo ngayinye (bona Isigaba 4.10 Okuqondiwe Okuningi kwendawo ngayinye). Bheka isibample amakhodi ukuze uthole ulwazi olwengeziwe.
5.2 Hlela ukukhetha okukhiphayo
Ngokuzenzakalelayo, yonke imiphumela ye-VL53L7CX inikwe amandla. Uma kudingeka, umsebenzisi angakhubaza okunye okukhiphayo kwenzwa. Ukukhubaza izilinganiso akutholakali kumshayeli; kumele wenziwe `emsamo' file. Umsebenzisi angamemezela amamakhro alandelayo ukuze akhubaze okuphumayo:
#define VL53L7CX_DISABLE_AMBIENT_PER_SPAD
#define VL53L7CX_DISABLE_NB_SPADS_ENABLED
#define VL53L7CX_DISABLE_NB_TARGET_DETECTED
#define VL53L7CX_DISABLE_SIGNAL_PER_SPAD
#define VL53L7CX_DISABLE_RANGE_SIGMA_MM
#define VL53L7CX_DISABLE_DISTANCE_MM
#define VL53L7CX_DISABLE_TARGET_STATUS
#define VL53L7CX_DISABLE_REFLECTANCE_PERCENT
#define VL53L7CX_DISABLE_MOTION_INDICATOR
Ngenxa yalokho, izinkambu azimenyezelwa esakhiweni semiphumela, futhi idatha ayidluliselwa kumsingathi. Usayizi we-RAM nosayizi we-I2C kuncishisiwe. Ukuqinisekisa ukuvumelana kwedatha, i-ST incoma ukuthi kuhlale `inombolo yethagethi itholiwe' kanye `nesimo sokuhlosiwe' sinikwe amandla. Ivumela ukuhlunga izilinganiso kuye ngesimo okuqondiwe kuso (bheka ukutolika Kwemiphumela Yesigaba 5.5).
5.3 Ukuthola imiphumela ehlukahlukene
Phakathi neseshini ehlukanisiwe, kunezindlela ezimbili zokwazi ukuthi ingabe idatha esukelayo entsha iyatholakala:

• Imodi yokuvota: Ngokuqhubekayo isebenzisa umsebenzi vl53l7cx_check_data_ready(). Ithola inani elisha lokusakaza elibuyiswe inzwa.
• Imodi yokuphazamisa: Ilinda ukuphazamiseka okuphakanyiswe kuphinikhodi A3 (GPIO1). Ukuphazamiseka kusulwa ngokuzenzakalelayo ngemva kwemizuzu engu-100.

Uma idatha entsha isilungile, imiphumela ingafundwa kusetshenziswa umsebenzi vl53l7cx_get_ranging_data(). Ibuyisela isakhiwo esibuyekeziwe esiqukethe konke okukhiphayo okukhethiwe. Njengoba idivayisi i-asynchronous, akukho ukuphazamisa ukusula ukuze uqhubeke neseshini ehlukahlukene.
Lesi sici siyatholakala kuzo zombili izindlela ezisukelayo nezizimele.
5.4 Ukusebenzisa ifomethi ye-firmware eluhlaza
Ngemva kokudlulisa idatha esukela nge-I2C, kukhona ukuguqulwa phakathi kwefomethi ye-firmware nefomethi yokusingatha. Lokhu kusebenza ngokuvamile kwenziwa ukuze kube nebanga elisukela ngamamilimitha njengokuphuma okuzenzakalelayo kwenzwa. Uma umsebenzisi efuna ukusebenzisa ifomethi ye-firmware, i-macro elandelayo kufanele ichazwe endaweni yesikhulumi file:
#define VL53L7CX_USE_RAW_FORMAT
5.5 Ukuhunyushwa kwemiphumela
Idatha ebuyiselwe yi-VL53L7CX ingahlungwa ukuze kubhekwe isimo okuhlosiwe. Isimo sibonisa ukufaneleka kokulinganisa. Uhlu oluphelele lwezimo luchazwe kuleli thebula elilandelayo.

Isimo sokuhlosiwe	Incazelo
0	Idatha ebangeni ayibuyekeziwe
1	Izinga lesiginali liphansi kakhulu kumalungu afanayo e-SPAD
2	Isigaba sokuhlosiwe
3	Isilinganiso se-Sigma siphezulu kakhulu
4	Ukuvumelana kwethagethi kuhlulekile
5	Ibanga livumelekile
6	Ukugoqa akwenziwanga (Ngokujwayelekile ububanzi bokuqala)
7	Isilinganiso sokungaguquguquki kwehlulekile
8	Izinga lesiginali liphansi kakhulu ekuqondisweni kwamanje
9	Ububanzi buvumeleke ngokushaya okukhulu kwenhliziyo (kungenzeka kungenxa yethagethi ehlanganisiwe)
10	Ububanzi buvumelekile, kodwa akukho ithagethi etholwe ebangeni langaphambilini
11	Ukuvumelana kokulinganisa kwehlulekile
12	Ithagethi ifiphazwe ngenye, ngenxa yokucija
13	Ithagethi itholiwe kodwa idatha engahambisani. Kwenzeka kaningi kokuhlosiwe kwesibili.
255	Akukho okuhlosiwe okutholiwe (kuphela uma inombolo yethagethi etholiwe inikwe amandla)

Ukuze ube nedatha engaguquki, umsebenzisi udinga ukuhlunga isimo sethagethi esingavumelekile. Ukuze unikeze isilinganiso sokuzethemba, okuhlosiwe okunesimo 5 kuthathwa njengokuvumelekile okungu-100%. Isimo sika-6 noma 9 singacatshangwa ngevelu yokuqiniseka engu-50 %. Zonke ezinye izimo zingaphansi kwezinga lokuzethemba elingu-50%.
5.6 Amaphutha omshayeli
Uma kwenzeka iphutha kusetshenziswa inzwa ye-VL53L7CX, umshayeli ubuyisela iphutha elithile. Ithebula elilandelayo libala amaphutha okungenzeka.
Ithebula 5. Uhlu lwamaphutha atholakalayo kusetshenziswa umshayeli

Isimo sokuhlosiwe	Incazelo
0	Alikho iphutha
127	Umsebenzisi uhlele isilungiselelo esingalungile (ukulungiswa okungaziwa, imvamisa esukela phezulu kakhulu, ...)
255	Iphutha elikhulu. Ngokuvamile iphutha lokuphela kwesikhathi, ngenxa yephutha le-I2C.
okunye	Inhlanganisela yamaphutha amaningi achazwe ngenhla

Qaphela Amakhodi amaphutha engeziwe angenziwa umsingathi esebenzisa inkundla files.
Umlando wokubuyekeza
Ithebula 6. Umlando wokubuyekeza idokhumenti

Usuku	Inguqulo	Izinguquko
2-Aug-22	1	Ukukhishwa kokuqala
2-Sep-22	2	Isethulo Sesigaba Esibuyekeziwe Esingeziwe Inothi elimayelana nebanga eliphansi phakathi kokuhlosiwe ukuya kuSigaba 4.10 Okuhlosiwe Okuningi kwendawo ngayinye

ISAZISO ESIBALULEKILE FUNDA NGOKUQAPHELA
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