I-ST UM3183 Artificial Intelligence Enabler

Ulwazi Lomkhiqizo

Igama Lomkhiqizo:
I-Artificial Intelligence Enabler VL53L7CH kanye ne-VL53L8CH Multizone Time-of-Flight Izinzwa (ToF)

Incazelo Yomkhiqizo:
Izinzwa ze-VL53L7CH ne-VL53L8CH zingazinikezi zobuhlakani bokwenziwa ezisebenzisa ubuchwepheshe be-Time-of-Flight. Lezi zinzwa ziklanyelwe ukunikeza isilinganiso esinembile sebanga namandla okuthola into. Uhlelo luqukethe imojuli yehadiwe kanye nesofthiwe yomshayeli wokukhanya kwe-ultra (VL53LMZ ULD) esebenza kudivayisi yomsingathi.

Izici Eziyinhloko:

• Idizayini encane futhi engasindi
• Izindawo eziningi zokutholwa kwento okuthuthukisiwe
• I-elementi ye-optical ehlanganisiwe ehlanganisiwe yenkambu ethuthukisiwe ye view
• Izivumelwano zokuxhumana ze-I2C ne-SPI
• Ikheli le-I2C elishintshekayo lokugwema izingxabano nokwandisa inkambu yesistimu ye view

Umkhiqizi: I-STMicroelectronics

Izinkomba Zomkhiqizo:

• Idatha ye-VL53L7CH (DS14309)
• Idatha ye-VL53L8CH (DS14310)

Ulwazi lokuxhumana:
Ukuze uthole ulwazi olwengeziwe, sicela uthinte ihhovisi lezokuthengisa le-STMicroelectronics langakini.
Webindawo: www.st.com

Imiyalo yokusetshenziswa komkhiqizo

Uhlelo Olungaphezuluview:
Uhlelo luqukethe imojula yehadiwe kanye nesoftware yomshayeli wokukhanya kwe-ultra (VL53LMZ ULD) esebenza kudivayisi yomsingathi. Imojuli yehadiwe iqukethe inzwa ye-ToF, futhi isofthiwe yomshayeli ilawula inzwa futhi inikeza idatha esukela kumsingathi.

Ukuma okusebenzayo:
Imojula ihlanganisa ilensi ephenya isithombe esithwetshiwe sethagethi kokubili ngokuvundlile nangokuqondile. Lokhu kusho ukuthi indawo ehlonzwe njengezoni 0, etholakala ezansi kwesokunxele sohlelo lwe-SPAD, ikhanyiswa ithagethi ebekwe phezulu kwesokudla sendawo.

I-Schematics kanye ne-I2C/SPI Configurations
Ukuxhumana phakathi komshayeli ne-firmware kuphathwa yi-I2C yazo zombili izinzwa, ngesivinini esikhulu esingu-1 MHz. Ukwengeza, inzwa ye-VL53L8CH isekela ukuxhumana nge-SPI, ngesivinini esiphezulu esingu-3 MHz. Izinqamuleli zokudonsa ziyadingeka kuphrothokholi ngayinye yokuxhumana njengoba kucaciswe kumininingwane yedatha yomkhiqizo.

Ikheli le-I2C elizenzakalelayo lamadivayisi ngu-0x52, kodwa lingashintshwa ukuze kugwenywe ukungqubuzana noma ukwamukela amamojula amaningi endaweni enkulu yesistimu view. Ukuze ushintshe ikheli le-I2C, sebenzisa umsebenzi we-vl53lmz_set_i2c_address(). Ngokuxhumana kwe-SPI, i-multisensory kufanele ifakwe intambo kusetshenziswa ukumiswa kwesigqila esizimele ngephinikhodi ye-NCS.

Lapho ushintsha ikheli le-I2C ledivayisi, kubalulekile ukukhubaza ukuxhumana kwe-I2C kwamadivayisi angashintshiwe.

Landela lezi zinyathelo:

1. Nika amandla isistimu njengokujwayelekile.
2. Donsela phansi iphinikhodi ye-LPn yedivayisi engeke ishintshwe ikheli layo.
3. Donsela phezulu iphinikhodi ye-LPn yedivayisi ezoshintsha ikheli layo le-I2C.
4. Hlela ikheli le-I2C kudivayisi usebenzisa umsebenzi we-vl53lmz_set_i2c_address().
5. Donsela phezulu iphinikhodi ye-LPn yedivayisi engahlelwa kabusha.

Isingeniso

Injongo yale manuwali yomsebenzisi ukuchaza indlela yokusingatha izinzwa ze-VL53L7CH kanye ne-VL53L8CH Time-of-Flight (ToF), kusetshenziswa i-ultra light driver (ULD) API. Ichaza imisebenzi esemqoka yokuhlela idivayisi, ukulinganiswa, kanye nemiphumela yokuphumayo.
Idatha ye-CNH iguqula i-STMicroelectronics Time-of-Flight esukela inzwa ibe inzwa ehlukahlukene yokubona, enganika amandla izinhlelo zokusebenza ezisekelwe ku-AI ezingapheli. Le datha eluhlaza ye-CNH ethunyelwe kumsingathi, ngaphezu kwedatha evamile esukela, ivula umnyango wezinhlelo zokusebenza eziningi ezintsha ezingaphezu kwezilinganiso ezilula zebanga. Ukusuka ezintweni eziqinile (umata, ukhuni, ingilazi, isibuko…) kuye kugesi noma uketshezi
(amanzi, uwoyela, ikhemikhali…), kuyenzeka ukuthi kutholwe indawo kanye nosayizi wenkomishi emshinini wekhofi noma endaweni yokukhipha isiphuzo, ukuzwa into ephansi yamarobhothi, futhi kuthuthukiswe isimo esithuthukisiwe, ukunyakaza, noma ukubonwa kokuma kwesandla.
Umfanekiso 1. VL53L7CH kanye ne-VL53L8CH amamojula wezinzwa

Izithenjwa
Idatha ye-VL53L7CH (DS14309)
Idatha ye-VL53L8CH (DS14310)

Ama-akhronimi nezifinyezo

Isifinyezo/isifinyezo	Incazelo
CNH	i-histogram ejwayelekile
I-DOE	isici se-optical diffractive
I-FoV	inkambu ye view
I-I2C	i-inter-integrated circuit (serial bus)
I-Kcps/SPAD	Isibalo sekhilo ngesekhondi ngayinye ye-SPAD (iyunithi esetshenziselwa ukulinganisa inani lamaphothoni ohlwini lwe-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 ephuma endaweni eqondile ye-cavity
Xtalk	i-crosstalk

Incazelo esebenzayo

Uhlelo luphelileview
Uhlelo lwakhiwe imojuli yehadiwe kanye nesoftware yomshayeli wokukhanya kwe-ultra (VL53LMZ ULD) esebenza kumsingathi (bona umfanekiso ngezansi). Imojula yehadiwe iqukethe inzwa ye-ToF. I-STMicroelectronics iletha umshayeli wesoftware, okubhekiselwa kuye kulo mbhalo ngokuthi “umshayeli”. Lo mbhalo uchaza imisebenzi yomshayeli, efinyeleleka kumsingathi. Le misebenzi ilawula inzwa futhi ithole idatha ehlukahlukene.

Ukuma okusebenzayo
Imojula ihlanganisa ilensi ngaphezu kwembobo ye-Rx, ephenyisisa (ngokuvundlile nangokuqondile) isithombe esithwebuliwe sethagethi. Ngokulandelayo, indawo ehlonzwe njengezoni 0, ezansi kwesokunxele samalungu afanayo e-SPAD, ikhanyiswa ithagethi etholakala phezulu kwesokudla sendawo.

I-Schematics kanye nokucushwa kwe-I2C/SPI
Ukuxhumana phakathi komshayeli ne-firmware kuphathwa yi-I2C yazo zombili izinzwa, enesivinini esikhulu esingu-1 MHz. Ngaphezu kwalokho, i-VL53L8CH futhi inethuba lokuxhumana ne-SPI. Kulokhu, isivinini esiphezulu se-SPI singu-3 MHz. Ukuqaliswa kwephrothokholi yokuxhumana ngayinye kudinga ukudonsa njengoba kuchazwe kumininingwane yedatha yomkhiqizo.
Amadivayisi anekheli le-I2C elizenzakalelayo elingu-0x52. Nokho, kungenzeka ukushintsha ikheli elimisiwe ukuze ugweme ukungqubuzana namanye amadivaysi, noma ukusiza ukungeza amamojula amaningi ohlelweni ukuze uthole i-FoV yesistimu enkulu. Ikheli le-I2C lingashintshwa kusetshenziswa umsebenzi we-vl53lmz_set_i2c_address(). Ukuze usebenzise i-SPI, i-multisensor ixhunywe ngezintambo kusetshenziswa ukucushwa kwesigqila esizimele (iphinikhodi ye-NCS).
Ukuze uguqule ikheli ledivayisi ye-I2C ngaphandle kokuthikameze abanye ebhasini le-I2C, kubalulekile ukukhubaza ukuxhumana kwe-I2C kwamadivayisi angashintshiwe. Inqubo imi kanje:

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 we-vl53lmz_set_i2c_address() umsebenzi.
5. Donsela phezulu iphinikhodi ye-LPn yedivayisi engahlelwa kabusha.

Wonke amadivayisi manje kufanele atholakale ebhasini le-I2C. Phinda izinyathelo ezingenhla kuwo wonke amadivayisi ohlelweni adinga ikheli elisha le-I2C.
Umfanekiso 4. Izinzwa eziningi ebhasini le-I2C

Umfanekiso 5. Izinzwa eziningi ku-SPI

Okuqukethwe kwephakheji nokugeleza kwedatha

Isakhiwo somshayeli nokuqukethwe
Iphakethe lomshayeli lakhiwe ngamafolda amane. Umshayeli ukufolda /VL53LMZ_ULD_API.
Umshayeli wakhiwe ngempoqo futhi ozikhethela files. Ongakukhetha files kukhona plugins esetshenziselwa ukunweba izici ze-ULD. I-plugin ngayinye iqala ngegama elithi “vl53lmz_plugin” (isb. vl53lmz_plugin_xtalk.h). Uma umsebenzisi engakufuni okuhlongozwayo plugins, zingasuswa ngaphandle kokuba nomthelela kwezinye izici zomshayeli. Inombolo elandelayo imele impoqo files kanye nokuzikhethela plugins.
Umfanekiso 6. Isakhiwo somshayeli

Umsebenzisi futhi udinga ukusebenzisa ezimbili files itholakala kufolda ye-/Platform. Inkundla ehlongozwayo iyigobolondo elingenalutho, futhi kufanele igcwaliswe ngemisebenzi ezinikele.

Qaphela:
Inkundla. h file iqukethe amamakhro ayimpoqo ukuze usebenzise i-ULD. Konke file okuqukethwe kuyisibopho ukuze usebenzise kahle i-ULD.

Ukugeleza kokulinganisa
I-Crosstalk (Xtalk) ichazwa njengenani lesiginali elitholwe kuhlu lwe-SPAD, olubangelwa ukukhanya okukhanyayo kwe-VCSEL ngaphakathi kwefasitela elivikelayo (ingilazi yekhava) engezwe phezu kwemojuli. Amamojula Esikhathi Sendiza azilinganisa ngokwawo, futhi angasetshenziswa ngaphandle kokulinganisa okwengeziwe.
Ukulinganisa kwe-Xtalk kungase kudingeke uma imojuli ivikelwe ingilazi ekhavayo. Izinzwa azikwazi ukungqubuzana ngaphezu kuka-60 cm ngenxa ye-histogram algorithm. Kodwa-ke, ebangeni elifushane elingaphansi kuka-60 cm, i-crosstalk ingaba nkulu kunesignali yangempela ebuyisiwe. Lokhu kunikeza ukufundwa okuqondiwe okungamanga noma kwenza okuhlosiwe kubonakale kuseduze kunalokho okuyikho ngempela. Yonke imisebenzi yokulinganisa i-crosstalk ifakiwe ku-plugin ye-crosstalk (uyazikhethela). Umsebenzisi udinga ukusebenzisa i- file 'vl53lmz_plugin_xtalk'.
I-crosstalk 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. Kuye ngokusetha, umsebenzisi angashintsha izilungiselelo ukuze avumelane nokulinganisa kwe-crosstalk, njengoba kuhlongoziwe kuthebula elilandelayo.
Ithebula 1. Izilungiselelo ezitholakalayo zokulinganisa

Ukusetha	Okuncane	Kuhlongozwe ngabakwa-STMicroelectronics	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 ≈ isekhondi elingu-1
• 4 sampngaphansi ≈ 2.5 imizuzwana
• 16 sampngaphansi ≈ 8.5 imizuzwana

Ukulinganisa kwenziwa kusetshenziswa umsebenzi vl53lmz_calibrate_xtalk(). Lo msebenzi ungasetshenziswa noma nini. Nokho, inzwa kumele iqaliswe kuqala. Isibalo esilandelayo simele ukugeleza kokulinganisa kwe-crosstalk.

Umfanekiso 7. Ukugeleza kokulinganisa kwe-Xtalk

Ukugeleza okuhlukahlukene
Isibalo esilandelayo simele ukugeleza okuhlukahlukene okusetshenziselwa ukuthola izilinganiso. Ukulinganisa kwe-Crosstalk 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 8. Ukugeleza okuhlukahlukene okujwayelekile

Izici ezitholakalayo

Umshayeli wezinzwa uhlanganisa imisebenzi eminingana, evumela umsebenzisi ukuthi ashune inzwa, kuye ngesimo sokusetshenziswa. Yonke imisebenzi etholakalayo yomshayeli ichazwe ezigabeni ezilandelayo.

Ukuqaliswa
Ukuqalisa kufanele kwenziwe ngaphambi kokusebenzisa inzwa Yesikhathi Sendiza. Lo msebenzi udinga ukuthi umsebenzisi:

1. Amandla enzwa
   1. Okwe-VL53L7CH: VDDIO, AVDD, LPn pins usethelwe phezulu
   2. Okwe-VL53L8CH: VDDIO, AVDD, CORE_1V8 izikhonkwane zimiswe phezulu
2. Shayela umsebenzi vl53lmz_init(). Umsebenzi ukopisha i-firmware (~84 Kbytes) kumojula. Lokhu kwenziwa ngokulayisha ikhodi phezu kwesixhumi esibonakalayo se-I2C/SPI, nokwenza isimiso sokuqalisa ukuze kuqedelwe ukuqalisa.

Ukuphathwa kokusetha kabusha inzwa
Ukuze usethe kabusha idivayisi, amaphinikhodi alandelayo adinga ukuguqulwa:

1. Setha izikhonkwane ze-VDDIO, ne-AVDD (kanye ne-CORE_1V8 ye-VL53L8CH) zibe phansi.
2. Linda 10 ms.
3. Misa izikhonkwane ze-VDDIO, kanye ne-AVDD (kanye ne-CORE_1V8 ye-VL53L8CH) zibe phezulu. Ukuguqula iphinikhodi ye-I2C_RST kuphela kusetha kabusha ukuxhumana kwe-I2C.

Isixazululo
Ukulungiswa kuhambisana nenani lezindawo ezitholakalayo. Izinzwa ze-VL53L7CH ne-VL53L8CH zinezinqumo ezimbili ezingenzeka: 4×4 (izindawo eziyi-16) kanye ne-8×8 (izindawo ezingama-64). Ngokuzenzakalelayo inzwa ihlelwe ngo-4×4.
Umsebenzi vl53lmz_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/SPI lapho kufundwa imiphumela.

Imvamisa ephakathi
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 vl53lmz_set_ranging_frequency_hz(). Ngokuzenzakalelayo, imvamisa ehlukanisiwe isethwe ku-1 Hz.

Imodi yokulinganisa
Imodi yokulinganisa ivumela umsebenzisi ukuthi akhethe phakathi kokusukela ekusebenzeni okuphezulu noma ukusetshenziswa kwamandla okuphansi. Kunezindlela ezimbili eziphakanyisiwe:

• Okuqhubekayo: Idivayisi ngokuqhubekayo ibamba ozimele ngefrikhwensi 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.
• Ukuzimela: Lena imodi ezenzakalelayo. Idivayisi ngokuqhubekayo ibamba ozimele ngefrikhwensi ehlukahlukene echazwe umsebenzisi. I-VCSEL inikwe amandla phakathi nesikhathi esichazwe umsebenzisi, kusetshenziswa umsebenzi vl53lmz_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 vl53lmz_set_ranging_mode().

Isikhathi sokuhlanganisa
Isikhathi sokuhlanganisa siyisici esitholakala kuphela kusetshenziswa imodi yokuzimela esukela (bheka Isigaba 4.5 Imodi yobubanzi). Ivumela umsebenzisi ukuthi aguqule isikhathi ngenkathi i-VCSEL inikwe amandla. Ukushintsha isikhathi sokuhlanganisa uma imodi yokusukela isethelwe 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 9. Isikhathi sokuhlanganisa se-4 × 4 ezizimele

Umfanekiso 10. Isikhathi sokuhlanganisa se-8 × 8 ezizimele

Isamba sazo zonke izikhathi zokuhlanganisa + 1 ms ngaphezulu kufanele sibe ngaphansi kwesikhathi sokulinganisa. Uma kungenjalo, isikhathi sokulinganisa sikhuphuka ngokuzenzakalela ukuze silingane ivelu yesikhathi sokuhlanganisa.

Izindlela zamandla
Izindlela zamandla zingasetshenziswa ukunciphisa ukusetshenziswa kwamandla uma idivayisi ingasetshenziswa. Izinzwa Zesikhathi Sendiza zingasebenza ngenye yalezi zindlela zamandla ezilandelayo:

• Vuka: Idivayisi isethwe kokungenzi lutho kwe-HP (amandla aphezulu), ilinde imiyalelo.
• Lala: 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-vl53lmz_set_power_mode(). Imodi ezenzakalelayo iwukuvuka.
Uma umsebenzisi efuna ukushintsha imodi yamandla, idivayisi akumele ibe sesimweni esihlukile.

I-Sharpener
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 11. Isbample yesigcawu usebenzisa amanani okucija amaningana

I-Sharpener ingashintshwa kusetshenziswa umsebenzi othi vl53lmz_set_sharpener_percent(). Amanani avunyelwe aphakathi kuka-0% no-99%. Inani elizenzakalelayo lingu-5%.

I-oda eliqondisiwe
Izinzwa zingakala okuqondiwe kuzoni ngayinye. Ngenxa yokucubungula i-histogram, umsingathi uyakwazi ukukhetha ukuhleleka kokuqondisiwe okubikiwe. Kunezinketho ezimbili:

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

I-oda eliqondiwe lingashintshwa kusetshenziswa umsebenzi othi vl53lmz_set_target_order(). I-oda elizenzakalelayo lithi "Kuqine kakhulu".
I-exampi-le emfanekisweni olandelayo imele ukutholwa kokuhlosiwe okubili. Eyodwa ku-100 mm enokukhanya okuphansi, futhi enye ku-700 mm ngokubonakala okuphezulu.
Umfanekiso 12. Isbample ye-histogram enezinjongo ezimbili

Amathagethi amaningi ngezoni ngayinye
Izinzwa zingakala kufikela kokune okuqondiwe kuzoni ngayinye. Umsebenzisi angamisa inani lokuhlosiwe elibuyiswe inzwa.
Ibanga eliphansi eliphakathi kokuhlosiwe okubili okuzotholwa endaweni efanayo ngu-600 mm.
Ukukhetha akunakwenzeka kumshayeli; kufanele kwenziwe ku-'platform.h' file. I-macro VL53LMZ_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.
Inani elikhuphukile lokuhlosiwe kwendawo ngayinye linyusa usayizi we-RAM odingwa umshayeli.

Imajini ye-Xtalk
Imajini ye-Xtalk iyisici esengeziwe esitholakala kuphela kusetshenziswa i-plugin Xtalk. I-.c kanye ne.f files vl53lmz_plugin_xtalk idinga ukusetshenziswa.
Imajini isetshenziselwa ukushintsha umkhawulo wokuthola lapho ingilazi yekhava ikhona phezulu kwenzwa. Umkhawulo ungandiswa ukuze kuqinisekiswe ukuthi ingilazi yekhava ayilokothi ibonwe, ngemva kokusetha idatha yokulinganisa ye-Xtalk. Okwesiboneloampfuthi, umsebenzisi angakwazi ukuqalisa ukulinganisa kwe-crosstalk kudivayisi eyodwa, futhi aphinde asebenzise idatha yokulinganisa efanayo kuwo wonke amanye amadivayisi. Imajini ye-Xtalk ingasetshenziselwa ukushuna ukulungiswa kwe-Xtalk. Isibalo esingezansi simele imajini ye-Xtalk.

Imikhawulo yokutholwa
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 fileebizwa ngokuthi 'vl53lmz_plugin_detection_thresholds' idinga ukusetshenziswa.
Isici singasetshenziswa ukuqalisa ukuphazamiseka kuphinikhodi ye-INT uma izimo ezichazwe umsebenzisi zifinyelelwa. Kunezindlela ezintathu zokucushwa okungenzeka:

• Ukulungiswa 4×4: kusetshenziswa i-threshold eyodwa indawo ngayinye (inani lama-threshold angu-16)
• Ukulungiswa 4×4: kusetshenziswa ama-threshold amabili ngezoni ngayinye (inani lama-threshold angama-32)
• Ukulungiswa 8×8: kusetshenziswa i-threshold eyodwa 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 i-4×4 - inhlanganisela ye-threshold emibili indawo ngayinye. Umsebenzisi angasetha inhlanganisela esebenzisa ama-threshold ambalwa endaweni eyodwa.

Phakamisa ukumisa okuzenzakalelayo
Isici esiphazamisayo sokumisa okuzenzakalelayo sisetshenziselwa ukuhoxisa iseshini ehlukahlukene ngesikhathi sokulinganisa. Ngokuzenzakalelayo, inzwa ayikwazi ukumiswa ngesikhathi sokulinganisa, ngoba izilinganiso zozimele zidinga ukuqedwa. Kodwa-ke, ngokusebenzisa i-autostop, izilinganiso zozimele ziyahoxiswa lapho ukuphazamiseka kuqaliswa.
Isici sokumisa okuzenzakalelayo siwusizo uma sihlanganiswa nomkhawulo wokutholwa. Uma okuqondiwe kutholwa, ukulinganisa kwamanje kuyekiswa ngokuzenzakalelayo. I-Autostop ingasetshenziswa emshinini wesimo sekhasimende ukuze ushintshele ngokushesha kwenye ukucushwa kwenzwa.
Isici esiphazamisayo sokumisa okuzenzakalelayo singavulwa ngokusebenzisa umsebenzi othi vl53lmz_set_detection_threshold_auto_stop(). Ngemuva kokuthi ukulinganisa kunqanyuliwe, kuyanconywa ukuthi umise inzwa ngokusebenzisa umsebenzi vl53lmz_stop_ranging().

Inkomba yokunyakaza
Izinzwa ze-VL53L7CH ne-VL53L8CH zinesici esishumekiwe se-firmware esivumela ukutholwa kokunyakaza endaweni yesehlakalo. Inkomba yokunyakaza ibalwa phakathi kozimele abalandelanayo. Le nketho iyatholakala kusetshenziswa i-plugin 'vl53lmz_plugin_motion_indicator'.
Inkomba yokunyakaza iqalwa kusetshenziswa umsebenzi we-vl53lmz_motion_indicator_init(). Ukuze ushintshe ukulungiswa kwenzwa, buyekeza ukulungiswa kwesikhombi sokunyakaza usebenzisa umsebenzi ozinikele: vl53lmz_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 kunkambu ethi 'motion_indicator'. Kule nkambu, amalungu afanayo 'okunyakaza' 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 esukela ezizimele, kanye namathreshold okuthola ahlelwe ekunyakazeni. Lokhu kuvumela ukutholwa kokuhluka kokunyakaza ku-FoV ngokusetshenziswa kwamandla okuncane.

Iphinikhodi yokuvumelanisa yangaphandle (VL53L8CH kuphela)
Umthombo wokucupha wangaphandle ungasetshenziswa ne-VL53L8CH ukuze uvumelanise ukutholwa. Uma ukuvumelanisa kwangaphandle kunikwe amandla, i-VL53L8CH ilinda ukuphazamisa kuphinikhodi ye-SYNC ukuze kuqale ukutholwa okulandelayo. Ukuze usebenzise lesi sici, iphinikhodi ye-SYNC (B1) idinga ukuxhunywa njengoba kuchazwe kudatha yedatha yomkhiqizo.
Azikho izidingo ezithile zokusebenzisa ukuvumelanisa kwangaphandle. Kodwa-ke, i-VL53L8CH esukela imvamisa kufanele ibe phezulu kunemvamisa yesiginali yangaphandle.
Ukuvumelanisa kwangaphandle kungavulwa noma kukhutshazwe ngokusebenzisa umsebenzi vl53lmz_set_external_sync_pin_enable(). Ukulinganisa kungaqala njengokujwayelekile ngokusebenzisa umsebenzi
vl53lmz_start_ranging(). Uma umsebenzisi efuna ukumisa inzwa, kuyanconywa ukuthi uguqule iphinikhodi ye-SYNC ukuze uyeke ukumisa i-firmware ye-VL53L8CH.
Ukugeleza kwesihloko sokusebenzisa iphinikhodi yokuvumelanisa yangaphandle kuboniswe ngezansi.

Ukusebenzisa ama-histograms ajwayelekile

Isingeniso
Lesi sigaba sichaza idatha ye-compact normalized histogram (CNH) engakhishwa izinzwa ze-VL53L7CH ne-VL53L8CH.
Igama lisuselwa kuzici ezilandelayo zedatha:

• Compact: Izinketho ziyatholakala ukuze kuncishiswe inani ledatha uma kuqhathaniswa nedatha ye-histogram "eluhlaza".
• Kujwayelekile: Idatha eluhlaza iyalungiswa ukuze kunxeshezelwe ukuhluka okubangelwa ukulungiswa kozimele kuhlaka.
• I-Histogram Idatha eyisisekelo isesimweni se-histograms erekhoda ukubuya kwesiginali-amandla ngokumelene nobubanzi.

Izinketho zokucushwa ezitholakalayo zedatha ye-CNH zivumela ukuncishiswa kwengqikithi yedatha edluliswa kusukela kudivayisi kuya kumsingathi. Lokhu kunika amandla ukulungiselelwa kokufinyeleleka kozimele kuzinhlelo zokusebenza ezithile.

Ukucushwa kwe-CNH
Ukucushwa kwe-CNH ukuthuthukisa usayizi wedatha kungenzeka ngezindlela ezimbili:

1. Ukuhlanganiswa kwendawo. Lokhu kwenziwa, ngokuzikhethela, ngokufingqa idatha esuka ezindaweni eziningi zezinzwa ezingavuthiwe ukuya enanini elincane, elihlanganisiwe, lezakhiwo zedatha.
2. Ukucushwa kwe-Histogram. Ukunciphisa usayizi wedatha ye-histogram eluhlaza ngokuthi:
   1. Ukuchaza iwindi lemigqomo yentshisekelo.
   2. Ukubopha imigqomo ukuze kukhiqizwe ukulungiswa okuphansi (ngokobubanzi obuqondiwe) i-histogram.

Ukuhlanganiswa kwendawo
Ukuhlanganiswa kwendawo kunikeza indlela yokuhlanganisa nokuhlanganisa idatha kusuka ezindaweni eziningi zedivayisi ibe yinhlanganisela eyodwa ye-CNH. Lokhu kungase kusetshenziselwe ukunciphisa ukulungiswa kwendawo kwedatha ekhiqizwe inzwa. Lokhu kuwusizo ezinhlelweni zokusebenza ezifuna izinga eliphezulu lozimele kodwa ezingamukela idatha yokulungiswa okuphansi.
Ukuhlanganiswa kwendawo edingekayo kuchazwa ngohlelo, olulandwa kunzwa ngaphambi kokuqala ububanzi. Lesi sakhiwo sedatha sibizwa nge-AggregateMap. Iqukethe inani elifanayo lezinto njengezoni idivayisi ezosebenza kuzo, okungaba ngu-16 noma 64. I-AggregateMap ichaza imephu ukusuka ezindaweni ukuya ezilinganisweni ze-CNH, nokufakiwe ngakunye kumephu kuchaza ukuthi iyiphi i-CNH ehlanganisa indawo idatha okufanele ibe kuyo. kuhlangene. Ukufakwa ngakunye kumephu kuqukethe i-ID(inombolo) ehlanganisiwe okuzofakwa kuyo idatha yendawo, noma inombolo '-1' ukukhombisa indawo akufanele ifakwe kunoma iyiphi inhlanganisela. Indawo ngayinye ingenziwa imephu ibe yinhlanganisela eyodwa kuphela, kodwa izilinganiso zingathola idatha evela ezindaweni eziningi.
Ama-ID ahlanganisiwe asetshenziswa kumephu ehlanganisiwe kufanele abe sebangeni eliqhubekayo kusukela ku-0. Isamba senani lezihlanganisi ze-CNH ezikhiqizwayo lichazwa ubuningi bokufakwa kumephu ehlanganisiwe.
Idatha evela ezindaweni eziningi ihlanganiswa ngokufingqa idatha ku-aggregate ye-CNH eshiwo.
Ukuze kube lula ukudalwa kwamamephu ahlanganisiwe "vl53lmz_plugin_cnh module" iqukethe umsebenzi vl53lmz_cnh_create_agg_map().

Amapharamitha yilawa:

• start_x and start_y: Ichaza izixhumanisi zika-X kanye no-Y zezoni yokuqala okufanele zifakwe ekukhishweni kwe-CNH.
• merge_x and merge_y: Ichaza ukuthi zingaki izindawo ezingahluziwe ezizohlanganiswa zibe inhlanganisela eyodwa. Isibonelo i-merge_x =2 kanye ne-merge_y =1 izohlanganisa indawo engu-2×1 yezindawo ezingahluziwe zibe isamba esisodwa.
• amakholomu nemigqa: Ichaza inani lamakholomu nemigqa yedatha ehlanganisiwe.

Amapharamitha emephu ahlanganisiwe achaza imephu esuka ezindaweni ezingavuthiwe zedivayisi, kungaba 4×4, noma 8×8, kuya kuchungechunge lwezindawo ezihlanganisiwe zosayizi cnhCols x cnhRows. Umfanekiso ongezansi uyi-example yokuthi amapharamitha angasetshenziswa kanjani.
Umfanekiso 15. Isbample yokucushwa kwe-CNH

Ukucushwa kwe-Histogram
Izilungiselelo zokucushwa zivumela idatha ye-histogram ukuthi idluliselwe kumsingathi ukuze yenziwe ngendlela efanele. Lezi zilungiselelo zisebenza kuwo wonke ama-histogram ahlanganisiwe. Ayikho inketho yokuwamisa ngokwesisekelo se-aggregate ngayinye.
Amapharamitha amathathu asetshenziselwa ukulungisa ukuthi iyiphi idatha ye-histogram ezobekwa kudatha ye-CNH.

• start_bin: Ichaza umgqomo wokuqala ngaphakathi kwe-histogram yedivayisi eluhlaza okufanele ifakwe kudatha ye-CNH.
• num_bins: Ichaza ukuthi mingaki imigqomo yedatha okufanele iqukethwe ama-histogram e-CNH.
• sub_sample: Ichaza inani lemigqomo ye-histogram eluhlaza okufanele ihlanganiswe (ifingqiwe ndawonye) kumgqomo ngamunye we-histogram we-CNH.

Umuntu wakudalaampukusetshenziswa kwale mingcele kuboniswe ngezansi.

Lezi zilungiselelo ze-histogram ziyimingcele yomsebenzi we-vl53lmz_cnh_init_config().

Idatha yezinga lokukhanya kwe-ambient
Ngokungeziwe ku-histogram, idatha ye-CNH iphinda irekhode izinga lokukhanya kwe-ambient izindawo zezinzwa ezivezwe kulo. Ku-histogram ngayinye ye-CNH kuneleveli yokukhanya ehambisanayo, leli nani linqwabelana ngesikhathi esifanayo ne-histogram kanye nakusethi efanayo yezindawo ezakha i-aggregate ye-CNH.
Ileveli ye-ambient ngakho-ke alikho kumayunithi aphelele, njenge-W/m2, kunalokho lisezibaloni ezithile ezinesilinganiso esifanayo nesisetshenziswa emigqonyeni ye-histogram.

Izingqinamba zosayizi wedatha ye-CNH
Usayizi omkhulu wedatha ye-CNH kumadivayisi we-VL53L7CH kanye ne-VL53L8CH unomkhawulo kumabhayithi angu-6160. Kufanele kuqashelwe ngokucushwa kwe-CNH ukuze kuqinisekiswe ukuthi lo mkhawulo aweqiwa.

• Inani ngalinye lebhini le-histogram lidinga amabhayithi angu-5.
• Ivelu ngayinye yezinga le-ambient idinga amabhayithi angu-5.
• Kukhona i-overhead elungisiwe yamabhayithi angama-28 okufanele futhi afakwe. Ngakho-ke inkumbulo ephelele edingekayo yilena:
  Inani_CNH_Bytes = * 5 + * 5 + 28 Ingqikithi_CNH_Bytes = (imigqa*cols*num_bins) * 5 + (imigqa*amakholomu) * 5 + 28

Ifomethi yenani le-CNH
Amanani edatha emigqomo ye-histogram kanye nedatha yeleveli ye-ambient asebenzisa ifomethi ye-byte-value engu-5 ukusekela ububanzi obuguqukayo obubanzi kakhulu bedatha yenzwa.
Kuvelu ngayinye, amabhayithi angu-4 asetshenziselwa ukugcina inani eliyinombolo esayiniwe futhi ibhayithi eyodwa isetshenziselwa ukugcina inani lokukala.
Inani lokugcina kufanele libalwe njengenani lephoyinti elintantayo ngale ndlela elandelayo:
Inani lephoyinti elintantayo = 32b_signed_integer / (2 ^ 8b_integer)

Idatha ye-CNH
Ngenxa yokuthi usayizi wedatha ye-CNH ungase uhluke kakhulu ngokusekelwe ekucushweni kwe-CNH ekusebenzeni, akuphumelelanga ukusebenzisa usayizi omisiwe wokudluliswa kwedatha njengoba kusetshenziswe kudatha yobubanzi obuqondiwe obusekelwe endaweni. Esikhundleni salokho, umshayeli we-VL53L7CH/VL53L8CH ULD uyathuthukiswa ukuze uvumele usayizi wedatha edlulisiwe ukuthi usethwe ngesikhathi sokuqala.
Bheka ku-example khodi equkethwe ngaphakathi kwe-ULD, file Example_12_cnh_data.c, okwesiboneloample yokuthi lokhu kufanele kwenziwe kanjani.
Idatha ekhiqizwe inzwa ngaphakathi kwebhafa ye-CNH ihlukaniswa ibe ibhulokhi yesihloko kanye namabhulokhi angaphansi kwedatha amane. Usayizi nendawo yamabhulokhi amancane kuyahlukahluka kuye ngokucushwa kwe-CNH ekusebenzeni. Ukuhleleka kwamabhulokhi kungokulandelayo:

1. Ibhulokhi kanhlokweni: 28 bytes of data
2. Idatha ye-Histogram: (imigqa*cols*num_bins) izinombolo ezingu-32b
3. Idatha ye-Histogram: (imigqa*cols*num_bins) 8b izikali
4. Ileveli ye-ambient: (imigqa*amakholomu) izinombolo ezingu-32b
5. Izinga le-ambient: (imigqa* amakholomu) ama-scaler angu-8b
   Ngaphakathi kwe-histogram, idatha yokuvimba ihlelwa nge-ID ehlanganisiwe bese kuba nenombolo yomgqomo.
   Ngaphakathi kwebhulokhi ye-ambient, idatha ihlelwa nge-ID ehlanganisiwe.

Izindawo zokuqala zamabhulokhi ziqondaniswe nemingcele engamabhayithi angu-4, kufakwe amabhayithi e-padding njengoba kudingeka.
Ngaphakathi kwemojuli ye-vl53lmz_plugin_cnh, umsebenzi othi vl53lmz_cnh_get_block_addresses() ubala indawo yokuqala yendawo ngayinye yedatha ehlanganisiwe.

Imiphumela ehlukahlukene

Idatha etholakalayo
Uhlu olubanzi lwedatha yethagethi neyendawo ingase ikhishwe ngesikhathi semisebenzi ehlukahlukene. Ithebula elilandelayo lichaza amapharamitha atholakalayo kumsebenzisi.

Ithebula 3. Okuphumayo okutholakala okuhlukahlukene kusetshenziswa izinzwa

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 wazi ukufaneleka kokulinganisa.
Inombolo yama-SPAD anikwe amandla	256	Lutho	Inombolo yama-SPAD anikwe amandla esilinganisweni samanje. Ithagethi ekhanyayo ekude noma ephansi yenza ama-SPAD amaningi asebenze.
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 ebangeni eliqondiwe elibikiwe.
Ibanga	128 x nb okuqondiwe kuhleliwe	Isigidi	Ibanga eliqondiwe
Isimo sokuhlosiwe	64 x nb okuqondiwe kuhleliwe	Lutho	Ukufaneleka kwezilinganiso. Bheka Isigaba 6.5 Imiphumela incazelo 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 (isignali nge-spad ngayinye, sigma, …) ukufinyelela kudatha kuhlukile uma umsebenzisi ehlele okuqondiwe okungaphezu kokukodwa kwendawo ngayinye (bona Isigaba 4.10 Okuqondiwe Okuningi endaweni ngayinye). Bheka isibample amakhodi ukuze uthole ulwazi olwengeziwe.

Enza ngendlela oyifisayo ukukhetha okukhiphayo
Ngokuzenzakalelayo, konke okuphumayo kwenzwa kunikwe amandla. Uma kudingeka, umsebenzisi angakhubaza okunye okukhiphayo kwenzwa.
Ukukhubaza izilinganiso akutholakali kumshayeli; kumele wenziwe 'kwi-platform.h' file. Umsebenzisi angamemezela amamakhro alandelayo ukuze akhubaze okuphumayo:

Ngenxa yalokho, izinkambu azimenyezelwa esakhiweni semiphumela, futhi idatha ayidluliselwa kumsingathi. Usayizi we-RAM nosayizi we-I2C/SPI wehlisiwe.
Ukuqinisekisa ukuvumelana kwedatha, i-STMicroelectronics incoma ukugcina 'inombolo yethagethi itholiwe' kanye 'nesimo okuqondiwe' kunikwe amandla. Ivumela ukuhlunga izilinganiso kuye ngesimo okuqondiwe kuso (bheka ukutolika Kwemiphumela Yesigaba 6.5).

Ukuthola imiphumela ehlukahlukene
Phakathi neseshini ehlukanisiwe, kunezindlela ezimbili zokwazi ukuthi ingabe idatha esukelayo entsha iyatholakala:

• Imodi yokuvota: Ngokuqhubekayo isebenzisa umsebenzi vl53lmz_check_data_ready(). Ithola inani elisha lokusakaza elibuyiswe inzwa.
• Imodi yokuphazamisa: Ilinde ukuphazamiseka okuphakanyiswe kuphinikhodi ye-INT. Ukuphazamiseka kusulwa ngokuzenzakalelayo ngemva kuka-~100 μs.

Uma idatha entsha isilungile, imiphumela ingafundwa kusetshenziswa umsebenzi vl53lmz_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.

Isebenzisa ifomethi ye-firmware eluhlaza
Ngemva kokudlulisa idatha esukela nge-I2C/SPI, 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 VL53LMZ_USE_RAW_FORMAT

Ukuchazwa kwemiphumela
Idatha ebuyiselwe yizinzwa ingahlungwa ukuze kubhekwe isimo okuhlosiwe. Isimo sibonisa ukufaneleka kokulinganisa. Uhlu oluphelele lwezimo luchazwe kuleli thebula elilandelayo.

Ithebula 4. Uhlu lwesimo okuhloswe ngaso

Ithagethi isimo	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 (imvamisa ibanga lokuqala)
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 yokuhlosiwe etholiwe inikwe amandla)

Ukuze ube nedatha engaguquki, umsebenzisi udinga ukuhlunga isimo sethagethi esingavumelekile. Ukuze unikeze isilinganiso sokuzethemba, okuqondiwe okunesimo 5 kuthathwa njengokuvumelekile okungu-100%. Isimo sokungu-6 noma 9 singacatshangwa ngevelu yokuqiniseka engu-50%. Zonke ezinye izimo zingaphansi kwezinga lokuzethemba elingu-50%.

Amaphutha omshayeli
Uma kwenzeka iphutha kusetshenziswa inzwa, umshayeli ubuyisela iphutha elithile. Ithebula elilandelayo libala amaphutha okungenzeka.

Ithebula 5. Uhlu lwamaphutha atholakalayo kusetshenziswa umshayeli

Ithagethi isimo	Incazelo
0	Alikho iphutha
1	Isikhathi sokuvala sifinyelelwe, inzwa ithathe isikhathi esiningi ukuphendula
2	Uhlaka olonakele (kwenzeka kuphela phakathi nesikhathi)
3	Imojuli yonakalisiwe futhi ukuphepha kwe-laser kusengozini. Inzwa ayikwazi ukuqala.
4	Ayikho imojuli eyaziwayo etholiwe
66	I-firmware yangaphakathi ayikwazi ukunikeza impendulo efanele
127	Umsebenzisi uhlele isilungiselelo esingalungile (ukulungiswa okungaziwa, imvamisa esukela phezulu kakhulu, ...)
255	Iphutha elikhulu. Ngokuvamile iphutha lokuphela kwesikhathi, ngenxa yephutha le-I2C/SPI.
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
16-Juni-2023	1	Ukukhishwa kokuqala

ISAZISO ESIBALULEKILE – FUNDA NGOKUQAPHELA
I-STMicroelectronics NV nezinkampani ezingaphansi kwayo (“ST”) igodla ilungelo lokwenza izinguquko, ukulungisa, izithuthukisi, ukuguqulwa, nokuthuthukiswa kwemikhiqizo ye-ST kanye/noma kulo mbhalo nganoma yisiphi isikhathi ngaphandle kwesaziso. Abathengi kufanele bathole ulwazi lwakamuva olufanele ngemikhiqizo ye-ST ngaphambi kokufaka ama-oda. Imikhiqizo ye-ST ithengiswa ngokulandela imigomo nemibandela ye-ST yokuthengisa ekhona ngesikhathi sokuvunywa kwe-oda.
Abathengi banomthwalo wemfanelo kuphela ekukhetheni, ekukhethweni, nasekusetshenzisweni kwemikhiqizo ye-ST futhi i-ST ayithathi sikweletu sosizo lwesicelo noma idizayini yemikhiqizo yabathengi.
Ayikho ilayisensi, eshiwo noma eshiwoyo, kunoma yiliphi ilungelo lempahla yengqondo elinikezwa i-ST lapha.
Ukudayiswa kabusha kwemikhiqizo ye-ST nezinhlinzeko ezihlukile kulwazi olubekwe lapha kuzovala noma yisiphi isiqinisekiso esinikezwe i-ST salowo mkhiqizo.
Ilogo ye-ST kanye ne-ST yizimpawu zokuthengisa ze-ST. Ukuze uthole ulwazi olwengeziwe mayelana nezimpawu zokuthengisa ze-ST, bheka ku www.st.com/trademarks. Wonke amanye amagama omkhiqizo noma wesevisi ayimpahla yabanikazi abafanele.
Ulwazi olukule dokhumenti luthatha indawo futhi luthatha indawo yolwazi olwalunikezwe ngaphambilini kunoma yiziphi izinguqulo zangaphambili zalo mbhalo.
© 2023 STMicroelectronics – Wonke amalungelo agodliwe

Amadokhumenti / Izinsiza

I-ST UM3183 Artificial Intelligence Enabler [pdf] Imaniwali yosebenzisayo UM3183 Artificial Intelligence Enabler, UM3183, Artificial Intelligence Enabler, Intelligence Enabler, Enabler

Izithenjwa

• Imaniwali yosebenzisayo