I-ST VL53L3CX Isikhathi se-Flight Ranging Sensor Manual
Isingeniso
I-VL53L3CX iyimojula yenzwa ye-Time-of-Flight (ToF) esukela.
Injongo yale manuwali yomsebenzisi ukuchaza imodeli yokuhlanganisa kanye nesethi yemisebenzi okufanele uyishayele ukuze uthole idatha ehlukahlukene usebenzisa umshayeli ongenalutho we-VL53L3CX.
Uhlelo lwe-VL53L3CX luphelileview
Uhlelo lwe-VL53L3CX lwakhiwe imojuli ye-VL53L3CX kanye nomshayeli ogijima kumsingathi.
Lo mbhalo uchaza imisebenzi yomshayeli efinyeleleka kuMsingathi, ukuze alawule idivayisi futhi athole idatha ehlukahlukene ukuze ihlanganiswe nabasingathi abangewona abe-linux.
Umfanekiso 1. VL53L3CX uhlelo
Qaphela:
Idokhumenti yamanje ichaza imisebenzi esetshenzisiwe futhi eqinisekisiwe. Noma yimuphi omunye umsebenzi otholakala kubashayeli akufanele usetshenziswe uma ungachazwanga kulo mbhalo.
Umshayeli ongenalutho wukuqaliswa kwesethi yemisebenzi edingekayo ukuze usebenzise idivayisi ye-VL53L3CX. Kwenza ukucabanga okuncane ekuhlanganisweni kwe-OS nezinsizakalo. Kanjalo, ukulandelana kwezenzo, imodeli yokwenza/uchungechunge, ukulungiswa kweplathifomu, nokwabiwa kwezakhiwo zedivayisi akuyona ingxenye yokusetshenziswa komshayeli ongenalutho kodwa kushiywe kuvuliwe kusihlanganisi.
Ukulandelana kwezingcingo ezingenalutho zomshayeli kufanele kulandele isethi yemithetho, echazwe kulo mbhalo.
Incazelo yokusebenza eqhubekayo
Lesi sigaba sichaza kafushane amandla okusebenza edivayisi ehlukahlukene ye-VL53L3CX.
Ukulandelana okuhlukahlukene
Idivayisi isebenza ngendlela yokuxhawula, ngokusekelwe kusikimu sokulawula ukuphazamiseka okujwayelekile.
Ngemuva kokulinganisa ngakunye, umsingathi uthola idatha ehlukahlukene futhi anike amandla ukulinganisa okulandelayo ngokususa ukuphazamisa. Le nqubo ibizwa ngokuthi indlela yokuxhawula. Ibanga elilandelayo libe seliqaliswa uma elamanje seliqediwe futhi uma umsingathi esule ukuphazamisa okulindile kwangaphambilini.
Indlela yokuphazamisa ivumela ukudluliswa kwedatha okusheshayo, ngaphandle kokulahlekelwa yinoma yiliphi inani elisukela ngenxa yokuxhumana noma izinkinga ze-asynchronism. Phakathi nesigaba sokuxhawula, umsingathi wenza ukucutshungulwa kwedatha. Ukulandelana okuhlukahlukene kuchazwe ngokusebenza emfanekisweni ongezansi.
Ukulandelana kokuxhawula kuvumela ukubalwa kwemingcele yangaphakathi futhi kuyisebenzise kububanzi obulandelayo.
Ukuxhawula kufanele kwenziwe ngumsebenzisi womshayeli ongenalutho. Ukubambezeleka kokunika amandla ukuhluka okusha ngemva kokutholwa kwesilinganiso esisha kuyisihluthulelo sezinga lokulinganisa lonke lesistimu.
Ukucatshangelwa kwesikhathi
Izikhathi ziyavezwa kuMdwebo 3. Okuphokophelwe kokulandelana kwesikhathi kanye nesikhathi.
Umsingathi angathola okwakamuva okutholakala kusukela phakathi nobude besikhathi (isabelomali sesikhathi esilinganiselwe) sebanga lamanje.
Uma ukubambezeleka kokususa ukuphazamisa kwethulwa umsingathi, ububanzi obulandelayo buzomiswa kuze kube yilapho ukuphazamisa okulindile kusuliwe.
Qaphela: Izikhathi ezibonisiwe kuMdwebo 3. Ukulandelana okuhlukahlukene kanye nezinhloso zesikhathi yizikhathi ezijwayelekile. Umsingathi angashintsha isabelomali sesikhathi esimisiwe ngokusebenzisa umsebenzi womshayeli ozinikele ochazwe kuSigaba 5.1 sesabelomali sesikhathi. Umsingathi anganquma ukushintsha isabelomali sesikhathi ukuze avumelanise kuhlelo lokusebenza noma akhuphule ukunemba okuhlukahlukene.
Emfanekisweni olandelayo, "I-Boot", "i-SW standby" kanye ne-"Init" ithatha ama-40 ms. Lesi sikhathi siyadingeka ukuze kwenziwe ukuqaliswa okulungile kwedivayisi, futhi izimele kungxenyekazi noma isabelomali sesikhathi esisetshenzisiwe. Ibanga lokuqala, “Ububanzi1”, alivumelekile, ngoba akunakwenzeka ukuhlola ukugoqa. Lokhu kusho ukuthi inani lokuqala elivumelekile lebanga elithi “Range2”, elitholakala ngemva kuka-40 ms futhi kabili ubude besikhathi sesabelomali sesikhathi.
Umfanekiso 3. Okuhloswe ngokulandelana kwesikhathi kanye nesikhathi
Incazelo yemisebenzi eyisisekelo yomshayeli engenalutho
Lesi sigaba sichaza ukugeleza kwezingcingo zemisebenzi yomshayeli okufanele kulandelwe ukwenza ukulinganisa okuhlukahlukene
Idatha ye-VL53L3CX
Umshayeli we-VL53L3CX asetshenziswa ezigabeni ezimbili zezicelo:
- Izinhlelo zokusebenza zasefekthri ezisetshenziselwa ukulinganisa idivayisi, ngokuvamile ekupheleni kokuhlolwa kokukhiqiza umkhiqizo (ukugeleza kwefekthri)
- Izinhlelo zokusebenza zensimu, eziqoqa zonke izinhlelo zokusebenza zabasebenzisi kusetshenziswa idivayisi ye-VL53L3CX (ukugeleza okuhlukahlukene)
Umshayeli ongenalutho
Ukugeleza kwefekthri yomshayeli ongenalutho kuboniswe emfanekisweni olandelayo.
Umfanekiso 4. VL53L3CX API range flow (ifekthri)
Qaphela: Ukugeleza kokulinganisa kushintsha imodi yebanga. Kuyisibopho ukubiza umsebenzi we-SetDistanceMode() uma ufuna ukusebenzisa inzwa ngemva nje kokulinganisa.
Ukugeleza kwebanga lomshayeli ongenalutho kuboniswa esithombeni esilandelayo.
Umfanekiso 5. VL53L3CX API range flow (field)
Ukuqaliswa kwesistimu
Isigaba esilandelayo sibonisa izingcingo zemisebenzi ye-API ezidingekayo ukuze kwenziwe ukuqaliswa kwesistimu, ngaphambi kokuqala ukulinganisa.
Linda ibhuthi
Umsebenzi we-VL53LX_WaitDeviceBooted() uqinisekisa ukuthi idivayisi iqalisiwe futhi isilungile. Akuphoqelekile ukubiza lo msebenzi.
Qaphela: Lo msebenzi uvimba ukwenziwa komsingathi. Lo msebenzi akufanele uvimbe ngaphezu kuka-4 ms, kucatshangwa ukuthi:
- 400 kHz I2C imvamisa
- Ukubambezeleka okungu-2 ms ngomsebenzi ngamunye
Idatha init
Umsebenzi we-VL53LX_DataInit() kufanele ubizwe njalo lapho idivayisi iphuma kusimo "sokuqala sokuqalisa". Yenza ukuqaliswa kwedivayisi. Ngemva kokubiza umsebenzi we-VL53LX_DataInit() idatha yokulinganisa kufanele ilayishwe kusetshenziswa umsebenzi VL53LX_SetCalibrationData().
Intengo ye-VL53L3CX
Kumahosti angewona we-Linux, umsebenzisi wochungechunge lomshayeli ongenalutho ubiza umshayeli ngendlela ehambisana nezidingo zohlelo lokusebenza, amakhono eplathifomu kanye nemithetho yokulandelana kwezingcingo zomshayeli ongenalutho.
Qala isilinganiso
Umsebenzi we-VL53LX_StartMeasurement() kufanele ubizwe ukuze kuqalwe ukulinganisa.
Linda umphumela: ukuvota noma ukuphazamisa
Kunezindlela ezi-3 zokwazi ukuthi isilinganiso siyatholakala. Umsingathi angakwazi:
- shayela umsebenzi wokuvota
- inhlolovo ngomsebenzi womshayeli
- linda ukuphazamiseka ngokomzimba
Ukuvota komshayeli ukuze uthole isimo somphumela
Umsebenzi VL53LX_WaitMeasurementDataReady() uvotela isimo sangaphakathi kuze kube yilapho isilinganiso sesilungile.
Qaphela: Lo msebenzi uyavimba, njengoba kwenziwa ukuvota kwangaphakathi.
Isikhungo sokuvota ukuze uthole isimo somphumela
Umsingathi angakwazi ukwenza inhlolovo ngomsebenzi othi VL53LX_GetMeasurementDataReady() ukuze azi uma isilinganiso esisha sesilungile. Lo msebenzi awuvimbeli.
Ukusebenzisa ukuphazamiseka ngokomzimba
Enye indlela nekhethwayo yokuthola isimo esisukelayo ukusebenzisa okukhiphayo kokuphazamiseka ngokomzimba. Ngokuzenzakalelayo, i-GPIO1 iya phansi uma isilinganiso esisha sesilungile.
Le phinikhodi iyiphinikhodi yokukhipha kuphela, ayikho iphinikhodi yokuphazamisa okokufaka kule divayisi. Ukuphazamisa kufanele kusulwe ngokubiza umsebenzi womshayeli ngokuthi VL53LX_ClearInterruptAndStartMeasurement().
Thola ukukala
Izinto eziningi zingatholwa ngebanga ngalinye, futhi idatha yokulinganisa iyabikwa ngento ngayinye VL53LX_GetMultiRangingData() ingasetshenziselwa ukuthola idatha esukela lapho izinto eziningi zisendaweni ye- view. Uma ushayela lo msebenzi ukuze uthole imiphumela ehlukahlukene yedivayisi, isakhiwo esibizwa nge-VL53LX_MultiRangingData_t siyabuyiswa.
Misa ukulinganisa
Kumodi eqhubekayo, umsingathi angamisa ukulinganisa ngokushayela umsebenzi we-VL53LX_StopMeasurement(). Uma isicelo sokumisa senzeka phakathi nesilinganiso sobubanzi, isilinganiso siyayekiswa ngokushesha.
Ububanzi bezakhiwo zedatha
Isakhiwo esiqanjwe nge-VL53LX_MultiRangingData_t siqukethe idatha elandelayo esebenza kukho konke okuhlosiwe okutholiwe:
- Isikhathi iStamp: akusetshenziswanga.
- Isibalo Sokusakaza: le nombolo yamabhithi angu-8 inikeza ikhawunta engeziwe ebangeni ngalinye. Inani liqala ku-0, likhuphuka ngo-1 ngo-1 lifinyelele ku-255. Uma lifinyelela ku-255, liqala futhi lisuka ku-128 liye ku-255.
- Inombolo Yezinto Ezitholiwe: Inani lenombolo engu-8-bit elinikeza inani lezinto ezitholiwe.
- Idatha yobubanzi [VL53LX_MAX_RANGE_RESULTS]: ithebula lesakhiwo sohlobo lwe-VL53LX_TargetRangeData_t. Inombolo enkulu yokuhlosiwe inikezwa i-VL53LX_MAX_RANGE_RESULTS, futhi ngokuzenzakalelayo ilingana no-4.
- Ingabe I-X Talk Value Ishintshile: Inani lenombolo engu-8-bit elibonisa ukuthi inani le-crosstalk lishintshiwe.
- Isibalo se-Spad Rtn esisebenzayo: Inombolo engu-16-bit ebuyisela isibalo esisebenzayo se-photon avalanche diode eyodwa (SPAD) esibalweni samanje. Ukuze uthole inani langempela kufanele ihlukaniswe ngama-256.
Kutholwe isakhiwo esisodwa ngethagethi ngayinye (kufika koku-4 ngokuzenzakalela) esibizwa nge-VL53LX_TargetRangeData_t equkethe imiphumela ethile elandelayo yethagethi ngayinye etholiwe.
- IbangaMaxMilliMeter: iyinani lamabhithi angu-16, okubonisa ibanga elikhulu elitholiwe.
- IbangaMinMilliMeter: iyi-16-bit integer, ekhombisa ibanga elincane elitholiwe.
- I-SignalRateRtnMegaCps: leli nani izinga lesignali yokubuyisela ku-MegaCountPer Second (MCPS), leli inani lephoyinti lokulungisa elingu-16.16. Ukuze uthole inani langempela kufanele ihlukaniswe ngo-65536.
- I-AmbientRateRtnMegaCps: leli nani liyisilinganiso se-ambient yokubuyisela (ku-MCPS), leli inani lephoyinti lokulungisa elingu-16.16, okuyisilinganiso ngempumelelo senani lokukhanya kwe-ambient elilinganiswa inzwa. Ukuze uthole inani langempela kufanele ihlukaniswe ngo-65536.
- I-SigmaMilliMeter: leli nani lephoyinti lokulungisa elingu-16.16 liwukulinganisa kokuchezuka okujwayelekile kwebanga lamanje, elivezwe ngemilimitha. Ukuze uthole inani langempela kufanele ihlukaniswe ngo-65536.
- I-RangeMilliMeter: iyinani elingu-16-bit elibonisa ibanga lebanga ngamamilimitha.
- UbubanziIsimo: lena inamba engu-8-bit ebonisa isimo sobubanzi besilinganiso samanje. Inani = 0 lisho ukuthi ububanzi buvumelekile. Bheka Ithebula 1. Isimo sobubanzi.
- Ububanzi Obunwetshiwe: lena inamba engu-8-bit ekhombisa ukuthi ububanzi buvuliwe (kumabanga amade kuphela)
Ukuziphatha okuthile kusetshenziswa lapho okuhlosiwe kungatholwa. Uma ithagethi ingatholwa, futhi ukulinganisa kuvumelekile, amanani alandelayo abikwa kusakhiwo se-VL53LX_TargetRangeData_t:
- I-RangeMaxMilliMeter: iphoqelelwe ku-8191.
- I-RangeMinMilliMeter: iphoqelelwe ku-8191.
- I-SignalRateRtnMegaCps: iphoqelelwe ku-0.
- I-AmbientRateRtnMegaCps: inani lesilinganiso se-ambient ngokuvamile libalwa ngekhompyutha.
- I-SigmaMilliMeter: iphoqelelwe ku-0.
- I-RangeMilliMeter: iphoqelelwe ku-8191.
- Ububanzi besimo: buphoqelelwe ku-255.
- Ububanzi Obongeziwe: kuphoqelelwe ku-0.
Ithebula 1. Isimo sobubanzi
| Inani | I-RangeStatus String | Phawula |
| 0 | VL53LX_RANGESTATUS_RANGE_VALID | Isilinganiso sobude sivumelekile |
| 1 | VL53LX_RANGESTATUS_SIGMA_FAIL | Iphakanyiswe uma ukuhlola kwesilinganiseli se-sigma kungaphezu komkhawulo ochaziwe wangaphakathi. Isilinganiso se-Sigma sinikeza ulwazi lwekhwalithi mayelana nesiginali. |
| 2 | VL53LX_RANGESTATUS_SIGNAL_FAIL | Iphakanyiswe lapho isignali iphansi kakhulu ukuthola okuqondiwe. |
| 4 | VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL | Iphakanyiswe lapho umphumela wobubanzi bungaphandle kwemingcele |
| 5 | VL53LX_RANGESTATUS_HARDWARE_FAIL | Iphakanyiswe esimweni sokwehluleka kwe-HW noma kwe-VCSEL |
| 6 | VL53LX_RANGESTATUS_RANGE_VALID_NO_WR AP_CHECK_FAIL | Akukho ukuhlola okugoqiwe okwenziwe (lolu uhla lokuqala ngqa) |
| 7 | VL53LX_RANGESTATUS_WRAP_TARGET_FAIL | I-Wraparound yenzeke |
| 8 | VL53LX_RANGESTATUS_PROCESSING_FAIL | Iphutha lokucubungula langaphakathi |
| 10 | VL53LX_RANGESTATUS_SYNCRONISATION_INT | Ikhuliswe kanye ngemva kwe-init, inani eliphakathi kufanele lizitshwe |
| 11 | VL53LX_RANGESTATUS_RANGE_VALID_MERGE D_PULSE | Ububanzi BULUNGILE, kodwa ibanga elibikiwe liwumphumela wokuhlosiwe okuningi okuhlanganisiwe. |
| 12 | VL53LX_RANGESTATUS_TARGET_PRESENT_LA CK_OF_SIGNAL | Khomba ukuthi kukhona okuqondiwe, kodwa isignali iphansi kakhulu ukubika ububanzi |
| 14 | VL53LX_RANGESTATUS_RANGE_INVALID | Ububanzi bedatha abulungile futhi kufanele buzitshwe |
| 255 | VL53LX_RANGESTATUS_NONE | Okuqondiwe akutholwanga, ngaphandle kwesixwayiso noma iphutha eliphakanyisiwe |
Isilinganiso sokuqala ngqa asibandakanyi ukuhlola okuphelele. Lesi silinganiso esiphakathi singalahlwa.
Qaphela: Isimo sobubanzi 1 sivame ukubangelwa izilinganiso ezinomsindo. Isilinganiso se-Sigma sithintwa i-SNR yamasiginali alashiwe.
Qaphela: Isimo sobubanzi 4 siyaphakanyiswa uma kwenzeka iphutha elithile kusithenjwa sokulinganisa. Lokhu kungabangela ama-outliers njengezilinganiso ezingezinhle noma amanani aphezulu kakhulu.
Incazelo eyengeziwe yemisebenzi yomshayeli
Isabelomali sesikhathi
Isabelomali sesikhathi yisikhathi esinikezwe umsebenzisi ukwenza isilinganiso esisodwa sobubanzi. I-VL53LX_SetMeasurementTimingBudgetMicroSeconds() umsebenzi ozosetshenziswa ukusetha isabelomali sesikhathi. Inani lebhajethi yesikhathi esimisiwe ngu-33 ms. Ubuncane bungu-8 ms, ubuningi bungama-500 ms.
Okwesiboneloample, ukuze usethe isabelomali sesikhathi sibe ngu-66 ms: isimo = VL53LX_SetMeasurementTimingBudgetMicroSeconds(&VL53L3Dev, 66000 );
Umsebenzi VL53LX_GetMeasurementTimingBudgetMicroSeconds() ubuyisela isabelomali sesikhathi esihleliwe.
Imodi yebanga
Umsebenzi wengeziwe wokuthuthukisa izilungiselelo zangaphakathi kuye ngebanga elisukela elicelwe umsebenzisi. Inzuzo yokushintsha imodi yebanga inemininingwane kuthebula elilandelayo.
Ithebula 2. Izindlela zebanga
| Imodi yebanga engenzeka | Inzuzo / amazwana |
| Kufushane | Ukuzivikela okungcono kwe-ambient |
| Okumaphakathi (Okuzenzakalelayo) | Ibanga eliphezulu |
| Yinde | Ukusetshenziswa kwamandla okuphansi |
Umsebenzi ozosetshenziswa ubizwa nge-VL53LX_SetDistanceMode().
Umshayeli angasiza umsingathi ukuthi akhethe imodi yebanga elungile. Inani elithile libuyiselwa ebangeni ngalinye ukuze kuboniswe ukukhetha okungcono kakhulu, kuye ngezimo ze-ambient.
Amanani angenzeka yilawa:
- I-VL53LX_DISTANCE_SHORT
- I-VL53LX_DISTANCE_MEDIUM
- I-VL53LX_DISTANCE_LONG
Amapharamitha wokushuna
Amapharamitha wokushuna avumela ukuthola ukulingana okuhle phakathi kwenzwa nekesi lokusebenzisa lomsingathi. Esimweni ngasinye sokusetshenziswa, isethi yemingcele yokulungisa ingachazwa futhi ilayishwe kumshayeli.
Iningi lamapharamitha wokushuna ama-threshold aguqulekayo, asetshenziswa ku-algorithm yokwelashwa kwesignali. Ukushintsha lezi zinhlaka kuvumela i-algorithm ukuthi yenze ukuhweba okusebenzayo esimweni esithile sokusebenzisa ikhasimende.
Setha ipharamitha yokushuna
Kukhona umsebenzi owengeziwe wokulayisha amapharamitha wokushuna. Ezimweni ezithile zokusetshenziswa, i-ST ingancoma amapharamitha athile akhiwe ukhiye kanye nenani.
Uhlu lwamapharamitha wokushuna kanye namanani awo azenzakalelayo anikezwe kokuthi vl53lx_tuning_parm_defaults.h file. Noma shintsha inani lepharamitha yokushuna kulokhu file bese uhlanganisa kabusha ikhodi, noma usebenzise umsebenzi we-VL53LX_SetTuningParameter() ukuze ulayishe le pharamitha yokushuna.
Ukushintsha ipharamitha yokushuna kungashintsha ukusebenza kwedivayisi. I-ST incoma ukusebenzisa amanani azenzakalelayo ukuze uthole imiphumela emihle.
Thuthukisa ukunemba
Ukuze uthuthukise ukunemba kwedivayisi, sebenzisa ipharamitha yokushuna ebizwa ngokuthi VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER. Ngokuzenzakalelayo le pharamitha yokushuna ayisetshenziswa (inani limiswe ukuze lithi 0).
I-ST incoma ukusetha amanani okulinganisa nokugeleza okusukela kokungu-2 ngemva kwe-static_init. Kulokhu, isikhathi sokwenza isilinganiso sesiginali yereferensi siyanda futhi sivumela ukunemba okungcono. Ukusetha le pharamitha ibe ngu-2 kwandisa ubude besikhathi ukuze uthole isilinganiso sokuqala ngo-240 ms.
Thuthukisa ukubambezeleka kanye nebanga eliphezulu elisukela
Uma okuqondiwe kuhamba, i-VL53L3CX ingase idinge ububanzi obuningana ukuze isabele, kuye ngendawo yesehlakalo. Indlela yokuthuthukisa ukubambezeleka ukushuna ipharamitha ye-VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD. Inani elizenzakalelayo lingu-15000. Lingehliswa ukuze kuthuthukiswe ukubambezeleka, kodwa ibanga eliphakeme elisukela lizothinteka.
Uma umsebenzisi enyusa inani, ibanga eliphakeme elisukela lingathuthukiswa, kodwa ukubambezeleka kuyathinteka.
Ukumboza ukutholwa kwe-smudge yengilazi
I-crosstalk ingathinteka yi-smudge engilazini yekhava. I-VL53L3CX ishumeka umsebenzi okwazi ukubona i-smudge endizeni futhi isebenzise inani elisha lokulungiswa kwe-crosstalk. Umsebenzisi angakwazi ukunika amandla/ukucisha lo msebenzi ngokushayela i-VL53LX_SmudgeCorrectionEnable().
Izinketho ezintathu ezilandelayo zingasethwa ngalo msebenzi:
- VL53LX_SMUDGE_CORRECTION_NONE ukuze ukhubaze ukulungisa
- VL53LX_SMUDGE_CORRECTION_CONTINUOUS ukunika amandla ukulungiswa okuqhubekayo
- VL53LX_SMUDGE_CORRECTION_SINGLE ukuze unike amandla ukulungisa okukodwa ngemva kokuba umyalo wokuqala wamukelwe.
Ukutholwa kwe-smudge kuyasebenza ebangeni ngalinye. Uma izimo ezithile zihlangatshezwana nazo (ayikho into engaphansi kuka-80 cm, ileveli yokukhanya kwe-ambient ngezansi komkhawulo, kanye nevelu ye-crosstalk engaphezu kuka-1kcps), inani elisha le-crosstalk liyabalwa.
Uma ukulungiswa kwe-smudge kusethiwe, inani le-crosstalk liyalungiswa futhi ifulegi elithi HasXtalkValueChanged liyasethwa. Leli fulegi lisulwa ngokuzenzakalelayo ebangeni elilandelayo.
Qaphela: Ukulungiswa kwe-smudge kukhawulelwe ku:
- 1.2 m usebenzisa imodi yebanga elifushane
- 1.7 m usebenzisa imodi yebanga eliphakathi
- 3.8 m usebenzisa imodi yebanga elide.
Ikheli le-I2C
Ikheli le-I2C elizenzakalelayo le-VL53L3CX lithi 0x52. Ezinye izinhlelo zokusebenza zidinga ukusetha ikheli elihlukile ledivayisi ye-I2C. Kunjalo, ngokwesiboneloample, lapho izingxenye ezimbalwa ze-VL53L3CX zabelana ngebhasi elifanayo le-I2C.
Ikhasimende kufanele lisebenzise le nqubo elandelayo:
- Ibhodi efaka i-VL53L3CX kufanele yakhelwe ngokucophelela. Izikhonkwane ze-Xshut ne-GPIO1 (zokuphazamisa) kufanele zilawulwe ngazodwana ku-VL53L3CX ngayinye.
- Umsingathi kufanele afake i-HW Standby, ebeka iphinikhodi ye-Xshut phansi, yonke i-VL53L3CX.
- Umsingathi uphakamisa iphinikhodi ye-Xshut ye-1 ye-VL53L3CX
- Umsingathi ubiza umsebenzi ngokuthi VL53LX_SetDeviceAddress()
- Umsingathi uphinda amaphuzu amathathu okugcina njengoba wonke amakheli e-VL53L3CX asethwe kahle.
Okwesiboneloample, ngokubiza umsebenzi: status = VL53LX_SetDeviceAddress(&VL53L3Dev, WantedAddress) inani le-WantedAddress lisethwe njengekheli elisha le-I2C.
Imisebenzi yokulinganisa yefekthri yekhasimende
Ukuze uzuze ekusebenzeni okugcwele kwedivayisi, umshayeli we-VL53L3CX uhlanganisa imisebenzi yokulinganisa ezoqhutshwa kanye kulayini wokukhiqiza wamakhasimende.
Izinqubo zokulinganisa kufanele ziqaliswe ukuze kunxeshezelwe amapharamitha wengxenye nengxenye angase athinte ukusebenza kwedivayisi. Idatha yokulinganisa egcinwe kumsingathi kufanele ilayishwe ku-VL53L3CX ekuqaliseni ngakunye kusetshenziswa umsebenzi womshayeli ozinikele. Kudingeka izilinganiso ezintathu: i-refSPAD, i-crosstalk ne-offset.
I-oda lemisebenzi yokulinganisa ibizwa kanjena:
- refSPAD
- i-crosstalk
- offset
Imisebenzi emithathu yokulinganisa ingenziwa ngemodi yokulandelana noma ngayodwana. Uma isetshenziswa ngazinye, idatha yesinyathelo sangaphambilini kufanele ilayishwe ngaphambi kokuqalisa ukulinganisa.
Ukulinganisa kwe-RefSPAD
Inombolo ye-single photon avalanche diode (SPAD) iyalinganiswa ngesikhathi sokuhlolwa kwemojuli yokugcina e-ST. Leli nani lengxenye nengxenye ligcinwa ku-NVM futhi lilayishwa ngokuzenzakalelayo kudivayisi ngesikhathi sokuqalisa.
Lokhu kulinganisa kuvumela ukulungisa inani lama-SPAD ukuze kuthuthukiswe idivayisi eguquguqukayo.
Nokho, ukwengeza ingilazi yekhava phezu kwemojuli kungase kuthinte lokhu kulinganisa. I-ST incoma ukuthi ikhasimende liphinde lenze lokhu kulinganisa ohlelweni lokusebenza lokugcina lomkhiqizo. I-algorithm efanayo esebenza ku-FMT isetshenziswa uma lo msebenzi ubizwa: i-algorithm isesha ezindaweni ezintathu: 1 (1x attenuated SPADs), 2 (5 x attenuated SPADs) kanye 3 (10 x attenuated SPADs). Inani lama-SPAD akhethiwe lenziwa ukugwema ukugcwaliswa kwesignali.
Umsebenzi wokulinganisa we-RefSPAD
Umsebenzi olandelayo uyatholakala ekulinganisweni kwe-SPAD: VL53LX_PerformRefSpadManagement(VL53LX_DEV Dev)
Qaphela: Lo msebenzi kufanele ubizwe kuqala enqubweni yokulinganisa.
Umsebenzi ungakhipha imilayezo emithathu yesixwayiso elandelayo :
- VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPA S Ngaphansi kokungu-5 I-SPAD enhle etholakalayo, okukhiphayo akuvumelekile
- VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH Ekupheleni kwereferensi yokusesha izinga > 40.0 Mcps Offset ukuzinza kungase kwehliswe.
- VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW Ekupheleni kwereferensi yokusesha izinga elingu-< 10.0 Mcps. Ukuzinza kwe-offset kungase kwehliswe.
Inqubo yokulinganisa ye-RefSPAD
Azikho izimo ezithile okufanele zilandelwe kulokhu kulinganisa, ngaphandle kokuthi akukho ithagethi okufanele ibekwe phezu kocingo.
Isikhathi sokwenza lokhu kulinganisa ama-millisecond ambalwa kuphela.
Lo msebenzi kufanele ubizwe ngemuva kokuthi VL53LX_DataInit() umsebenzi ubizwa.
Ithola imiphumela yokulinganisa ye-refSPAD
Umsebenzi VL53LX_GetCalibrationData() ubuyisela yonke idatha yokulinganisa. Isakhiwo esibuyisiwe i-VL53LX_CalibrationData_t iqukethe esinye isakhiwo esibizwa nge-VL53LX_customer_nvm_managed_t, esiqukethe amapharamitha wokulinganisa ayisishiyagalombili we-refSPAD:
- ref_spad_man__num_requested_ref_spads: leli nani liphakathi kuka-5 no-44. Linikeza inani lama-SPAD akhethiwe
- ref_spad_man__ref_location: leli nani lingaba ngu-1, 2 noma 3. Linikeza indawo yama-SPAD endaweni yereferensi.
- amapharamitha angeziwe ayisithupha anikeza amamephu e-spad alungile wendawo ekhethiwe:
- 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
Ukusetha idatha yokulinganisa ye-refSPAD
Ekuqaliseni ngakunye, ngemva kokuqalisa kokuqala, uhlelo lokusebenza lwenkambu yekhasimende lungalayisha idatha yokulinganisa ye-refSPAD ngemva kokuthi umsebenzi we-VL53LX_DataInit() ubizwa, kusetshenziswa i-VL53LX_SetCalibrationData().
Kuyanconywa ukuthi uthole sonke isakhiwo sokulinganiswa ngokubiza i-VL53LX_GetCalibrationData(). Shintsha amapharamitha ayisishiyagalombili achazwe eSigabeni 6.1.3 Ukuthola imiphumela yokulinganiswa kwe-refSPAD bese ushayela i-VL53LX_SetCalibrationData().
Ukulinganisa kwe-Crosstalk
I-Crosstalk (XTalk) ichazwa njengenani lesiginali elitholwe ohlwini lokubuya elibangelwa ukukhanya okukhanyayo kwe-VCSEL ngaphakathi kwefasitela elivikelayo (ingilazi yekhava) engezwe phezu kwemojuli ngezizathu zobuhle.
Ngokuya ngekhwalithi yengilazi yekhava, lesi siginali ye-parasite ingathinta ukusebenza kwedivayisi. I-VL53L3CX inesilungiso esakhelwe ngaphakathi esinxephezela le nkinga.
Ukulinganisa kwe-Crosstalk kusetshenziselwa ukulinganisa inani lokulungiswa okudingekayo ukuze kunxeshezelwe umphumela wengilazi yekhava engezwe phezu kwemojuli.
Okukhiphayo kokulinganiswa kwe-crosstalk kuqukethe amapharamitha amaningi achaza imodeli ye-crosstalk, njengoba kuchazwe eSigabeni 6.2.3 Ukuthola imiphumela yokulinganisa i-crosstalk.
Umsebenzi wokulinganisa we-Crosstalk
Umsebenzi olandelayo ozinikele uyatholakala ekulinganisweni kwe-crosstalk: VL53LX_PerformXTalkCalibration(&VL53L3Dev);
Qaphela: Lo msebenzi kufanele ubizwe usendaweni yesibili enqubweni yokulinganisa, ngemva kokuba ukulinganiswa kwe-refSPAD kwenziwe, nangaphambi kokulinganiswa kwe-offset.
Inqubo yokulinganisa i-Crosstalk
Ukuze wenze ukulinganisa kwe-crosstalk, ithagethi kufanele ibekwe ebangeni elingu-600mm kusukela kudivayisi. Ukulinganisa kwe-Crosstalk kufanele kwenziwe endaweni emnyama ngaphandle komnikelo we-IR. Ngemuva kokuthi kubizwe imisebenzi ye-VL53LX_DataInit() kanye ne-VL53LX_PerformRefSpadManagement(), umsebenzi wokulinganisa ozinikele kufanele ubizwe, kusetshenziswa: VL53LX_PerformXTalkCalibration(&VL53L3Dev). Uma le misebenzi ibizwa, ukulinganisa kwe-crosstalk kuyenziwa futhi ukulungiswa kwe-crosstalk kusetshenziswa ngokuzenzakalelayo.
Ithola imiphumela yokulinganisa ye-crosstalk
Imiphumela yokulinganisa iqukethe, phakathi kokunye, i-histogram kanye nepharamitha ebizwa ngokuthi “i-plane offset”. I-offset yendiza imele inani lokulungiswa okusetshenzisiwe, futhi i-histogram iwukuhlukaniswa kokulungiswa kumgqomo ngamunye. Umsebenzi VL53LX_GetCalibrationData() ubuyisela yonke idatha yokulinganisa. Isakhiwo esibuyisiwe VL53LX_CalibrationData_t siqukethe ezinye izakhiwo. I-offset yendiza iqukethwe kokuthi VL53LX_customer_nvm_managed_t: algo_crosstalk_compensation_plane_offset_kcps iyiphoyinti eligxilile inani elinekhodi engu-7.9. Kufanele ihlukaniswe ngo-512 ukuze uthole inombolo yangempela.
Ezinye izakhiwo ezimbili ezifanele ziyabuyiselwa: VL53LX_xtalk_histogram_data_t kanye ne-algo__xtalk_cpo_HistoMerge_kcps. Kuphoqelekile ukuwagcina.
Ukusetha idatha yokulinganisa ye-crosstalk
Uma umsebenzi we-VL53LX_DataInit() usubizwa, ikhasimende lingalayisha idatha yokulinganisa ye-crosstalk lisebenzisa: VL53LX_SetCalibrationData()
Kungcono ukushayela i-VL53LX_GetCalibrationData(), ulungise imingcele echazwe esigabeni sangaphambilini, kufakwe nesakhiwo se-xtalk_histogram, bese ushayela i-VL53LX_SetCalibrationData()
Nika amandla/khubaza isinxephezelo se-crosstalk
Umsebenzi VL53LX_SetXTalkCompensationEnable() uvumela noma ukhubaze isinxephezelo se-crosstalk.
Qaphela: Isinxephezelo se-Crosstalk sikhutshaziwe ngokuzenzakalela. Ukuze unike amandla ucingo lwesinxephezelo se-crosstalk V53LX_SetXTalkCompensationEnable&VL53L3Dev, 1);
Ukuze ukhubaze isinxephezelo se-crosstalk shayela i-VL53LX_SetXTalkCompensationEnable&VL53L3Dev, 0);
Qaphela: Lo msebenzi awenzi noma yikuphi ukulinganisa noma ukulayisha idatha ye-crosstalk, uvumela kuphela isinxephezelo.
Qaphela: Ukulinganisa, noma ukulayishwa komsebenzi wedatha yokulinganisa, kufanele kubizwe ngokuhlukene nalo msebenzi wokuvula/ukhubaze (bona izigaba ezingenhla).
Ukulinganiswa kwe-offset
Ukusoda idivayisi ebhodini lekhasimende noma ukwengeza ingilazi yekhava kungethula i-offset ebangeni elisukela. Lokhu kususwa kwengxenye nengxenye kufanele kukalwe ngesikhathi sokulinganiswa kwe-offset. Ukulinganisa kwe-offset nakho kuvumela ukulinganisa inani le-dmax, kusetshenziswa izimo zokulinganisa ezifanayo kunokulinganisa kwe-offset.
Imisebenzi yokulinganisa ye-offset
Imisebenzi emibili elandelayo iyatholakala ekulinganisweni kwe-offset:
- VL53LX_PerformOffsetSimpleCalibration(Dev, CalDistanceMilliMeter)
- VL53LX_PerformOffsetPerVCSELCalibration(Dev, CalDistanceMilliMeter)
Ukungqubuzana kwemisebenzi yibanga eliqondiwe ngamamilimitha. Ukulinganisa kwe-offset kufanele kwenziwe ngemva kokulungiswa kwe-crosstalk.
I-VL53LX_PerformOffsetPerVCSELCalibration wumsebenzi onembe kakhulu, kodwa kuthatha isikhathi eside ukwenza ukulinganisa (isikhathi siphindwe ngo-3).
Inqubo yokulinganisa i-offset
Amakhasimende angakhetha noma yikuphi ukuboniswa kweshadi okubekwe kunoma yiliphi ibanga (asebenzisa ukusetha okufanayo nokulinganiswa kwe-crosstalk). Iphuzu kuphela okufanele ulihlole ukuqinisekisa ukuthi izinga lesignali likalwa phakathi kuka-2 no-80 MCps ngokusetha okukhethiwe.
Ithebula 3. Ukusethwa kokulinganisa kwe-Offset
| Ishadi | Ibanga | Izimo ze-ambient | Izinga Lesignali |
| Noma yikuphi | Noma yikuphi | Kumnyama (awukho umnikelo we-IR) | 2MCps < Izinga lesiginali <80Mcps |
Imilayezo emibili yesixwayiso ibuyiswa yile misebenzi:
- VL53LX_WARNING_OFFSET_CAL_INSUFFICIENT_MM1_SP DS Isiginali iphansi kakhulu, Ukunemba kokulinganisa kwe-offset kungase kwehliswe.
- I-VL53LX_WARNING_OFFSET_CAL_PRE_RANGE_RATE_TOO_H GH Isiginali iphezulu kakhulu. Ukunemba kokulinganiswa kwe-offset kungase kwehliswe.
Ithola imiphumela yokulinganisa i-offset
Umsebenzi VL53LX_GetCalibrationData() ubuyisela yonke idatha yokulinganisa. Isakhiwo esibuyisiwe VL53LX_CalibrationData_t siqukethe esinye isakhiwo esibizwa nge-VL53LX_customer_nvm_managed_t esiqukethe imiphumela emithathu yokulinganisa i-offset:
- algo__part_to_part_range_offset_mm
- mm_config__inner_offset_mm
- mm_config__outer_offset_mm
Isamba esiphelele esisetshenziswa kudivayisi isilinganiso samanani amabili okugcina. Uma i-perVCSELCalibration ikhethiwe, okukhiphayo komsebenzi kuhlanganisa idatha elandelayo:
- short_a_offset_mm
- short_b_offset_mm
- medium_a_offset_mm
- medium_b_offset_mm
- eside_a_offset_mm
- eside_bb_offset_mm
Kuye ngemodi yebanga (inkathi ye-VCSEL) ekhethiwe, okukodwa kwalokhu kususwa kusebenza ngokuzenzakalelayo.
Ukukhetha imodi yokulungiswa kwe-offset
Imodi yokulungisa i-offset ingasethwa ngezinketho ezimbili, kusetshenziswa umsebenzi we-VL53LX_SetOffsetCorrectionMode.
Qaphela: I-VL53LX_OFFSETCORRECTIONMODE_PERVCSEL kufanele isetshenziswe ngokuzenzakalelayo. Ivumela ukukhulisa ukunemba kwe-offset ngesikhathi se-VCSEL ngayinye.
Ithebula 4. Izinketho zokulungisa i-offset
| Umsebenzi wokulinganisa we-offset ubizwa | Inketho yemodi yokulungisa ezosetshenziswa |
| I-PerformSimpleOffsetCalibration | VL53LX_OFFSETCORRECTIONMODE_STANDARD |
| PerformPerVCSELOffsetCalibration | VL53LX_OFFSETCORRECTIONMODE_PERVCSEL |
Qaphela: Uma kutholakala uhlobo olulodwa kuphela lokulinganisa i-offset, kuphoqelekile ukusetha imodi yokulungisa i-offset ibe yinketho ehambisanayo. Lokhu akwenziwa ngokuzenzakalelayo.
Ukusetha idatha yokulinganisa ye-offset
Ikhasimende lingalayisha idatha yokulinganisa ye-offset ngemva kokuthi umsebenzi we-VL53LX_DataInit() ubizwa, ngokusebenzisa i-VL53LX_SetCalibrationData().
Kungcono ukushayela i-VL53LX_GetCalibrationData(), ulungise imingcele echazwe ezigabeni ezedlule, bese ushayela ku-VL53LX_SetCalibrationData()
Izilinganiso zesitolo sokulungisa ikhasimende
Uma kwenzeka amanani okulinganisa elahlekile, ngenxa yoshintsho lwengxenye esitolo sokukhanda, ikhasimende lingasebenzisa inqubo ezinikele, lapho kungadingeki ukusetha okuqondile (okuhlosiwe).
Ukulinganisa kwenziwa ngezinyathelo ezintathu:
- I-RefSpad
- I-Crosstalk
- Izilinganiso ze-offset
I-RefSpad ne-Xtalk ziyefana njengoba kuchazwe eSigabeni 6.1 sokulinganiswa kwe-RefSPAD kanye neSigaba 6.2 sokulinganiswa kwe-Crosstalk.
Umsebenzi ozinikele uyatholakala ukwenza ukulinganisa kwe-offset: VL53LX_PerformOffsetZeroDistanceCalibration.
Ithagethi kufanele isethwe ngaphambi kwedivayisi, ithinte ingilazi yekhava. Okuhlosiwe kungaba yiphepha elilula (elingenaso isidingo esithile sokubonisa iphepha).
Umsebenzi ongenhla kufanele ubizwe futhi imiphumela ingabuyiswa ngokufana nenqubo echazwe ezigabeni ezedlule.
Amaphutha angenalutho nezixwayiso zomshayeli
Kubikwa iphutha lomshayeli uma kubizwa noma yimuphi umsebenzi womshayeli. Amanani angaba khona amaphutha omshayeli achazwe kuthebula elilandelayo. Izexwayiso zikhona ukwazisa umsebenzisi ukuthi amanye amapharamitha awalungiswanga. Izixwayiso azivimbeli umsingathi.
Ithebula 5. Amaphutha angenalutho kanye nencazelo yezexwayiso
| Inani lephutha | Iyunithi yezinhlamvu yephutha ye-API | Isenzakalo |
| 0 | I-VL53LX_ERROR_NONE | Alikho iphutha |
| -1 | VL53LX_ERROR_CALIBRATION_WARNING | Idatha yokulinganisa engavumelekile |
| -4 | VL53LX_ERROR_INVALID_PARAMS | Ipharamitha engavumelekile isethwe kumsebenzi |
| -5 | I-VL53LX_ERROR_NOT_SUPPORTED | Ipharamitha eceliwe ayisekelwe ekucushweni okuhleliwe |
| -6 | VL53LX_ERROR_RANGE_ERROR | Isimo sokuphazamisa asilungile |
| -7 | VL53LX_ERROR_TIME_OUT | Ubude bunqanyuliwe ngenxa yokuvala isikhathi |
| -8 | I-VL53LX_ERROR_MODE_NOT_SUPPORTED | Imodi eceliwe ayisekelwe |
| -10 | VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL | Ibhafa enikeziwe inkulu kunezisekelo ze-I2C |
| -13 | VL53LX_ERROR_CONTROL_INTERFACE | Kubikwe iphutha kumsebenzi we-IO |
| -14 | VL53LX_ERROR_INVALID_COMMAND | Umyalo awuvumelekile |
| -16 | VL53LX_ERROR_REF_SPAD_INIT | Kwenzeke iphutha ngesikhathi sokulinganiswa kwe-Reference SPAD |
| -17 | VL53LX_ERROR_GPH_SYNC_CHECK_FAIL | Isishayeli asihambisani nedivayisi. Ukuma/ukuqalisa noma ukuqalisa kabusha kungase kudingeke |
| -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 | Akukho sampLes uma usebenzisa uhlu oluphelele ku-sampne-crosstalk. Kulokhu alukho ulwazi olwanele lokukhiqiza inani elisha le-crosstalk. Umsebenzi uzophuma futhi ushiye imingcele yamanje ye-crosstalk ingashintshiwe |
| -23 | VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_L IMIT_FAIL | Isilinganiso se-sigma esimaphakathi se-crosstalk sampi-le ingu > kunomkhawulo omkhulu ovunyelwe. Kulokhu i-crosstalk sampinomsindo omkhulu ukuthi ungalinganiswa. Umsebenzi uzophuma futhi ushiye imingcele yamanje ye-crosstalk ingashintshiwe |
| -24 | VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FA IL | Kwenzeke iphutha ngesikhathi sokulinganiswa kwe-offset. Ukusethwa kokuhlola kuhambisana nezincomo ze-ST. |
| -25 | VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENA BLED_FAIL | |
| -28 | VL53LX_WARNING_REF_SPAD_CHAR_NOT_EN OUGH_SPADS | Isexwayiso: inombolo yezipadi ezitholiwe iphansi kakhulu ukuthola ukulinganiswa kwe-refSpadManagement okunembile. Qinisekisa ukuthi ukusetha kuhambisana nezincomo ze-ST. |
| -29 | VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_HIGH | Isexwayiso: izinga lesignali litholakale liphansi kakhulu ukuthola ukulinganiswa kwe-refSpadManagement okunembile. Qinisekisa ukuthi ukusetha kuhambisana nezincomo ze-ST. |
| -30 | VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_LOW | Isexwayiso: Inombolo yezipadi ezitholwe ziphansi kakhulu ukuthola ukulinganiswa okunembile kwe-offset. Qinisekisa ukuthi ukusetha kuhambisana nezincomo ze-ST. |
| -31 | VL53LX_WARNING_OFFSET_CAL_MISSING_SA MPLES | Isexwayiso senzeke ngesikhathi sokulinganiswa kwe-offset. Qinisekisa ukuthi ukusetha kuhambisana nezincomo ze-ST. |
| -32 | I-VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_ PHEZULU | |
| -33 | VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HI GH | |
| -34 | VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW | |
| -38 | VL53LX_WARNING_XTALK_MISSING_SAMPLES | Isexwayiso senzeke ngesikhathi sokulinganiswa kwe-crosstalk. Qinisekisa ukuthi ukusetha kuhambisana nezincomo ze-ST. |
| -41 | I-VL53LX_ERROR_NOT_IMPLEMENTED | Umsebenzi obizwa awenziwa |
Umlando wokubuyekeza
| Usuku | Inguqulo | Izinguquko |
| 28-Sep-2020 | 1 | Ukukhishwa kokuqala |
| 02-Dec-2021 | 2 | Kubuyekezwe izakhiwo ezibuyiswe eSigabeni 6.2.3 Ukuthola imiphumela yokulinganiswa kwe-crosstalk |
| 03-Juni-2022 | 3 | Isigaba 3.1 Umshayeli ongenalutho: wengeze inothi eliphathelene nokulinganisaIsigaba 5.4 Ukutholwa kokungcola kwengilazi yekhava: wengeze inothi eliphathelene nokulungiswa kwe-smudge |
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Amadokhumenti / Izinsiza
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I-ST VL53L3CX Isikhathi Senzwa Yokuhlukahluka Kwendiza [pdf] Imaniwali yosebenzisayo I-VL53L3CX Isikhathi Senzwa Yokuhamba Kwendiza, i-VL53L3CX, Isikhathi Senzwa Yokugijima Kwendiza, Inzwa Yokuhamba Kwendiza, Inzwa Eshintshayo |
