I-STMicroelectronics VL53L7CX Isikhathi Se-Flight Multizone Ranging Sensor
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-Flight Sense be-STMicroelectronics, i-VL53L7CX ihlanganisa i-meta surface lens (DOE) esebenza kahle 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-STMicroelectronics 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-ST's Flight Sense, 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 we-multizone kanye ne-90° FoV ingathuthukisa izimo ezintsha zokusetshenziswa ezifana nokubonwa kokuthinta, i-SLAM yamarobhothi, nokusebenzisa isistimu yamandla aphansi yokwakha ngobuhlakani.
Umfanekiso 1. Ingxenye ye-VL53L7CX
Ama-akhronimi nezifinyezo
| Isifinyezo/isifinyezo | Incazelo |
| I-DOE | isici se-optical diffractive |
| I-FoV | inkambu ye view |
| I²C | i-inter-integrated circuit (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 |
| I-VHV | ivolumu ephezulu kakhulutage |
| Xtalk | i-crosstalk |
Incazelo esebenzayo
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-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.
Umfanekiso 2. Uhlelo lwe-VL53L7CX luphelileview
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.
Umfanekiso 3. VL53L7CX ukuma okusebenzayo
I-Schematics nokulungiselelwa kwe-I²C
Ukuxhumana phakathi komshayeli ne-firmware kuphathwa yi-I²C, enekhono lokusebenza kufika ku-1 MHz. Ukuqaliswa kudinga ukudonsa emigqeni ye-SCL kanye ne-SDA. Bheka imininingwane ye-VL53L7CX ukuze uthole ulwazi olwengeziwe. Idivayisi ye-VL53L7CX inekheli elizenzakalelayo le-I²C 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 okungashintshiwe. Inqubo yile elandelayo:
- Nika amandla isistimu njengokujwayelekile.
- Donsela phansi iphinikhodi ye-LPn yedivayisi engeke ishintshwe ikheli layo.
- Donsela phezulu iphinikhodi ye-LPn yedivayisi enekheli le-I²C elishintshiwe.
- Hlela ikheli le-I²C kudivayisi usebenzisa umsebenzi we-set_i2c_address() umsebenzi.
- Donsela phezulu iphinikhodi ye-LPn yedivayisi engahlelwa kabusha.
Wonke amadivayisi manje kufanele atholakale ebhasini le-I²C. Phinda izinyathelo ezingenhla kuwo wonke amadivayisi e-VL53L7CX kusistimu adinga ikheli elisha le-I²C.
Okuqukethwe kwephakheji nokugeleza kwedatha
Isakhiwo somshayeli nokuqukethwe
Iphakethe le-VL53L7CX ULD lakhiwe ngamafolda amane. Umshayeli utholakala kufolda /
I-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
Ukugeleza kokulinganisa
I-Crosstalk (Xtalk) ichazwa njengenani lesiginali etholiwe kuhlu lwe-SPAD, olubangelwa ukukhanya kwe-VCSEL
ukuboniswa ngaphakathi kwefasitela elivikelayo (ingilazi yekhava) yengezwe phezu kwemojuli. Imojula ye-VL53L7CX iyazilinganisa ngokwayo, futhi ingasetshenziswa ngaphandle kokulinganiswa okwengeziwe.
Ukulinganisa kwe-Crosstalk kungase kudingeke uma imojuli ivikelwe ingilazi yekhava. I-VL53L7CX ayinalutho
i-crosstalk engaphezu kuka-60 cm ngenxa ye-histogram algorithm. Kodwa-ke, ebangeni elifushane elingaphansi kwama-60 cm, i-Xtalk ingaba nkulu kunesiginali yangempela ebuyisiwe. Lokhu kunikeza ukufundwa okuqondiwe okungamanga noma kwenza okuhlosiwe kubonakale kuseduze kunalokho okuyikho ngempela. Yonke imisebenzi yokulinganisa i-crosstalk ifakiwe ku-plugin ye-Xtalk (uyazikhethela). Umsebenzisi udinga ukusebenzisa i- file 'vl53l7cx_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 vl53l7cx_calibrate_xtalk(). Lo msebenzi ungasetshenziswa noma nini. Nokho, inzwa kumele iqaliswe kuqala. Isibalo esilandelayo simele ukugeleza kokulinganisa kwe-crosstalk.
Umfanekiso 6. Ukugeleza kokulinganisa kwe-Crosstalk
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 okuhlukahlukene usebenzisa i-VL53L7CX
Izici ezitholakalayo
I-VL53L7CX ULD API ihlanganisa imisebenzi eminingana, evumela umsebenzisi ukuthi ashune inzwa, kuye ngecala lokusetshenziswa. Yonke imisebenzi etholakalayo yomshayeli ichazwe ezigabeni ezilandelayo.
Ukuqaliswa
Ukuqaliswa kufanele kwenziwe ngaphambi kokusebenzisa inzwa ye-VL53L7CX. Lo msebenzi udinga ukuthi umsebenzisi:
- Amandla enzwa (VDDIO, AVDD, LPn pins set to High, bese uphina i-I2C_RST isethwe ku-0)
- Shayela umsebenzi vl53l7cx_init(). Umsebenzi ukopisha i-firmware (~84 Kbytes) kumojula. Lokhu kwenziwa ngokulayisha ikhodi phezu kwesixhumi esibonakalayo se-I²C, nokwenza umjikelezo wokuqalisa ukuze uqedele ukuqalisa.
Ukuphathwa kokusetha kabusha inzwa
Ukuze usethe kabusha idivayisi, amaphinikhodi alandelayo adinga ukuguqulwa:
- Setha izikhonkwane ze-VDDIO, AVDD, ne-LPn zibe phansi.
- Linda 10 ms.
- Misa izikhonkwane ze-VDDIO, AVDD, ne-LPn zibe phezulu.
Qaphela: Ukuguqula iphinikhodi ye-I2C_RST kuphela kusetha kabusha ukuxhumana kwe-I²C.
Isixazululo
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 ukulungiswa kuphinde kwenyuse usayizi wethrafikhi ebhasini le-I²C lapho kufundwa imiphumela.
Imvamisa ephakathi
Imvamisa yokulinganisa ingasetshenziswa ukushintsha imvamisa yokulinganisa. Njengoba imvamisa ephezulu ihlukile
phakathi kwesinqumo esingu-4×4 no-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.
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 ibamba ngokuqhubekayo amafreyimu anefrikhwensi ehlukahlukene
kuchazwe 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().
Isikhathi sokuhlanganisa
Isikhathi sokuhlanganisa siyisici esitholakala kuphela kusetshenziswa imodi yokuzimela (bheka Isigaba 4.5: Ububanzi
imodi). Ivumela umsebenzisi ukuthi aguqule isikhathi ngenkathi i-VCSEL inikwe amandla. Ukushintsha isikhathi sokuhlanganisa uma ukulinganisa
Imodi isethwe kokuqhubekayo ayinawo 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 esizimele
Umfanekiso 9. Isikhathi sokuhlanganisa se-8×8 esizimele
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. 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 eyokuvuka.
Qaphela: 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 ukukhanya kweveli.
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. Example 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%.
I-oda eliqondisiwe
I-VL53L7CX ingakala okuhlosiwe okumbalwa kwendawo ngayinye. Ngenxa yokucubungula i-histogram, umsingathi uyakwazi
khetha uhlelo lokuhlosiwe okubikiwe. Kunezinketho ezimbili:
- Okuseduze kakhulu: Ithagethi eseduze eyokuqala ebikiwe
- Okuqine kakhulu: Ithagethi enamandla eyokuqala ebikiwe
I-oda eliqondiwe lingashintshwa kusetshenziswa umsebenzi othi 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. Example ye-histogram enezinjongo ezimbili
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 ku-'platform. 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.
Imajini ye-Xtalk
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 ingilazi yekhava ikhona phezulu kwenzwa. Umkhawulo ungandiswa ukuze kuqinisekiswe ukuthi ingilazi yekhava ayilokothi ibonwe, ngemva kokusetha idatha yokulinganisa i-crosstalk. 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-crosstalk. Isibalo esingezansi simele imajini ye-Xtalk.
Umfanekiso 12. 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 fileokubizwa ngokuthi 'vl53l7cx_plugin_detection_thresholds' kudingeka kusetshenziswe. Isici singasetshenziswa ukuqalisa ukuphazamiseka ukuze uphine i-A3 (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 endaweni 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: Ukuma okusebenzayo)
- 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 ngokuzenzakalela yi-API.
- Ukusebenza kwezibalo: kusetshenziselwa kuphela 4×4 – 2 inhlanganisela yethreshold indawo ngayinye. Umsebenzisi angasetha inhlanganisela esebenzisa ama-threshold ambalwa endaweni eyodwa.
Inkomba yokunyakaza
Inzwa ye-VL53L7CX inesici se-firmware esishumekiwe esivumela ukutholwa kokunyakaza endaweni yesehlakalo. Ukunyakaza
inkomba ibalwa phakathi kozimele abalandelanayo. Le nketho iyatholakala kusetshenziswa i-plugin 'vl53l7cx_plugin_motion_indicator'.
Inkomba yokunyakaza iqalwa kusetshenziswa umsebenzi we-vl53l7cx_motion_indicator_init(). Ukuze ushintshe inzwa
ukulungiswa, buyekeza ukulungiswa kwesikhombi sokunyakaza usebenzisa 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 igcinwe kunkambu ethi 'motion_ indicator'. Kule nkambu, amalungu afanayo 'ukunyakaza' anikeza inani eliqukethe i-
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.
Isinxephezelo sezinga lokushisa ngezikhathi ezithile
Ukusebenza okuhlukahlukene kuthintwa ukuhlukahluka kwezinga lokushisa. Inzwa ye-VL53L7CX ishumeka izinga lokushisa
isinxephezelo esilinganiswa kanye uma ukusakaza-bukhoma kuqala. Kodwa-ke, uma izinga lokushisa liguquka, i-
isinxephezelo singase singahambelani nezinga lokushisa elisha. Ukuze kugwenywe le nkinga, ikhasimende lingasebenzisa isinxephezelo sezinga lokushisa ngezikhathi ezithile ngokusebenzisa i-Auto VHV. Ukulinganisa izinga lokushisa ngezikhathi ezithile kuthatha ama-millisecond ambalwa ukusebenza. Umsebenzisi angachaza isikhathi. Ukuze usebenzise lesi sici, ikhasimende lidinga:
- Shayela umsebenzi vl53l7cx_set_VHV_repeat_count().
- Bese, unikeza inombolo yozimele phakathi kwakho konke ukulinganisa okusha njengokuphikisana.
Uma i-agumenti ingu-0, isinxephezelo siyacishwa.
Imiphumela ehlukahlukene
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 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 5.5: 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, sigma, …) ukufinyelela kudatha kuhlukile uma umsebenzisi ehlele okuqondiwe okungaphezu kweyodwa indawo ngayinye (bona Isigaba 4.10: Izinhloso eziningi ngendawo ngayinye). Bheka isibample amakhodi ukuze uthole ulwazi olwengeziwe.
Enza ngendlela oyifisayo ukukhetha okukhiphayo
Ngokuzenzakalelayo, yonke imiphumela ye-VL53L7CX inikwe amandla. Uma kudingeka, umsebenzisi angakhubaza ukuphuma okuthile kwenzwa. Ukukhubaza izilinganiso akutholakali kumshayeli; kufanele wenziwe 'nge-platform. h' file. Umsebenzisi angamemezela amamakhro alandelayo ukuze akhubaze okuphumayo:
#chaza VL53L7CX_DISABLE_AMBIENT_PER_SPAD
#chaza I-VL53L7CX_DISABLE_NB_SPADS_IVULELWE
#chaza I-VL53L7CX_DISABLE_NB_TARGET_DETECTED
#chaza I-VL53L7CX_DISABLE_SIGNAL_PER_SPAD
#chaza I-VL53L7CX_DISABLE_RANGE_SIGMA_MM
#chaza I-VL53L7CX_DISABLE_DISTANCE_MM
#define VL53L7CX_KHUBAZA_TARGET_STATUS
#chaza I-VL53L7CX_DISABLE_REFLECTANCE_PERCENT
#chaza I-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 ihlala incoma ukugcina 'inombolo yokuhlosiwe itholiwe' kanye 'nesimo okuqondiwe' kuvuliwe. Lokhu kuhlunga izilinganiso kuye ngesimo okuqondiwe kuso (bheka Isigaba 5.5: Ukutolika kwemiphumela).
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 kuka-~100 μs.
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.
Isebenzisa ifomethi ye-firmware eluhlaza
Ngemva kokudlulisa idatha ehlukahlukene nge-I²C, kukhona ukuguqulwa phakathi kwefomethi ye-firmware nefomethi yomsingathi. 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 fileIngxenye #:VL53L7CX
#define VL53L7CX_USE_RAW_FORMAT
Ukuchazwa kwemiphumela
Idatha ebuyiselwe yi-VL53L7CX ingahlungwa ukuze kucatshangelwe isimo okuhlosiwe. Isimo sibonisa ukufaneleka kokulinganisa. Uhlu oluphelele lwezimo luchazwe kuleli thebula elilandelayo.
Ithebula 4. Uhlu lwesimo sethagethi esitholakalayo
| 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 (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 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 lokuvala, ngenxa yephutha le-I²C. |
| okunye | Inhlanganisela yamaphutha amaningi achazwe ngenhla |
Qaphela: Umsingathi angafaka amakhodi amaningi wamaphutha ngokusebenzisa inkundla files.
Umlando wokubuyekeza
Ithebula 6. Umlando wokubuyekeza idokhumenti
| Usuku | Inguqulo | Izinguquko |
| 02-Aug-2022 | 1 | Ukukhishwa kokuqala |
| 02-Sep-2022 | 2 | Kubuyekeziwe Isingeniso Sesigaba Kungezwe inothi elimayelana nebanga elincane phakathi kwamathagethi kuya Isigaba 4.10: Okuningi okuhlosiwe ngezoni ngayinye |
| 21-Feb-2024 | 3 | Kwengezwe i-VHV (ivolumu ephezulu kakhulutage) kube Isigaba 1: Ama-akhronimi nezifinyezo. Kwengeziwe Isigaba 4.14: Isinxephezelo sezinga lokushisa ngezikhathi ezithile |
Ukwesekwa Kwamakhasimende
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.
© 2024 STMicroelectronics – Wonke amalungelo agodliwe
Amadokhumenti / Izinsiza
 |
I-STMicroelectronics VL53L7CX Isikhathi Se-Flight Multizone Ranging Sensor [pdf] Umhlahlandlela Womsebenzisi I-VL53L7CX Isikhathi Se-Flight Multizone Ranging Sensor, VL53L7CX, Time Of Flight Multizone Ranging Sensor, Flight Multizone Ranging Sensor, Multizone Ranging Sensor, Ranging Sensor |
