ST VL53L3CX Nako ea Flight Rang Sensor Bukana ea Mosebelisi
Selelekela
VL53L3CX ke nako ea ho fofa (ToF) ho tloha mojuleng oa sensor.
Morero oa bukana ena ea mosebelisi ke ho hlalosa mofuta oa kopanyo le sete ea lits'ebetso tseo u ka li letsetsang ho fumana data e fapaneng u sebelisa mokhanni o se nang letho oa VL53L3CX.
Sistimi ea VL53L3CX e felileview
Sistimi ea VL53L3CX e entsoe ka module ea VL53L3CX le mokhanni ea mathang ho moamoheli.
Tokomane ena e hlalosa mesebetsi ea mokhanni e fumanehang ho Host, ho laola sesebelisoa le ho fumana lintlha tse fapaneng bakeng sa ho kopanngoa le mabotho a seng a linux.
Setšoantšo sa 1. Mokhoa oa VL53L3CX
Hlokomela:
Tokomane ea hona joale e hlalosa mesebetsi e kentsoeng le e netefalitsoeng. Mosebetsi ofe kapa ofe o teng ho bakhanni ha oa lokela ho sebelisoa haeba o sa hlalosoa tokomaneng ena.
Mokhanni ea se nang letho ke ts'ebetsong ea sete ea mesebetsi e hlokahalang ho sebelisa sesebelisoa sa VL53L3CX. E etsa menahano e fokolang mabapi le kopanyo ea OS le lits'ebeletso. Ka hona, tatellano ea liketso, mokhoa oa ts'ebetso / oa khoele, phetoho ea sethala, le kabo ea meaho ea lisebelisoa ha se karolo ea ts'ebetso ea mokhanni e se nang letho empa e siiloe e bulehile ho sehokahanyi.
Tatellano ea mehala ea mokhanni e se nang letho e tlameha ho latela sete ea melao, e hlalositsoeng tokomaneng ena.
Tlhaloso e tsoelang pele ea ts'ebetso
Karolo ena e hlalosa ka bokhutšoanyane bokhoni ba ts'ebetso ea sesebelisoa sa VL53L3CX.
Tatelano e fapaneng
Sesebelisoa se sebetsa ka mokhoa oa ho ts'oarana ka letsoho, ho ipapisitse le leano le tloaelehileng la taolo ea tšitiso.
Ka mor'a nako e 'ngoe le e' ngoe, moamoheli o fumana data e fapaneng mme o nolofalletsa e latelang ka ho hlakola tšitiso. Mokhoa ona o bitsoa mokhoa oa ho ts'oarana ka matsoho. Ka mor'a moo, ho qala ho qalisoa haeba ea hona joale e felile le haeba moamoheli a tlositse tšitiso e neng e ntse e emetse.
Mochine o sitisang o lumella ho fetisoa ha data kapele, ntle le ho lahleheloa ke boleng bo bong ka lebaka la litaba tsa puisano kapa asynchronism. Nakong ea mohato oa ho ts'oarana ka matsoho, moamoheli o etsa ts'ebetso ea data. Tatelano e fapaneng e hlalositsoe ka mokhoa o sebetsang setšoantšong se ka tlase.
Tatellano ea ho ts'oarana ka letsoho e lumella khomphutha ea li-parameter tsa kahare le ho li sebelisa molemong o latelang.
Ho ts'oarana ka letsoho ho tlameha ho etsoa ke motho ea sebelisang mokhanni ea se nang letho. Ho lieha ho etsa hore ho be le tekanyo e ncha ka mor'a hore tekanyo e ncha e amoheloe ke senotlolo sa tekanyo ea kakaretso ea tsamaiso.
Mehopolo ea nako
Linako li hlahisoa ho Setšoantšo sa 3. Lipheo tsa tatelano le nako.
Moamoheli a ka fumana tsa morao-rao tse fumanehang ho tloha nakong ea nako (tekanyetso ea nako e fapaneng) ea mofuta oa hajoale.
Haeba tieho ea ho tlosa tšitiso e hlahisoa ke moamoheli, sebaka se latelang se tla emisoa ho fihlela tšitiso e ntseng e emetse e felisitsoe.
Hlokomela: Linako tse bontšitsoeng ho Setšoantšo sa 3. Tatelano e fapaneng le sepheo sa nako ke linako tse tloaelehileng. Moamoheli a ka fetola tekanyetso ea nako e sa lekanyetsoang ka ho sebelisa ts'ebetso ea mokhanni e inehetseng e hlalositsoeng Karolong ea 5.1 tekanyetso ea nako. Moamoheli a ka etsa qeto ea ho fetola tekanyetso ea nako hore e hokahanye ts'ebelisong kapa ho eketsa ho nepahala ho fapaneng.
Setšoantšong se latelang, "Boot", "SW standby" le "Init" e nka 40 ms. Nako ena e hlokahala ho etsa qalo e nepahetseng ea sesebelisoa, 'me e ikemetse ho tloha sethaleng kapa tekanyetso ea nako e sebelisitsoeng. Letoto la pele, "Range1", ha le sebetse, kaha cheke ea ho pota-pota ha e khonehe. Sena se bolela hore boleng ba pele bo nepahetseng ba ho qala ke "Range2", e fumanehang ka mor'a 40 ms le habeli nako ea tekanyetso ea nako.
Setšoantšo sa 3. Lipheo tsa tatellano le nako
Bare mokhanni tlhaloso ea motheo ea mesebetsi
Karolo ena e hlalosa phallo ea lits'ebetso tsa mokhanni tse lokelang ho lateloa ho etsa tekanyo e fapaneng
Setšoantšo sa VL53L3CX.
Mokhanni oa VL53L3CX o sebelisoa lihlopheng tse peli tsa lits'ebetso:
- Lisebelisoa tsa fektheri tse sebelisetsoang ho lekanya lisebelisoa, hangata qetellong ea tlhahlobo ea tlhahiso ea lihlahisoa (phallo ea fektheri)
- Lisebelisoa tsa masimong, tse bokellang lits'ebetso tsohle tsa basebelisi ba ho qetela ba sebelisang sesebelisoa sa VL53L3CX (phallo e fapaneng)
Mokhanni ea se nang letho
Phallo ea fektheri ea Bare driver e bontšitsoe setšoantšong se latelang.
Setšoantšo sa 4. VL53L3CX API phallo e fapaneng (fektheri)
Hlokomela: Phallo ea calibration e fetola mokhoa oa hole. Hoa hlokahala ho letsetsa SetDistanceMode () ts'ebetso haeba u batla ho sebelisa sensor hang ka mor'a ho lekanya.
Phallo ea bare driver range e bonts'oa setšoantšong se latelang.
Setšoantšo sa 5. VL53L3CX API ho phalla ho fapaneng (tšimo)
Ho qala tsamaiso
Karolo e latelang e bonts'a mehala ea mesebetsi ea API e hlokahalang ho etsa qalo ea sistimi, pele o qala tekanyo.
Emela boot
VL53LX_WaitDeviceBooted () ts'ebetso e netefatsa hore sesebelisoa se qaliloe ebile se lokile. Ha ho tlamehe ho bitsa mosebetsi ona.
Hlokomela: Ts'ebetso ena e thibela ts'ebetso ea moamoheli. Ts'ebetso ena ha ea lokela ho thibela ho feta 4 ms, ho nka:
- 400 kHz I2C maqhubu
- 2 ms latency ka theko e 'ngoe
Data init
Mosebetsi oa VL53LX_DataInit() o tlameha ho bitsoa nako le nako ha sesebelisoa se tsoa boemong ba "boot" ea pele. E etsa tlhahiso ea lisebelisoa. Kamora ho letsetsa tšebetso ea VL53LX_DataInit() data ea calibration e tlameha ho kengoa ho sebelisoa VL53LX_SetCalibrationData().
Setšoantšo sa VL53L3CX
Ho mabotho a seng a Linux, mosebelisi oa tatelano ea mokhanni ea se nang letho o letsetsa mokhanni ka tsela e loketseng litlhoko tsa ts'ebeliso, bokhoni ba sethala le melao ea tatelano ea mohala oa mokhanni.
Qala litekanyo
VL53LX_StartMeasurement() ts'ebetso e tlameha ho bitsoa ho qala tekanyo.
Emela sephetho: ho khetha kapa ho sitisa
Ho na le mekhoa e 3 ea ho tseba hore tekanyo e teng. Moamoheli a ka:
- bitsa mosebetsi oa likhetho
- phuputso e mabapi le mosebetsi wa mokganni
- emela ho sitisoa 'meleng
Khetho ea mokhanni ho fumana boemo ba sephetho
Ts'ebetso ea VL53LX_WaitMeasurementDataReady() e khetha boemo ba kahare ho fihlela tekanyo e lokile.
Hlokomela: Mosebetsi ona oa thibela, kaha likhetho tsa ka hare li etsoa.
Moemeli oa likhetho ho fumana boemo ba sephetho
Host a ka khetha VL53LX_GetMeasurementDataReady() ho tseba ha tekanyo e ncha e se e lokile. Ts'ebetso ena ha e thibele.
Ho sebedisa ho sitisa mmele
Mokhoa o mong hape o ratoang oa ho fumana maemo a fapaneng ke ho sebelisa tlhahiso ea tšitiso ea 'mele. Ka kamehla, GPIO1 e ea tlase ha tekanyo e ncha e se e lokile.
Pin ena ke pini ea tlhahiso feela, ha ho na pin e sitisang ho kenya sesebelisoa sesebelisoa sena. Tšitiso e tlameha ho hlakoloa ka ho letsetsa tšebetso ea mokhanni VL53LX_ClearInterruptAndStartMeasurement().
Fumana tekanyo
Lintho tse ngata li ka bonoa ho latela maemo, 'me data ea tekanyo e tlalehoa ka ntho e ngoe le e ngoe VL53LX_GetMultiRangingData() e ka sebelisoa ho fumana lintlha tse fapaneng ha lintho tse ngata li le tšimong ea view. Ha o letsetsa ts'ebetso ena ho fumana liphetho tse fapaneng tsa sesebelisoa, ho khutlisetsoa sebopeho se bitsoang VL53LX_MultiRangingData_t.
Emisa tekanyo
Ka mokhoa o tsoelang pele, moamoheli a ka emisa tekanyo ka ho letsetsa VL53LX_StopMeasurement() ts'ebetso. Haeba kopo ea ho emisa e etsahala nakong ea tekanyo ea mefuta-futa, tekanyo e tlosoa hang-hang.
Mefuta e fapaneng ea data
Sebopeho se bitsoang VL53LX_MultiRangingData_t se na le lintlha tse latelang tse sebetsang lipakaneng tsohle tse fumanoeng:
- Nako Stamp: e sa kengoang tshebetsong.
- Palo ea Phallo: palo ena ea 8-bit e fana ka k'haonte e ekelitsoeng sebakeng se seng le se seng. Theko e qala ho 0, e eketsa 1 ka 1 ho fihla ho 255. Ha e fihla ho 255, e qala hape ho tloha 128 ho ea ho 255.
- Palo ea Lintho Tse Fumanetsoeng: 8-bit palo e felletseng e fanang ka palo ea lintho tse fumanoeng.
- Lintlha tse fapaneng [VL53LX_MAX_RANGE_RESULTS]: tafole ea sebopeho sa mofuta oa VL53LX_TargetRangeData_t. Nomoro e phahameng ea liphehelo e fanoe ke VL53LX_MAX_RANGE_RESULTS, 'me ka mokhoa o ikhethileng ke 4.
- Na Boleng ba puo ea X bo Fetohile: 8-bit palo e feletseng e bontšang hore na boleng ba crosstalk bo fetotsoe.
- Palo e Sebetsang ea Spad Rtn: 16-bit integer e khutlisetsang palo e sebetsang e sebetsang ea photon avalanche diode (SPAD) bakeng sa nako ea hajoale. Ho fumana boleng ba 'nete e lokela ho aroloa ka 256.
Sebopeho se le seng se fumanoeng (ho fihla ho tse 4 ka ho sa feleng) se bitsoang VL53LX_TargetRangeData_t se nang le liphetho tse latelang tsa sepheo se seng le se seng se fumanoeng.
- RangeMaxMilliMeter: ke palo e felletseng ea 16-bit, e bonts'ang sebaka se seholo se bonoang.
- RangeMinMilliMeter: ke palo e feletseng ea 16-bit, e bontšang sebaka se senyenyane se lemohuoang.
- SignalRateRtnMegaCps: boleng bona ke sekhahla sa lets'oao la ho khutla ho MegaCountPer Second (MCPS), ena ke 16.16 fix point value. Ho fumana boleng ba 'nete e lokela ho aroloa ke 65536.
- AmbientRateRtnMegaCps: boleng bona ke sekhahla sa ho khutla ha tikoloho (ho MCPS), sena ke 16.16 fix point value, eo ka nepo e leng tekanyo ea boholo ba khanya ea ambient e lekantsoeng ke sensor. Ho fumana boleng ba 'nete e lokela ho aroloa ke 65536.
- SigmaMilliMeter: boleng bona ba ntlha ea ho lokisa 16.16 ke khakanyo ea ho kheloha ho tloaelehileng ha nako ea hona joale, e hlahisoang ka millimeter. Ho fumana boleng ba 'nete e lokela ho aroloa ke 65536.
- RangeMilliMeter: ke palo e feletseng ea 16-bit e bontšang sebaka sa sebaka ka millimeter.
- RangeStatus: sena ke palo e feletseng ea 8-bit e bontšang boemo ba sebaka sa tekanyo ea hona joale. Boleng = 0 bolela ho fapana ho nepahetse. Sheba Lethathamo la 1. Boemo ba Range.
- Sebaka se Atolositsoeng: sena ke palo e felletseng ea 8-bit e bonts'ang hore na sebaka se sa phutholoha (bakeng sa libaka tse telele feela)
Boitšoaro bo itseng bo kenngoa ts'ebetsong ha sepheo se sa lemohuoe. Haeba sepheo se sa fumanwe, mme tekanyo e nepahetse, ho tlalehwa boleng bo latelang ho sebopeho sa VL53LX_TargetRangeData_t:
- RangeMaxMilliMeter: e qobelloang ho 8191.
- RangeMinMilliMeter: e qobelloang ho 8191.
- SignalRateRtnMegaCps: e qobelloa ho 0.
- AmbientRateRtnMegaCps: boleng ba sekhahla sa tikoloho hangata bo baloa.
- SigmaMilliMeter: e qobelloa ho 0.
- RangeMilliMeter: e qobelloang ho 8191.
- RangeStatus: e qobelloa ho fihla ho 255.
- ExtendedRange: e qobelloa ho 0.
Letlapa la 1. Boemo ba Range
| Boleng | Khoele ea RangeStatus | Tlhaloso |
| 0 | VL53LX_RANGESTATUS_RANGE_VALID | Tekanyo ea nako e nepahetse |
| 1 | VL53LX_RANGESTATUS_SIGMA_FAIL | E phahamisitsoe haeba cheke ea tekanyetso ea sigma e kaholimo ho moeli o hlalositsoeng ka hare. Sigma estimator e fana ka leseli la boleng mabapi le lets'oao. |
| 2 | VL53LX_RANGESTATUS_SIGNAL_FAIL | E phahamisitsoe ha lets'oao le le tlase haholo ho lemoha sepheo. |
| 4 | VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL | E phahamisitsoe ha sephetho sa marang-rang se tsoile moeli |
| 5 | VL53LX_RANGESTATUS_HARDWARE_FAIL | E phahamisitsoe haeba HW kapa VCSEL e hloleha |
| 6 | VL53LX_RANGESTATUS_RANGE_VALID_NO_WR AP_CHECK_FAIL | Ha ho na tlhahlobo e felletseng e entsoeng (ena ke mofuta oa pele) |
| 7 | VL53LX_RANGESTATUS_WRAP_TARGET_FAIL | Qeto e etsahetse |
| 8 | VL53LX_RANGESTATUS_PROCESSING_FAIL | Phoso ea ka hare ea ts'ebetso |
| 10 | VL53LX_RANGESTATUS_SYNCRONISATION_INT | E phahamisitsoe hang ka mor'a ho qala, boleng bo fapaneng bo tlameha ho hlokomolohuoa |
| 11 | VL53LX_RANGESTATUS_RANGE_VALID_MERGE D_PULSE | Ho fapana ho lokile, empa sebaka se tlalehiloeng ke phello ea lipehelo tse ngata tse kopantsoeng. |
| 12 | VL53LX_RANGESTATUS_TARGET_PRESENT_LA CK_OF_SIGNAL | Bontša hore ho na le sepheo, empa letšoao le tlaase haholo ho tlaleha ho fapana |
| 14 | VL53LX_RANGESTATUS_RANGE_INVALID | Lintlha tse fapaneng li fosahetse 'me li tlameha ho hlokomolohuoa |
| 255 | VL53LX_RANGESTATUS_NONE | Sepheo ha sea fumanoa, ntle le temoso kapa phoso e hlahisitsoeng |
Tekanyo ea pele ha e kenyelletse tlhahlobo e akaretsang. Tekanyo ena e fapaneng e ka lahloa.
Hlokomela: Boemo ba 1 hangata bo bakoa ke litekanyo tse lerata. Sigma estimator e angoa ke SNR ea matšoao a phekoloang.
Hlokomela: Boemo ba 4 bo phahamisoa ha phoso e itseng ho referense ea tekanyo e etsahala. Sena se ka baka li-outliers joalo ka litekanyo tse mpe kapa boleng bo holimo haholo.
Tlhaloso e eketsehileng ea mesebetsi ea mokhanni
Tekanyetso ea nako
Tekanyetso ea nako ke nako e fanoeng ke mosebelisi ho etsa tekanyo e le 'ngoe ea mefuta. VL53LX_SetMeasurementTimingBudgetMicroSeconds() ke mosebetsi o tla sebelisoa ho beha tekanyetso ea nako. Boleng ba tekanyetso ea nako ea kamehla ke 33 ms. Bonyane ke 8 ms, boholo ke 500 ms.
Bakeng sa mohlalaample, ho beha tekanyetso ea nako ho 66 ms: boemo = VL53LX_SetMeasurementTimingBudgetMicroSeconds(&VL53L3Dev, 66000 );
Ts'ebetso ea VL53LX_GetMeasurementTimingBudgetMicroSeconds() e khutlisetsa tekanyetso ea nako e hlophisitsoeng.
Mokgwa wa ho tsamaya
Ho kentsoe tšebetso ho ntlafatsa li-setting tsa kahare ho ipapisitsoe le sebaka se kopiloeng ke mosebelisi. Molemo oa ho fetola mokhoa oa hole o hlalositsoe tafoleng e latelang.
Letlapa la 2. Mekhoa ea hole
| Mokhoa o ka khonehang oa sebaka | Molemo / maikutlo |
| Khutšoane | Ho itšireletsa ha tikoloho ho betere |
| Mahareng (Default) | Boholo ba sebaka |
| Nako e telele | Tšebeliso e tlase ea matla |
Ts'ebetso eo u tla e sebelisa e bitsoa VL53LX_SetDistanceMode().
Mokhanni a ka thusa moamoheli ho khetha mokhoa o nepahetseng oa sebaka. Ho khutlisetsoa boleng bo itseng sebakeng se seng le se seng ho bontša khetho e ntle, ho latela maemo a tikoloho.
Maemo a ka bang teng ke:
- VL53LX_DISTANCE_SHORT
- VL53LX_DISTANCE_MEDIUM
- VL53LX_DISTANCE_LONG
Li-parameter tsa tokiso
Litekanyetso tsa tokiso li u lumella ho fumana se loketseng hantle lipakeng tsa sensor le kesi ea tšebeliso ea moamoheli. Bakeng sa nyeoe e 'ngoe le e' ngoe ea ts'ebeliso, sete ea li-parameter tsa tokiso e ka hlalosoa le ho kenngoa ho mokhanni.
Boholo ba liparamente tsa tokiso ke menyako e ka khonehang, e sebelisoang ho algorithm ea kalafo ea matšoao. Ho fetola liparamente tsena ho lumella algorithm ho etsa khoebo ea tekheniki molemong oa tšebeliso ea bareki.
Beha parameter ea tokiso
Ho na le ts'ebetso e 'ngoe ea ho kenya liparamente tsa tokiso. Bakeng sa linyeoe tse khethehileng tsa ts'ebeliso, ST e ka khothaletsa liparamente tse itseng tse entsoeng ka senotlolo le boleng.
Lethathamo la liparamente tsa tokiso le boleng ba tsona ba kamehla le fanoe ho vl53lx_tuning_parm_defaults.h file. Fetola boleng ba paramethara ea tokiso ho sena file le ho bokella khoutu hape, kapa sebelisa VL53LX_SetTuningParameter() ts'ebetso ho kenya paramethara ena ea tokiso.
Ho fetola paramethara ea tokiso ho ka fetola tšebetso ea sesebelisoa. ST e khothaletsa ho sebelisa litekanyetso tsa kamehla bakeng sa liphetho tse nepahetseng.
Ntlafatsa ho nepahala
Ho ntlafatsa ho nepahala ha sesebelisoa, sebelisa parameter ea tokiso e bitsoang VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER. Ka mokhoa o ikhethileng paramethara ena ea tokiso ha e sebelisoe (boleng bo behiloe ho 0).
ST e khothalletsa ho beha litekanyetso tsa calibration le ho phalla ho tloha ho 2 ka mor'a static_init. Tabeng ena, nako ea ho etsa tekanyo ea pontšo ea litšupiso e eketseha 'me e lumella ho nepahala ho molemo. Ho beha paramente ena ho 2 ho eketsa nako ea ho fumana tekanyo ea pele ka 240 ms.
Ntlafatsa latency le max ho tloha bohole
Ha sepheo se ntse se tsamaea, VL53L3CX e ka hloka mefuta e mengata ea ho itšoara, ho itšetlehile ka ketsahalo. Mokhoa oa ho ntlafatsa ho lieha ha nako ke ho tobetsa VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD parameter. Boleng ba kamehla ke 15000. E ka theoleloa ho ntlafatsa latency, empa sebaka se phahameng sa ho tloha se tla ameha.
Haeba mosebelisi a eketsa boleng, sebaka se phahameng sa ho tloha se ka ntlafatsoa, empa latency ea ameha.
Koahela smudge ea khalase
Crosstalk e ka angoa ke smudge holim'a khalase ea sekoahelo. VL53L3CX e kenya ts'ebetso e khonang ho bona smudge ho fofa le ho sebelisa boleng bo bocha ba ho lokisa crosstalk. Mosebelisi a ka nolofalletsa / a tima tšebetso ena ka ho letsetsa VL53LX_SmudgeCorrectionEnable().
Likhetho tse tharo tse latelang li ka hlophisoa ka ts'ebetso ena:
- VL53LX_SMUDGE_CORRECTION_NONE ho thibela tokiso
- VL53LX_SMUDGE_CORRECTION_CONTINUOUS ho nolofalletsa tokiso e tsoelang pele
- VL53LX_SMUDGE_CORRECTION_SINGLE ho nolofalletsa tokiso e le 'ngoe ka mor'a hore taelo ea ho qala e amoheloe.
Ho fumanoa ha smudge ho ntse ho sebetsa sebakeng se seng le se seng. Haeba maemo a mang a finyelloa (ha ho ntho e ka tlase ho 80 cm, khanya e ka tlas'a moeli, le boleng ba crosstalk ka holimo ho 1kcps), boleng bo bocha ba crosstalk bo baloa.
Haeba tokiso ea smudge e setiloe, boleng ba crosstalk boa lokisoa 'me folakha ea HasXtalkValueChanged e behiloe. Folakha ena e hlakotsoe ka bo eona sebakeng se latelang.
Tlhokomeliso: Tokiso ea smudge e lekanyelitsoe ho:
- 1.2 m ho sebelisa mokhoa oa sebaka se khuts'oane
- 1.7 m ho sebelisa mokhoa oa sebaka se mahareng
- 3.8 m ho sebelisa mokhoa oa sebaka se selelele.
Aterese ea I2C
Aterese ea kamehla ea I2C ea VL53L3CX ke 0x52. Lisebelisoa tse ling li hloka ho seta aterese e fapaneng ea sesebelisoa sa I2C. Ho joalo, ho mohlalaample, ha likarolo tse 'maloa tsa VL53L3CX li arolelana bese e tšoanang ea I2C.
Moreki o lokela ho sebelisa mokhoa o latelang:
- Boto e kenyang VL53L3CX e tlameha ho raloa ka hloko. Lithakhisa tsa Xshut le GPIO1 (tse sitisang) li tlameha ho laoloa ka bonngoe bakeng sa VL53L3CX ka 'ngoe.
- Moamoheli o tlameha ho kenya HW Standby, a behe pina ea Xshut tlase, kaofela VL53L3CX.
- Moamoheli o phahamisa pinana ea Xshut ea 1 ea VL53L3CX
- Moamoheli o bitsa mosebetsi VL53LX_SetDeviceAddress()
- Moamoheli o pheta lintlha tse tharo tsa ho qetela kaha liaterese tsohle tsa VL53L3CX li behiloe ka nepo.
Bakeng sa mohlalaample, ka ho letsetsa tšebetso: status = VL53LX_SetDeviceAddress(&VL53L3Dev, WantedAddress) boleng ba WantedAddress bo behiloe joalo ka aterese e ncha ea I2C.
Mesebetsi ea ho lekanya fektheri ea bareki
Bakeng sa ho rua molemo ts'ebetsong e felletseng ea sesebelisoa, mokhanni oa VL53L3CX o kenyelletsa mesebetsi ea calibration e lokelang ho tsamaisoa hang moleng oa tlhahiso ea bareki.
Mekhoa ea ho lekanya e tlameha ho etsoa ho lefella likarolo tse itseng tse ka amang tšebetso ea sesebelisoa. Lintlha tsa calibration tse bolokiloeng ho moamoheli li tlameha ho kengoa ho VL53L3CX qalong e 'ngoe le e' ngoe ho sebelisoa ts'ebetso ea mokhanni e inehetseng. Ho hlokahala litekanyo tse tharo: refSPAD, crosstalk le offset.
Taelo ea mesebetsi ea calibration e bitsoa ka tsela e latelang:
- refSPAD
- crosstalk
- offset
Mesebetsi e meraro ea ho lekanya e ka etsoa ka mokhoa oa tatellano kapa ka bonngoe. Ha e tsamaisoa ka bonngoe, data ea mehato e fetileng e tlameha ho laeloa pele e sebelisa calibration.
Tekanyo ea RefSPAD
Palo ea single photon avalanche diode (SPAD) e lekantsoe nakong ea tlhahlobo ea mojule oa ho qetela ho ST. Boleng bona ba karolo-ho-karolo bo bolokoa ho NVM mme bo kenngoa ka bo eona sesebelisoa nakong ea boot.
Tekanyetso ena e lumella ho lokisa palo ea li-SPAD ho ntlafatsa matla a sesebelisoa.
Leha ho le joalo, ho eketsa khalase e koahelang holim'a mojule ho ka ama tekanyo ena. ST e khothalletsa hore moreki a etse tlhahlobo ena hape ts'ebetsong ea ho qetela ea sehlahisoa. Algorithm e tšoanang e sebetsang ho FMT e sebelisoa ha mosebetsi ona o bitsoa: algorithm e batla libakeng tse tharo: 1 (1x attenuated SPADs), 2 (5 x attenuated SPADs) le 3 (10 x attenuated SPADs). Palo ea li-SPAD tse khethiloeng e etsoa ho qoba ho tlala ha matšoao.
Mosebetsi oa ho lekanya RefSPAD
Ts'ebetso e latelang ea fumaneha bakeng sa tlhophiso ea SPAD: VL53LX_PerformRefSpadManagement(VL53LX_DEV Dev)
Hlokomela: Mosebetsi ona o tlameha ho bitsoa pele ts'ebetsong ea calibration.
Mosebetsi o ka hlahisa melaetsa e meraro e latelang ea temoso:
- VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPA S Ka tlase ho 5 SPAD e ntle e teng, tlhahiso ha e sebetse
- VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH Qetellong ea referense ea lipatlisiso > 40.0 Mcps Offset botsitso bo ka senyeha.
- VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW Qetellong ea referense ea lipatlisiso <10.0 Mcps. Offset botsitso e ka 'na ea senyeha.
Mokhoa oa ho lekanya RefSPAD
Ha ho maemo a itseng a lokelang ho lateloa bakeng sa ho lekanya sena, ntle le hore ha ho sepheo se lokelang ho behoa holim'a sesebelisoa.
Nako ea ho lekanya sena ke limilimithara tse 'maloa feela.
Ts'ebetso ena e tlameha ho bitsoa ka mor'a hore VL53LX_DataInit() e bitsoa.
Ho fumana liphetho tsa tlhahlobo ea refSPAD
Mosebetsi oa VL53LX_GetCalibrationData() o khutlisa data eohle ea calibration. Sebopeho se khutlisitsoeng VL53LX_CalibrationData_t se na le sebopeho se seng se bitsoang VL53LX_customer_nvm_managed_t, se nang le liparamente tse robeli tsa refSPAD:
- ref_spad_man__num_requested_ref_spads: boleng bona bo pakeng tsa 5 le 44. E fana ka palo ea li-SPAD tse khethiloeng
- ref_spad_man__ref_location: boleng bona bo ka ba 1, 2 kapa 3. E fana ka sebaka sa li-SPAD sebakeng sa boitsebiso.
- likarolo tse ling tse tšeletseng li fana ka limmapa tse nepahetseng tsa sebaka se khethiloeng:
- 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
Ho beha data ea refSPAD ea calibration
Nakong e 'ngoe le e' ngoe ea ho qala, ka mor'a bootlamo ea pele, ts'ebeliso ea tšimo ea bareki e ka kenya data ea calibration ea refSPAD ka mor'a hore mosebetsi oa VL53LX_DataInit () o bitsoe, ka ho sebelisa VL53LX_SetCalibrationData ().
Ho kgothaletswa ho fumana sebopeho sohle sa calibration ka ho letsetsa VL53LX_GetCalibrationData(). Fetola liparamente tse robeli tse hlalositsoeng Karolong ea 6.1.3 Ho fumana liphetho tsa tlhahlobo ea refSPAD le ho letsetsa VL53LX_SetCalibrationData().
Tekanyetso ea Crosstalk
Crosstalk (XTalk) e hlalosoa e le palo ea pontšo e fumanoang lethathamong la ho khutla le bakoang ke khanya ea leseli la VCSEL ka har'a fensetere e sireletsang (sekoahelo sa khalase) se kentsoeng ka holim'a module bakeng sa mabaka a botle.
Ho latela boleng ba khalase ea sekoaelo, lets'oao lena la parasitic le ka ama ts'ebetso ea sesebelisoa. VL53L3CX e na le khalemelo e hahiloeng e lefang bothata bona.
Crosstalk calibration e sebelisetsoa ho lekanya palo ea khalemelo e hlokahalang ho lefella phello ea khalase ea sekoahelo e kentsoeng ka holim'a module.
Tlhahiso ea crosstalk calibration e na le mekhahlelo e mengata e hlalosang mokhoa oa crosstalk, joalokaha o hlalositsoe ho Karolo ea 6.2.3 Ho fumana liphetho tsa crosstalk calibration.
Mosebetsi oa crosstalk calibration
Ts'ebetso e latelang e inehetseng ea fumaneha bakeng sa ho lekanya crosstalk: VL53LX_PerformXTalkCalibration(&VL53L3Dev);
Hlokomela: Mosebetsi ona o tlameha ho bitsoa boemong ba bobeli mokhoeng oa ho lekanya, ka mor'a hore tlhahlobo ea refSPAD e etsoe, le pele ho lekanngoa ha offset.
Mokhoa oa ho lekanya Crosstalk
Ho etsa calibration ea crosstalk, sepheo se tlameha ho behoa sebaka sa 600mm ho tloha mochine. Crosstalk calibration e lokela ho etsoa sebakeng se lefifi ntle le monehelo oa IR. Kamora hore mesebetsi ea VL53LX_DataInit() le VL53LX_PerformRefSpadManagement() e bitsoe, tšebetso e inehetseng ea calibration e tlameha ho bitsoa, ho sebelisoa: VL53LX_PerformXTalkCalibration(&VL53L3Dev). Ha mesebetsi ena e bitsoa, crosstalk calibration e etsoa 'me tokiso ea crosstalk e sebelisoa ka ho sa feleng.
Ho fumana liphetho tsa crosstalk calibration
Liphetho tsa calibration li na le, har'a tse ling, histogram le parameter e bitsoang "plane offset". The plane offset e emela palo ea tokiso e sebelisitsoeng, 'me histogram ke ho arola tokiso holim'a moqomo o mong le o mong. Ts'ebetso ea VL53LX_GetCalibrationData() e khutlisa data eohle ea calibration. Sebopeho se khutlisitsoeng VL53LX_CalibrationData_t se na le likarolo tse ling. The plane offset e fumaneha ka VL53LX_customer_nvm_managed_t: algo_crosstalk_compensation_plane_offset_kcps ke ntlha e tsitsitseng 7.9 coded value. E tlameha ho aroloa ka 512 ho fumana palo ea sebele.
Mehaho e meng e 'meli e amehang e khutlisitsoe: VL53LX_xtalk_histogram_data_t le algo__xtalk_cpo_HistoMerge_kcps. Hoa tlama ho li boloka.
Ho beha data ea crosstalk calibration
Hang ha mosebetsi oa VL53LX_DataInit() o bitsoa, moreki a ka kenya data ea crosstalk calibration a sebelisa: VL53LX_SetCalibrationData()
Ho molemo ho letsetsa VL53LX_GetCalibrationData(), fetola liparamente tse hlalositsoeng karolong e fetileng, sebopeho sa xtalk_histogram se kenyelelitsoe, le ho letsetsa VL53LX_SetCalibrationData()
Numella/thibela matseliso a crosstalk
Ts'ebetso ea VL53LX_SetXTalkCompensationEnable() e nolofalletsa kapa e tima matšeliso a crosstalk.
Hlokomela: Matšeliso a Crosstalk a koetsoe ka ho sa feleng. Ho nolofalletsa matšeliso a crosstalk letsetsa V53LX_SetXTalkCompensationEnable&VL53L3Dev, 1);
Ho tima phihlello ea crosstalk letsetsa VL53LX_SetXTalkCompensationEnable&VL53L3Dev, 0);
Hlokomela: Ts'ebetso ena ha e etse calibration kapa crosstalk data loading, e thusa feela matšeliso.
Hlokomela: Khatiso, kapa ho kenya ts'ebetso ea data ea calibration, e tlameha ho bitsoa ka thoko ho ts'ebetso ena ea bulela/thibela (sheba likarolo tse kaholimo).
Tekanyetso ea Offset
Ho rekisa sesebelisoa ho boto ea bareki kapa ho eketsa khalase ea sekoahelo ho ka hlahisa offset sebakeng se hole. Qetello ena ea karolo ho ea ho karolo e tlameha ho lekanyetsoa nakong ea ho lekanngoa ha offset. Tekanyetso ea Offset e boetse e lumella ho lekanya boleng ba dmax, ho sebelisa maemo a tšoanang a calibration ho feta a offset calibration.
Ts'ebetso ea ho lekanya ea Offset
Mesebetsi e 'meli e latelang e teng bakeng sa tlhophiso ea offset:
- VL53LX_PerformOffsetSimpleCalibration(Dev, CalDistanceMilliMeter)
- VL53LX_PerformOffsetPerVCSELCalibration(Dev, CalDistanceMilliMeter)
Khang ea mesebetsi ke sebaka se lebeletsoeng ka limilimithara. Tekanyetso ea Offset e tlameha ho etsoa ka mor'a tokiso ea crosstalk.
VL53LX_PerformOffsetPerVCSELCalibration ke mosebetsi o nepahetseng ka ho fetisisa, empa ho nka nako e teletsana ho etsa calibration (nako e atisoa ke 3).
Mokhoa oa ho lekanya oa Offset
Bareki ba ka khetha pontšo efe kapa efe ea chate e behiloeng sebakeng leha e le sefe (ba sebelisa mokhoa o tšoanang le oa crosstalk calibration). Ntho feela eo u lokelang ho e hlahloba ke ho netefatsa hore sekhahla sa lets'oao se lekantsoe lipakeng tsa 2 le 80 MCps ka setup se khethiloeng.
Letlapa la 3. Ho seta ho lekanngoa ha Offset
| Chate | Sebaka | Maemo a tikoloho | Sekhahla sa Letšoao |
| Leha e le efe | Leha e le efe | Lefifi (ha ho monehelo oa IR) | 2MCps < Sekhahla sa Signal <80Mcps |
Melaetsa e 'meli ea temoso e khutlisoa ke mesebetsi ena:
- VL53LX_WARNING_OFFSET_CAL_INSUFFICIENT_MM1_SP DS Letšoao le tlase haholo, Ho nepahala ha calibration ea offset ho ka senyeha.
- VL53LX_WARNING_OFFSET_CAL_PRE_RANGE_RATE_TOO_H GH Letshwao le hodimo haholo. Ho nepahala ha tlhophiso ea offset ho ka senyeha.
Ho fumana liphetho tsa tlhahlobo ea offset
Mosebetsi oa VL53LX_GetCalibrationData() o khutlisa data eohle ea calibration. Sebopeho se khutlisitsoeng VL53LX_CalibrationData_t se na le sebopeho se seng se bitsoang VL53LX_customer_nvm_managed_t se nang le liphetho tse tharo tsa tlhophiso ea offset:
- algo__karolo_ho_karolo_range_offset_mm
- mm_config__inner_offset_mm
- mm_config__outer_offset_mm
Kakaretso ea kakaretso e sebelisoang ho sesebelisoa ke karolelano ea litekanyetso tse peli tsa ho qetela. Haeba perVCSELCalibration e khethiloe, tlhahiso ea ts'ebetso e kenyelletsa lintlha tse latelang:
- short_a_offset_mm
- short_b_offset_mm
- mahareng_a_offset_mm
- mahareng_b_offset_mm
- telele_a_offset_mm
- long_bb_offset_mm
Ho ipapisitsoe le sebaka sa hole (nako ea VCSEL) se khethiloeng, e 'ngoe ea li-offsets tsena e sebelisoa ka bo eona.
Ho khetha mokhoa oa ho lokisa oa offset
Mokhoa oa tokiso ea offset o ka hlophisoa ka likhetho tse peli, o sebelisa VL53LX_SetOffsetCorrectionMode mosebetsi.
Hlokomela: VL53LX_OFFSETCORRECTIONMODE_PERVCSEL e lokela ho sebelisoa ka ho sa feleng. E lumella ho eketsa ho nepahala ha offset ka nako ea VCSEL.
Letlapa la 4. Likhetho tsa tokiso ea Offset
| Ts'ebetso ea ho lekanya ea Offset e bitsoa | Khetho ea mokhoa oa ho lokisa e tla sebelisoa |
| PerformSimpleOffsetCalibration | VL53LX_OFFSETCORRECTIONMODE_STANDARD |
| PerformPerVCSELOffsetCalibration | VL53LX_OFFSETCORRECTIONMODE_PERVCSEL |
Hlokomela: Haeba ho na le mofuta o le mong feela oa offset calibration, hoa hlokahala ho beha mokhoa oa tokiso ea offset ho khetho e lumellanang. Sena ha se etsoe ka bohona.
Ho beha data ea offset calibration
Moreki a ka kenya data ea calibration ea offset kamora hore mosebetsi oa VL53LX_DataInit() o bitsoe, ka ho sebelisa VL53LX_SetCalibrationData().
Ho molemo ho letsetsa VL53LX_GetCalibrationData(), fetola liparamente tse hlalositsoeng likarolong tse fetileng, ebe u letsetsa VL53LX_SetCalibrationData()
Litokiso tsa mabenkele a ho lokisa bareki
Haeba litekanyetso tsa calibration li lahleha, ka lebaka la phetoho ea likarolo lebenkeleng la ho lokisa, moreki a ka sebelisa mokhoa o inehetseng, moo ho sa hlokeheng setupo se itseng (lipheo).
Calibration e entsoe ka mehato e meraro:
- RefSpad
- Crosstalk
- Litekanyetso tsa Offset
RefSpad le Xtalk li tšoana le tse hlalositsoeng ho Karolo ea 6.1 RefSPAD calibration le Karolo ea 6.2 ea Crosstalk calibration.
Ho na le ts'ebetso e inehetseng ea ho etsa calibration ea offset: VL53LX_PerformOffsetZeroDistanceCalibration.
Sepheo se tlameha ho behoa ka pel'a sesebelisoa, ho ama khalase ea sekoahelo. Sepheo e ka ba pampiri e bonolo (e se nang tlhokahalo e khethehileng ea pontšo ea pampiri).
Mosebetsi o ka holimo o tlameha ho bitsoa 'me liphetho li ka khutlisoa ka mokhoa o ts'oanang le ts'ebetso e hlalositsoeng likarolong tse fetileng.
Liphoso le litemoso tsa bakhanni ba bare
Phoso ea mokhanni e tlalehoa ha mosebetsi ofe kapa ofe oa mokhanni o bitsoa. Litekanyetso tse ka bang teng bakeng sa liphoso tsa mokhanni li hlalositsoe tafoleng e latelang. Litemoso li teng ho tsebisa mosebelisi hore likarolo tse ling ha lia ntlafatsoa. Litemoso ha li thibele moamoheli.
Letlapa la 5. Liphoso tsa bakhanni ba se nang letho le litlhaloso tsa litemoso
| Boleng ba phoso | Khoele ea phoso ea API | Ketsahalo |
| 0 | VL53LX_ERROR_NONE | Ha ho phoso |
| -1 | VL53LX_ERROR_CALIBRATION_WARNING | Lintlha tse fosahetseng |
| -4 | VL53LX_ERROR_INVALID_PARAMS | Paramethara e sa sebetseng e behiloe tšebetsong |
| -5 | VL53LX_ERROR_NOT_SUPPORTED | Paramethara e kopiloeng ha e tšehetsoe litlhophisong tse hlophisitsoeng |
| -6 | VL53LX_ERROR_RANGE_ERROR | Boemo ba ho sitisa ha boa nepahala |
| -7 | VL53LX_ERROR_TIME_OUT | Nako ea ho tsamaea e felisitsoe ka lebaka la nako |
| -8 | VL53LX_ERROR_MODE_NOT_SUPPORTED | Mokhoa o kopiloeng ha o sebetse |
| -10 | VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL | Buffer e fanoeng e kholo ho feta litšehetso tsa I2C |
| -13 | VL53LX_ERROR_CONTROL_INTERFACE | Phoso e tlalehiloe ho tsoa tšebetsong ea IO |
| -14 | VL53LX_ERROR_INVALID_COMMAND | Taelo ha e sebetse |
| -16 | VL53LX_ERROR_REF_SPAD_INIT | Phoso e etsahetse nakong ea ho lokisa Reference SPAD |
| -17 | VL53LX_ERROR_GPH_SYNC_CHECK_FAIL | Mokhanni ha a hokahana le sesebelisoa. Ho ka hlokahala ho emisa/ho qala kapa ho qala bocha |
| -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 | Ha ho katleho samples ha o sebelisa lenane le felletseng ho sample crosstalk. Tabeng ena ha ho na tlhahisoleseding e lekaneng ho hlahisa boleng bo bocha ba crosstalk. Ts'ebetso e tla tsoa ebe e siea liparamente tsa hajoale tsa crosstalk li sa fetoloa |
| -23 | VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_L IMIT_FAIL | Khakanyo ea avg sigma ea crosstalk sample ke > ho feta tekanyo e dumelletsweng. Tabeng ena crosstalk sample lerata haholo bakeng sa ho metha. Ts'ebetso e tla tsoa ebe e siea liparamente tsa hajoale tsa crosstalk li sa fetoloa |
| -24 | VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FA IL | Phoso e etsahetse nakong ea tlhophiso ea offset. Sheba hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -25 | VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENA BLED_FAIL | |
| -28 | VL53LX_WARNING_REF_SPAD_CHAR_NOT_EN OUGH_SPADS | Tlhokomeliso: palo ea li-spad tse fumanoeng li tlase haholo hore li ka lokisoa hantle ka refSpadManagement. Netefatsa hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -29 | VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_HIGH | Tlhokomeliso: sekhahla sa lets'oao se fumanoe se le tlase haholo ho fumana tekano e nepahetseng ea refSpadManagement. Netefatsa hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -30 | VL53LX_WARNING_REF_SPAD_CHAR_RATE_TO O_LOW | Tlhokomeliso: Palo ea li-spads tse fumanoeng li le tlase haholo hore li ka lokisoa ka nepo. Netefatsa hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -31 | VL53LX_WARNING_OFFSET_CAL_MISSING_SA MPLES | Tlhokomeliso e etsahetse nakong ea tlhophiso ea offset. Netefatsa hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -32 | VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_ HIGH | |
| -33 | VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HI GH | |
| -34 | VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW | |
| -38 | VL53LX_WARNING_XTALK_MISSING_SAMPTS'ELISO | Tlhokomeliso e etsahetse nakong ea tlhophiso ea crosstalk. Netefatsa hore ho seta ho tsamaellana le likhothaletso tsa ST. |
| -41 | VL53LX_ERROR_NOT_IMPLEMENTED | Mosebetsi o bitswang ha o kenngwe tshebetsong |
Nalane ea ntlafatso
| Letsatsi | Phetolelo | Liphetoho |
| 28-Sep-2020 | 1 | Tokollo ea pele |
| 02-Dec-2021 | 2 | E ntlafalitse meaho e khutlisitsoeng Karolong ea 6.2.3 Ho fumana liphetho tsa crosstalk calibration |
| 03-Phup-2022 | 3 | Karolo ea 3.1 Mokhanni o se nang letho: o kenyellelitse molaetsa mabapi le ho lekanyaKarolo ea 5.4 Koahela smudge ea khalase: o kentse molaetsa mabapi le tokiso ea smudge |
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Litokomane / Lisebelisoa
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ST VL53L3CX Nako ea Sensor e Ratang Sefofane [pdf] Bukana ea Mosebelisi VL53L3CX Nako ea Flight Ranging Sensor, VL53L3CX, Nako ea Sensor e Rangang Sefofane, Sensor e Rangang Sefofane, Sensor e Ralang |
