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Last modified by Mengting Qiu on 2023/12/14 11:15
From version 116.2
edited by Xiaoling
on 2023/11/13 10:37
Change comment: There is no comment for this version
To version 124.2
edited by Xiaoling
on 2023/11/28 15:12
Change comment: There is no comment for this version

Summary

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... ... @@ -60,9 +60,6 @@
60 60  * ToF FoV: ±9°, Total 18°
61 61  * Light source: VCSEL
62 62  
63 -(% style="display:none" %)
64 -
65 -
66 66  == 1.4 Power Consumption ==
67 67  
68 68  
... ... @@ -76,9 +76,6 @@
76 76  * Idle: 21 mA @ 3.3v
77 77  * Max : 360 mA
78 78  
79 -
80 -
81 -
82 82  = 2. Configure DS20L to connect to LoRaWAN network =
83 83  
84 84  == 2.1 How it works ==
... ... @@ -130,6 +130,7 @@
130 130  
131 131  (% style="color:blue" %)**Step 2:**(%%) Activate on DS20L
132 132  
127 +[[image:image-20231128133704-1.png||height="189" width="441"]]
133 133  
134 134  Press the button for 5 seconds to activate the DS20L.
135 135  
... ... @@ -155,9 +155,9 @@
155 155  
156 156  Example parse in TTNv3
157 157  
158 -[[image:image-20230805103904-1.png||height="131" width="711"]]
153 +[[image:1701149922873-259.png]]
159 159  
160 -(% style="color:blue" %)**Sensor Model**(%%): For DS20L, this value is 0x24
155 +(% style="color:blue" %)**Sensor Model**(%%): For DS20L, this value is 0x21
161 161  
162 162  (% style="color:blue" %)**Firmware Version**(%%): 0x0100, Means: v1.0.0 version
163 163  
... ... @@ -211,134 +211,117 @@
211 211  === 2.3.2 Uplink Payload, FPORT~=2 ===
212 212  
213 213  
214 -(((
215 -DS20L will send this uplink **after** Device Status once join the LoRaWAN network successfully. And DS20L will:
209 +==== (% style="color:red" %)**MOD~=1**(%%) ====
216 216  
217 -periodically send this uplink every 20 minutes, this interval [[can be changed>>||anchor="H3.3.1SetTransmitIntervalTime"]].
211 +Regularly detect distance and report. When the distance exceeds the limit, the alarm flag is set to 1, and the report can be triggered by external interrupts.
218 218  
219 -Uplink Payload totals 11 bytes.
220 -)))
213 +Uplink Payload totals 10 bytes.
221 221  
222 222  (% border="1" cellspacing="4" style="background-color:#f2f2f2; width:510px" %)
223 -|=(% style="width: 60px;background-color:#4F81BD;color:white" %)(((
224 -**Size(bytes)**
225 -)))|=(% style="width: 30px;background-color:#4F81BD;color:white" %)**2**|=(% style="width: 80px;background-color:#4F81BD;color:white" %)**2**|=(% style="width: 50px;background-color:#4F81BD;color:white" %)**2**|=(% style="width: 70px;background-color:#4F81BD;color:white" %)**2**|=(% style="background-color:#4F81BD;color:white; width: 80px;" %)**1**|=(% style="background-color: #4F81BD;color:white; width: 70px;" %)**1**|=(% style="background-color: #4F81BD;color:white; width: 70px;" %)**1**
226 -|(% style="width:62.5px" %)Value|(% style="width:62.5px" %)[[BAT>>||anchor="HBatteryInfo"]]|(% style="width:62.5px" %)(((
227 -[[Temperature DS18B20>>||anchor="HDS18B20Temperaturesensor"]]
228 -)))|[[Distance>>||anchor="HDistance"]]|[[Distance signal strength>>||anchor="HDistancesignalstrength"]]|(% style="width:122px" %)(((
229 -[[Interrupt flag & Interrupt_level>>||anchor="HInterruptPin26A0InterruptLevel"]]
230 -)))|(% style="width:54px" %)[[LiDAR temp>>||anchor="HLiDARtemp"]]|(% style="width:96px" %)(((
231 -[[Message Type>>||anchor="HMessageType"]]
232 -)))
216 +|(% style="background-color:#4f81bd; color:white; width:60px" %)**Size(bytes)**|(% style="background-color:#4f81bd; color:white; width:30px" %)**2**|(% style="background-color:#4f81bd; color:white; width:130px" %)**1**|(% style="background-color:#4f81bd; color:white; width:70px" %)**2**|(% style="background-color:#4f81bd; color:white; width:100px" %)**1**|(% style="background-color:#4f81bd; color:white; width:120px" %)**4**
217 +|(% style="width:91px" %)Value|(% style="width:41px" %)BAT|(% style="width:176px" %)MOD+ Alarm+Interrupt|(% style="width:74px" %)Distance|(% style="width:100px" %)Sensor State|(% style="width:119px" %)Interrupt Count
233 233  
234 -[[image:image-20230805104104-2.png||height="136" width="754"]]
219 +[[image:1701155076393-719.png]]
235 235  
221 +(% style="color:blue" %)**Battery Info:**
236 236  
237 -==== (% style="color:blue" %)**Battery Info**(%%) ====
223 +Check the battery voltage for DS20L
238 238  
225 +Ex1: 0x0E10 = 3600mV
239 239  
240 -Check the battery voltage for DS20L.
241 241  
242 -Ex1: 0x0B45 = 2885mV
228 +(% style="color:blue" %)**MOD & Alarm & Interrupt:**
243 243  
244 -Ex2: 0x0B49 = 2889mV
230 +(% style="color:red" %)**MOD:**
245 245  
232 +**Example: ** (0x60>>6) & 0x3f =1
246 246  
247 -==== (% style="color:blue" %)**DS18B20 Temperature sensor**(%%) ====
234 +**0x01:**  Regularly detect distance and report.
235 +**0x02: ** Uninterrupted measurement (external power supply).
248 248  
237 +(% style="color:red" %)**Alarm:**
249 249  
250 -This is optional, user can connect external DS18B20 sensor to the +3.3v, 1-wire and GND pin . and this field will report temperature.
239 +When the detection distance exceeds the limit, the alarm flag is set to 1.
251 251  
241 +(% style="color:red" %)**Interrupt:**
252 252  
253 -**Example**:
243 +Whether it is an external interrupt.
254 254  
255 -If payload is: 0105H:  (0105 & FC00 == 0), temp = 0105H /10 = 26.1 degree
256 256  
257 -If payload is: FF3FH :  (FF3F & FC00 == 1) , temp = (FF3FH - 65536)/10 = -19.3 degrees.
246 +(% style="color:blue" %)**Distance info:**
258 258  
259 -
260 -==== (% style="color:blue" %)**Distance**(%%) ====
261 -
262 -
263 -Represents the distance value of the measurement output, the default unit is cm, and the value range parsed as a decimal number is 0-1200. In actual use, when the signal strength value Strength.
264 -
265 -
266 266  **Example**:
267 267  
268 -If the data you get from the register is 0x0B 0xEA, the distance between the sensor and the measured object is 0BEA(H) = 3050 (D)/10 = 305cm.
250 +If payload is: 0708H: distance = 0708H = 1800 mm
269 269  
270 270  
271 -==== (% style="color:blue" %)**Distance signal strength**(%%) ====
253 +(% style="color:blue" %)**Sensor State:**
272 272  
255 +Ex1: 0x00: Normal collection distance
273 273  
274 -Refers to the signal strength, the default output value will be between 0-65535. When the distance measurement gear is fixed, the farther the distance measurement is, the lower the signal strength; the lower the target reflectivity, the lower the signal strength. When Strength is greater than 100 and not equal to 65535, the measured value of Dist is considered credible.
257 +Ex2 0x0x: Distance collection is wrong
275 275  
276 276  
277 -**Example**:
260 +(% style="color:blue" %)**Interript Count:**
278 278  
279 -If payload is: 01D7(H)=471(D), distance signal strength=471, 471>100,471≠65535, the measured value of Dist is considered credible.
262 +If payload is:000007D0H: count = 07D0H =2000
280 280  
281 -Customers can judge whether they need to adjust the environment based on the signal strength.
282 282  
283 283  
284 -**1) When the sensor detects valid data:**
266 +==== (% style="color:red" %)**MOD~=2**(%%)** ** ====
285 285  
286 -[[image:image-20230805155335-1.png||height="145" width="724"]]
268 +Uninterrupted measurement. When the distance exceeds the limit, the output IO is set high and reports are reported every five minutes. The time can be set and powered by an external power supply.Uplink Payload totals 11bytes.
287 287  
270 +(% border="1" cellspacing="4" style="background-color:#f2f2f2; width:510px" %)
271 +|(% style="background-color:#4f81bd; color:white; width:70px" %)**Size(bytes)**|(% style="background-color:#4f81bd; color:white; width:40px" %)**2**|(% style="background-color:#4f81bd; color:white; width:130px" %)**1**|(% style="background-color:#4f81bd; color:white; width:130px" %)**4**|(% style="background-color:#4f81bd; color:white; width:70px" %)**2**|(% style="background-color:#4f81bd; color:white; width:70px" %)**2**
272 +|(% style="width:91px" %)Value|(% style="width:41px" %)BAT|(% style="width:176px" %)MOD+Alarm+Do+Limit flag|(% style="width:74px" %)Distance Limit Alarm count|(% style="width:100px" %)Upper limit|(% style="width:119px" %)Lower limit
288 288  
289 -**2) When the sensor detects invalid data:**
274 +[[image:1701155150328-206.png]]
290 290  
291 -[[image:image-20230805155428-2.png||height="139" width="726"]]
276 +(% style="color:blue" %)**MOD & Alarm & Do & Limit flag:**
292 292  
278 +(% style="color:red" %)**MOD:**
293 293  
294 -**3) When the sensor is not connected:**
280 +**Example: ** (0x60>>6) & 0x3f =1
295 295  
296 -[[image:image-20230805155515-3.png||height="143" width="725"]]
282 +**0x01:**  Regularly detect distance and report.
283 +**0x02: ** Uninterrupted measurement (external power supply).
297 297  
285 +(% style="color:red" %)**Alarm:**
298 298  
299 -==== (% style="color:blue" %)**Interrupt Pin & Interrupt Level**(%%) ====
287 +When the detection distance exceeds the limit, the alarm flag is set to 1.
300 300  
289 +(% style="color:red" %)**Do:**
301 301  
302 -This data field shows if this packet is generated by interrupt or not. [[Click here>>||anchor="H3.3.2SetInterruptMode"]] for the hardware and software set up.
291 +When the distance exceeds the set threshold, pull the Do pin high.
303 303  
304 -Note: The Internet Pin is a separate pin in the screw terminal. See pin mapping of GPIO_EXTI .
293 +(% style="color:red" %)**Limit flag:**
305 305  
306 -**Example:**
295 +Mode for setting threshold: 0~~5
307 307  
308 -If byte[0]&0x01=0x00 : Normal uplink packet.
297 +0: does not use upper and lower limits
309 309  
310 -If byte[0]&0x01=0x01 : Interrupt Uplink Packet.
299 +1: Use upper and lower limits
311 311  
301 +2: is less than the lower limit value
312 312  
313 -==== (% style="color:blue" %)**LiDAR temp**(%%) ====
303 +3: is greater than the lower limit value
314 314  
305 +4: is less than the upper limit
315 315  
316 -Characterize the internal temperature value of the sensor.
307 +5: is greater than the upper limit
317 317  
318 -**Example: **
319 -If payload is: 1C(H) <<24>>24=28(D),LiDAR temp=28℃.
320 -If payload is: F2(H) <<24>>24=-14(D),LiDAR temp=-14℃.
321 321  
310 +(% style="color:blue" %)**Upper limit:**
322 322  
323 -==== (% style="color:blue" %)**Message Type**(%%) ====
312 +The upper limit of the threshold cannot exceed 2000mm.
324 324  
325 325  
326 -(((
327 -For a normal uplink payload, the message type is always 0x01.
328 -)))
315 +(% style="color:blue" %)**Lower limit:**
329 329  
330 -(((
331 -Valid Message Type:
332 -)))
317 +The lower limit of the threshold cannot be less than 3mm.
333 333  
334 -(% border="1" cellspacing="5" style="background-color:#f2f2f2; width:499px" %)
335 -|=(% style="width: 161px;background-color:#4F81BD;color:white" %)**Message Type Code**|=(% style="width: 164px;background-color:#4F81BD;color:white" %)**Description**|=(% style="width: 174px;background-color:#4F81BD;color:white" %)**Payload**
336 -|(% style="width:160px" %)0x01|(% style="width:163px" %)Normal Uplink|(% style="width:173px" %)Normal Uplink Payload
337 -|(% style="width:160px" %)0x02|(% style="width:163px" %)Reply configures info|(% style="width:173px" %)Configure Info Payload
338 338  
339 -[[image:image-20230805150315-4.png||height="233" width="723"]]
340 -
341 -
342 342  === 2.3.3 Historical measuring distance, FPORT~=3 ===
343 343  
344 344  
... ... @@ -470,90 +470,18 @@
470 470  
471 471  After added, the sensor data arrive TTN V3, it will also arrive and show in Datacake.
472 472  
473 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LDDS75%20-%20LoRaWAN%20Distance%20Detection%20Sensor%20User%20Manual/WebHome/image-20220610165129-11.png?width=1088&height=595&rev=1.1||alt="image-20220610165129-11.png"]]
451 +[[image:1701152946067-561.png]]
474 474  
475 475  
476 -== 2.5 Datalog Feature ==
454 +== 2.5 Frequency Plans ==
477 477  
478 478  
479 -Datalog Feature is to ensure IoT Server can get all sampling data from Sensor even if the LoRaWAN network is down. For each sampling, DS20L will store the reading for future retrieving purposes.
480 -
481 -
482 -=== 2.5.1 Ways to get datalog via LoRaWAN ===
483 -
484 -
485 -Set PNACKMD=1, DS20L will wait for ACK for every uplink, when there is no LoRaWAN network, DS20L will mark these records with non-ack messages and store the sensor data, and it will send all messages (10s interval) after the network recovery.
486 -
487 -* (((
488 -a) DS20L will do an ACK check for data records sending to make sure every data arrive server.
489 -)))
490 -* (((
491 -b) DS20L will send data in **CONFIRMED Mode** when PNACKMD=1, but DS20L won't re-transmit the packet if it doesn't get ACK, it will just mark it as a NONE-ACK message. In a future uplink if DS20L gets a ACK, DS20L will consider there is a network connection and resend all NONE-ACK messages.
492 -)))
493 -
494 -=== 2.5.2 Unix TimeStamp ===
495 -
496 -
497 -DS20L uses Unix TimeStamp format based on
498 -
499 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LHT65N%20LoRaWAN%20Temperature%20%26%20Humidity%20Sensor%20Manual/WebHome/image-20220523001219-11.png?width=627&height=97&rev=1.1||alt="图片-20220523001219-11.png" height="97" width="627"]]
500 -
501 -User can get this time from link:  [[https:~~/~~/www.epochconverter.com/>>url:https://www.epochconverter.com/]] :
502 -
503 -Below is the converter example
504 -
505 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LHT65N%20LoRaWAN%20Temperature%20%26%20Humidity%20Sensor%20Manual/WebHome/image-20220523001219-12.png?width=720&height=298&rev=1.1||alt="图片-20220523001219-12.png" height="298" width="720"]]
506 -
507 -
508 -So, we can use AT+TIMESTAMP=1611889405 or downlink 3060137afd00 to set the current time 2021 – Jan ~-~- 29 Friday 03:03:25
509 -
510 -
511 -=== 2.5.3 Set Device Time ===
512 -
513 -
514 -User need to set (% style="color:blue" %)**SYNCMOD=1**(%%) to enable sync time via MAC command.
515 -
516 -Once DS20L Joined LoRaWAN network, it will send the MAC command (DeviceTimeReq) and the server will reply with (DeviceTimeAns) to send the current time to DS20L. If DS20L fails to get the time from the server, DS20L will use the internal time and wait for next time request (AT+SYNCTDC to set the time request period, default is 10 days).
517 -
518 -(% style="color:red" %)**Note: LoRaWAN Server need to support LoRaWAN v1.0.3(MAC v1.0.3) or higher to support this MAC command feature, Chirpstack,TTN V3 v3 and loriot support but TTN V3 v2 doesn't support. If server doesn't support this command, it will through away uplink packet with this command, so user will lose the packet with time request for TTN V3 v2 if SYNCMOD=1.**
519 -
520 -
521 -=== 2.5.4 Poll sensor value ===
522 -
523 -
524 -Users can poll sensor values based on timestamps. Below is the downlink command.
525 -
526 -(% border="1" cellspacing="5" style="background-color:#f2f2f2; width:425.818px" %)
527 -|(% colspan="4" style="background-color:#4f81bd; color:white; width:423px" %)**Downlink Command to poll Open/Close status (0x31)**
528 -|(% style="width:58px" %)**1byte**|(% style="width:127px" %)**4bytes**|(% style="width:124px" %)**4bytes**|(% style="width:114px" %)**1byte**
529 -|(% style="width:58px" %)31|(% style="width:127px" %)Timestamp start|(% style="width:124px" %)Timestamp end|(% style="width:114px" %)Uplink Interval
530 -
531 -(((
532 -Timestamp start and Timestamp end-use Unix TimeStamp format as mentioned above. Devices will reply with all data logs during this period, using the uplink interval.
533 -)))
534 -
535 -(((
536 -For example, downlink command [[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/CPL01%20LoRaWAN%20Outdoor%20PulseContact%20%20Sensor%20Manual/WebHome/image-20220518162852-1.png?rev=1.1||alt="image-20220518162852-1.png"]]
537 -)))
538 -
539 -(((
540 -Is to check 2021/11/12 12:00:00 to 2021/11/12 15:00:00's data
541 -)))
542 -
543 -(((
544 -Uplink Internal =5s，means DS20L will send one packet every 5s. range 5~~255s.
545 -)))
546 -
547 -
548 -== 2.6 Frequency Plans ==
549 -
550 -
551 551  The DS20L uses OTAA mode and below frequency plans by default. If user want to use it with different frequency plan, please refer the AT command sets.
552 552  
553 553  [[http:~~/~~/wiki.dragino.com/xwiki/bin/view/Main/End%20Device%20Frequency%20Band/>>http://wiki.dragino.com/xwiki/bin/view/Main/End%20Device%20Frequency%20Band/]]
554 554  
555 555  
556 -3. Configure DS20L
462 += 3. Configure DS20L =
557 557  
558 558  == 3.1 Configure Methods ==
559 559  
... ... @@ -625,10 +625,7 @@
625 625  Example 1: Downlink Payload: 0100001E  ~/~/ Set Transmit Interval (TDC) = 30 seconds
626 626  )))
627 627  * (((
628 -Example 2: Downlink Payload: 0100003C  ~/~/ Set Transmit Interval (TDC) = 60 seconds 
629 -
630 -
631 -
534 +Example 2: Downlink Payload: 0100003C  ~/~/ Set Transmit Interval (TDC) = 60 seconds
632 632  )))
633 633  
634 634  === 3.3.2 Set Interrupt Mode ===
... ... @@ -648,7 +648,7 @@
648 648  the mode is 0 =Disable Interrupt
649 649  )))
650 650  |(% style="width:154px" %)(((
651 -AT+INTMOD=2
554 +AT+INTMOD=3
652 652  
653 653  (default)
654 654  )))|(% style="width:196px" %)(((
... ... @@ -669,6 +669,71 @@
669 669  
670 670  * Example 2: Downlink Payload: 06000003  ~/~/  Set the interrupt mode to rising edge trigger
671 671  
575 +== 3.3.3 Set work mode ==
576 +
577 +
578 +Feature: Switch working mode
579 +
580 +(% style="color:blue" %)**AT Command: AT+MOD**
581 +
582 +(% border="1" cellspacing="5" style="background-color:#f2f2f2; width:510px" %)
583 +|=(% style="width: 162px;background-color:#4F81BD;color:white" %)**Command Example**|=(% style="width: 193px;background-color:#4F81BD;color:white" %)**Function**|=(% style="width: 155px;background-color:#4F81BD;color:white" %)**Response**
584 +|(% style="width:162px" %)AT+MOD=?|(% style="width:191px" %)Get the current working mode.|(% style="width:106px" %)OK
585 +|(% style="width:162px" %)AT+MOD=1|(% style="width:191px" %)Set the working mode to Regular measurements.|(% style="width:106px" %)(((
586 +OK
587 +Attention:Take effect after ATZ
588 +)))
589 +
590 +(% style="color:blue" %)**Downlink Command:**
591 +
592 +* **Example: **0x0A00  ~/~/  Same as AT+MOD=0
593 +
594 +* **Example:** 0x0A01  ~/~/  Same as AT+MOD=1
595 +
596 +=== 3.3.4 Set threshold and threshold mode ===
597 +
598 +
599 +Feature, Set threshold and threshold mode
600 +
601 +When (% style="color:#037691" %)**AT+DOL=0,0,0,0,400**(%%) is set, No threshold is used, the sampling time is 400ms.
602 +
603 +(% style="color:blue" %)**AT Command: AT+DOL**
604 +
605 +(% border="1" cellspacing="4" style="background-color:#f2f2f2; width:510px" %)
606 +|(% style="background-color:#4f81bd; color:white; width:162px" %)**Command Example**|(% style="background-color:#4f81bd; color:white; width:240px" %)**Function**|(% style="background-color:#4f81bd; color:white; width:108px" %)**Response**
607 +|(% style="width:172px" %)AT+ DOL =?|(% style="width:279px" %)Get the current threshold mode and sampling time|(% style="width:118px" %)(((
608 +0,0,0,0,400
609 +OK
610 +)))
611 +|(% style="width:172px" %)AT+ DOL =1,1800,100,0,400|(% style="width:279px" %)Set only the upper and lower thresholds|(% style="width:118px" %)OK
612 +
613 +
614 +(% border="1" cellspacing="4" style="background-color:#f2f2f2; width:510px" %)
615 +|(% rowspan="11" style="color:blue; width:120px" %)**AT+DOL=5,1800,0,0,400**|(% rowspan="6" style="width:240px" %)The first bit sets the limit mode|(% style="width:150px" %)0: Do not use upper and lower limits
616 +|(% style="width:251px" %)1: Use upper and lower limits
617 +|(% style="width:251px" %)2: Less than the lower limit
618 +|(% style="width:251px" %)3: Greater than the lower limit
619 +|(% style="width:251px" %)4: Less than the upper limit
620 +|(% style="width:251px" %)5: Greater than the upper limit
621 +|(% style="width:226px" %)The second bit sets the upper limit value|(% style="width:251px" %)3~~2000MM
622 +|(% style="width:226px" %)The third bit sets the lower limit value|(% style="width:251px" %)3~~2000MM
623 +|(% rowspan="2" style="width:226px" %)The fourth bit sets the over-limit alarm or person or object count.|(% style="width:251px" %)0 Over-limit alarm, DO output is high
624 +|(% style="width:251px" %)1 Person or object counting statistics
625 +|(% style="width:226px" %)The fifth bit sets the sampling time|(% style="width:251px" %)(((
626 +0~~10000ms
627 +
628 +
629 +)))
630 +
631 +(% style="color:blue" %)**Downlink Command: 0x07**
632 +
633 +Format: Command Code (0x07) followed by 9bytes.
634 +
635 +* Example 0: Downlink Payload: 070000000000000190  **~-~-->**  AT+MOD=0,0,0,0,400
636 +
637 +* Example 1: Downlink Payload: 070107080064000190  **~-~-->**  AT+MOD=1,1800,100,0,400
638 +
639 +
672 672  = 4. Battery & Power Consumption =
673 673  
674 674  
... ... @@ -705,6 +705,33 @@
705 705  DS20L use the same frequency as other Dragino products. User can see the detail from this link:  [[Introduction>>doc:Main.End Device Frequency Band.WebHome||anchor="H1.Introduction"]]
706 706  
707 707  
676 +== 6.2 DS20L programming line ==
677 +
678 +
679 +缺图 后续补上
680 +
681 +feature:
682 +
683 +for AT commands
684 +
685 +Update the firmware of DS20L
686 +
687 +Support interrupt mode
688 +
689 +
690 +== 6.3 LiDAR probe position ==
691 +
692 +
693 +[[image:1701155390576-216.png||height="285" width="307"]]
694 +
695 +The black oval hole in the picture is the LiDAR probe.
696 +
697 +
698 +== 6.4 Interface definition ==
699 +
700 +[[image:image-20231128151132-2.png||height="305" width="557"]]
701 +
702 +
708 708  = 7. Trouble Shooting =
709 709  
710 710  == 7.1 AT Command input doesn't work ==
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