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...	...	@@ -912,11 +912,60 @@
912	912	**Firmware Upgrade Method: **[[Firmware Upgrade Instruction>>path:/xwiki/bin/view/Main/Firmware%20Upgrade%20Instruction%20for%20STM32%20base%20products/]]
913	913
914	914
	915	+= 3.  LiDAR ToF Measurement =
915	915
916		-= 3. Configure LSPH01 via AT Command or LoRaWAN Downlink =
	917	+== 3.1 Principle of Distance Measurement ==
917	917
	919	+The LiDAR probe is based on TOF, namely, Time of Flight principle. To be specific, the product emits modulation wave of near infrared ray on a periodic basis, which will be reflected after contacting object. The product obtains the time of flight by measuring round-trip phase difference and then calculates relative range between the product and the detection object, as shown below.
	920	+
	921	+[[image:file:///C:/Users/93456/AppData/Local/Temp/msohtmlclip1/01/clip_image001.png]]
	922	+
	923	+
	924	+
	925	+== 3.2 Distance Measurement Characteristics ==
	926	+
	927	+With optimization of light path and algorithm, The LiDAR probe has minimized influence from external environment on distance measurement performance. Despite that, the range of distance measurement may still be affected by the environment illumination intensity and the reflectivity of detection object. As shown in below:
	928	+
	929	+[[image:file:///C:/Users/93456/AppData/Local/Temp/msohtmlclip1/01/clip_image002.png]]
	930	+
	931	+
	932	+①Represents the detection blind zone of The LiDAR probe, 0-10cm, within which the output data is unreliable.
	933	+
	934	+②Represents the operating range of The LiDAR probe detecting black target with 10% reflectivity, 0.1-5m.
	935	+
	936	+③Represents the operating range of The LiDAR probe detecting white target with 90% reflectivity, 0.1-12m.
	937	+
	938	+
	939	+Vertical Coordinates: Represents the radius of light spot for The LiDAR probe at the different distances. The diameter of light spot depends on the FOV of The LiDAR probe (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows:
	940	+
	941	+
	942	+[[image:file:///C:/Users/93456/AppData/Local/Temp/msohtmlclip1/01/clip_image003.png]]
	943	+
	944	+
	945	+In the formula above, d is the diameter of light spot; D is detecting range; β is the value of the receiving angle of The LiDAR probe, 3.6°. Correspondence between the diameter of light spot and detecting range is given in Table below.
	946	+
	947	+[[image:file:///C:/Users/93456/AppData/Local/Temp/msohtmlclip1/01/clip_image004.png]]
	948	+
	949	+
	950	+If the light spot reaches two objects with different distances, as shown in Figure 3, the output distance value will be a value between the actual distance values of the two objects. For a high accuracy requirement in practice, the above situation should be noticed to avoid the measurement error.
	951	+
	952	+
	953	+
	954	+== 3.3 Notice of usage: ==
	955	+
	956	+Possible invalid /wrong reading for LiDAR ToF tech:
	957	+
	958	+* Measure high reflectivity object such as: Mirror, Smooth ceramic tile, static milk surface, will have possible wrong readings.
	959	+* While there is transparent object such as glass, water drop between the measured object and the LiDAR sensor, the reading might wrong.
	960	+* The LiDAR probe is cover by dirty things; the reading might be wrong. In this case, need to clean the probe.
	961	+* The sensor window is made by Acrylic. Don’t touch it with alcohol material. This will destroy the sensor window.
	962	+
	963	+
	964	+
	965	+= 4.  Configure LLDS12 via AT Command or LoRaWAN Downlink =
	966	+
918	918	(((
919		-Use can configure LSPH01 via AT Command or LoRaWAN Downlink.
	968	+Use can configure LLDS12 via AT Command or LoRaWAN Downlink.
920	920	)))
921	921
922	922	* (((
...	...	@@ -927,7 +927,9 @@
927	927	)))
928	928
929	929	(((
930		-There are two kinds of commands to configure LSPH01, they are:
	979	+
	980	+
	981	+There are two kinds of commands to configure LLDS12, they are:
931	931	)))
932	932
933	933	* (((
...	...	@@ -946,7 +946,7 @@
946	946	)))
947	947
948	948	(((
949		-They are same for all Dragino Device which support DLWS-005 LoRaWAN Stack. These commands can be found on the wiki:[[End Device AT Commands and Downlink Command>>path:/xwiki/bin/view/Main/End%20Device%20AT%20Commands%20and%20Downlink%20Command/]]
	1000	+They are same for all Dragino Device which support DLWS-005 LoRaWAN Stack. These commands can be found on the wiki: [[End Device AT Commands and Downlink Command>>path:/xwiki/bin/view/Main/End%20Device%20AT%20Commands%20and%20Downlink%20Command/]]
950	950	)))
951	951
952	952	(((
...	...	@@ -954,16 +954,16 @@
954	954	)))
955	955
956	956	* (((
957		-(% style="color:#4f81bd" %)** Commands special design for LSPH01**
	1008	+(% style="color:#4f81bd" %)** Commands special design for LLDS12**
958	958	)))
959	959
960	960	(((
961		-These commands only valid for LSPH01, as below:
	1012	+These commands only valid for LLDS12, as below:
962	962	)))
963	963
964	964
965	965
966		-== 3.1 Set Transmit Interval Time ==
	1017	+== 4.1  Set Transmit Interval Time ==
967	967
968	968	Feature: Change LoRaWAN End Node Transmit Interval.
969	969
...	...	@@ -995,15 +995,17 @@
995	995
996	996	)))
997	997
998		-== 3.2 Set Interrupt Mode ==
	1049	+== 4.2  Set Interrupt Mode ==
999	999
1000	1000	Feature, Set Interrupt mode for GPIO_EXIT.
1001	1001
1002	1002	(% style="color:#037691" %)**AT Command: AT+INTMOD**
1003	1003
1004		-[[image:image-20220607171716-9.png]]
	1055	+[[image:image-20220610105806-2.png]]
1005	1005
1006	1006
	1058	+
	1059	+
1007	1007	(((
1008	1008	(% style="color:#037691" %)**Downlink Command: 0x06**
1009	1009	)))
...	...	@@ -1023,20 +1023,10 @@
1023	1023	Example 2: Downlink Payload: 06000003 ~/~/ Set the interrupt mode to rising edge trigger
1024	1024	)))
1025	1025
1026		-(((
1027		-
1028		-)))
1029	1029
1030	1030
	1081	+== 4.3  Get Firmware Version Info ==
1031	1031
1032		-== 3.3 Calibrate Sensor ==
1033		-
1034		-Detail See [[Calibration Guide>>||anchor="H2.7Calibration"]] for the user of 0x13 and 0x14 downlink commands
1035		-
1036		-
1037		-
1038		-== 3.4 Get Firmware Version Info ==
1039		-
1040	1040	Feature: use downlink to get firmware version.
1041	1041
1042	1042	(% style="color:#037691" %)**Downlink Command: 0x26**
...	...	@@ -1046,6 +1046,7 @@
1046	1046	* Reply to the confirmation package: 26 01
1047	1047	* Reply to non-confirmed packet: 26 00
1048	1048
	1092	+
1049	1049	Device will send an uplink after got this downlink command. With below payload:
1050	1050
1051	1051	Configures info payload:
...	...	@@ -1067,7 +1067,7 @@
1067	1067	Always 0x02
1068	1068	)))
1069	1069
1070		-**Software Type**: Always 0x03 for LSPH01
	1114	+**Software Type**: Always 0x03 for LLDS12
1071	1071
1072	1072
1073	1073	**Frequency Band**:
...	...	@@ -1113,7 +1113,7 @@
1113	1113
1114	1114	0x06: LSNPK01
1115	1115
1116		-0x07: LDDS12
	1160	+0x07: LLDS12
1117	1117
1118	1118
1119	1119

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