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...	...	@@ -912,7 +912,55 @@
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
	917	+== 3.1 Principle of Distance Measurement ==
	918	+
	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:1654831757579-263.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:1654831774373-275.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:1654831797521-720.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:1654831810009-716.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	+
916	916	= 4.  Configure LLDS12 via AT Command or LoRaWAN Downlink =
917	917
918	918	(((
...	...	@@ -929,7 +929,7 @@
929	929	(((
930	930
931	931
932		-There are two kinds of commands to configure LSPH01, they are:
	980	+There are two kinds of commands to configure LLDS12, they are:
933	933	)))
934	934
935	935	* (((
...	...	@@ -960,7 +960,7 @@
960	960	)))
961	961
962	962	(((
963		-These commands only valid for LSPH01, as below:
	1011	+These commands only valid for LLDS12, as below:
964	964	)))
965	965
966	966
...	...	@@ -1003,9 +1003,11 @@
1003	1003
1004	1004	(% style="color:#037691" %)**AT Command: AT+INTMOD**
1005	1005
1006		-[[image:image-20220607171716-9.png]]
	1054	+[[image:image-20220610105806-2.png]]
1007	1007
1008	1008
	1057	+
	1058	+
1009	1009	(((
1010	1010	(% style="color:#037691" %)**Downlink Command: 0x06**
1011	1011	)))
...	...	@@ -1027,6 +1027,7 @@
1027	1027
1028	1028
1029	1029
	1080	+
1030	1030	== 4.3  Get Firmware Version Info ==
1031	1031
1032	1032	Feature: use downlink to get firmware version.
...	...	@@ -1059,7 +1059,7 @@
1059	1059	Always 0x02
1060	1060	)))
1061	1061
1062		-**Software Type**: Always 0x03 for LSPH01
	1113	+**Software Type**: Always 0x03 for LLDS12
1063	1063
1064	1064
1065	1065	**Frequency Band**:
...	...	@@ -1105,7 +1105,7 @@
1105	1105
1106	1106	0x06: LSNPK01
1107	1107
1108		-0x07: LDDS12
	1159	+0x07: LLDS12
1109	1109
1110	1110
1111	1111
...	...	@@ -1290,7 +1290,6 @@
1290	1290	* (% style="color:red" %)**IN865**(%%):  LoRaWAN IN865 band
1291	1291	* (% style="color:red" %)**CN470**(%%): LoRaWAN CN470 band
1292	1292
1293		-
1294	1294	= 10. ​ Packing Info =
1295	1295
1296	1296
...	...	@@ -1305,7 +1305,6 @@
1305	1305	* Package Size / pcs : cm
1306	1306	* Weight / pcs : g
1307	1307
1308		-
1309	1309	= 11.  ​Support =
1310	1310
1311	1311	* Support is provided Monday to Friday, from 09:00 to 18:00 GMT+8. Due to different timezones we cannot offer live support. However, your questions will be answered as soon as possible in the before-mentioned schedule.

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