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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: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	+
916	916	= 4.  Configure LLDS12 via AT Command or LoRaWAN Downlink =
917	917
918	918	(((

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