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...	...	@@ -912,56 +912,7 @@
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 =
916	916
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		-
965	965	= 4.  Configure LLDS12 via AT Command or LoRaWAN Downlink =
966	966
967	967	(((
...	...	@@ -978,7 +978,7 @@
978	978	(((
979	979
980	980
981		-There are two kinds of commands to configure LLDS12, they are:
	932	+There are two kinds of commands to configure LSPH01, they are:
982	982	)))
983	983
984	984	* (((
...	...	@@ -1009,12 +1009,12 @@
1009	1009	)))
1010	1010
1011	1011	(((
1012		-These commands only valid for LLDS12, as below:
	963	+These commands only valid for LSPH01, as below:
1013	1013	)))
1014	1014
1015	1015
1016	1016
1017		-== 4.1  Set Transmit Interval Time ==
	968	+== 3.1 Set Transmit Interval Time ==
1018	1018
1019	1019	Feature: Change LoRaWAN End Node Transmit Interval.
1020	1020
...	...	@@ -1046,17 +1046,15 @@
1046	1046
1047	1047	)))
1048	1048
1049		-== 4.2  Set Interrupt Mode ==
	1000	+== 3.2 Set Interrupt Mode ==
1050	1050
1051	1051	Feature, Set Interrupt mode for GPIO_EXIT.
1052	1052
1053	1053	(% style="color:#037691" %)**AT Command: AT+INTMOD**
1054	1054
1055		-[[image:image-20220610105806-2.png]]
	1006	+[[image:image-20220607171716-9.png]]
1056	1056
1057	1057
1058		-
1059		-
1060	1060	(((
1061	1061	(% style="color:#037691" %)**Downlink Command: 0x06**
1062	1062	)))
...	...	@@ -1076,10 +1076,20 @@
1076	1076	Example 2: Downlink Payload: 06000003 ~/~/ Set the interrupt mode to rising edge trigger
1077	1077	)))
1078	1078
	1028	+(((
	1029	+
	1030	+)))
1079	1079
1080	1080
1081		-== 4.3  Get Firmware Version Info ==
1082	1082
	1034	+== 3.3 Calibrate Sensor ==
	1035	+
	1036	+Detail See [[Calibration Guide>>||anchor="H2.7Calibration"]] for the user of 0x13 and 0x14 downlink commands
	1037	+
	1038	+
	1039	+
	1040	+== 3.4 Get Firmware Version Info ==
	1041	+
1083	1083	Feature: use downlink to get firmware version.
1084	1084
1085	1085	(% style="color:#037691" %)**Downlink Command: 0x26**
...	...	@@ -1089,7 +1089,6 @@
1089	1089	* Reply to the confirmation package: 26 01
1090	1090	* Reply to non-confirmed packet: 26 00
1091	1091
1092		-
1093	1093	Device will send an uplink after got this downlink command. With below payload:
1094	1094
1095	1095	Configures info payload:
...	...	@@ -1111,7 +1111,7 @@
1111	1111	Always 0x02
1112	1112	)))
1113	1113
1114		-**Software Type**: Always 0x03 for LLDS12
	1072	+**Software Type**: Always 0x03 for LSPH01
1115	1115
1116	1116
1117	1117	**Frequency Band**:
...	...	@@ -1157,7 +1157,7 @@
1157	1157
1158	1158	0x06: LSNPK01
1159	1159
1160		-0x07: LLDS12
	1118	+0x07: LDDS12
1161	1161
1162	1162
1163	1163

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