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...	...	@@ -912,7 +912,56 @@
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	(((
...	...	@@ -929,7 +929,7 @@
929	929	(((
930	930
931	931
932		-There are two kinds of commands to configure LSPH01, they are:
	981	+There are two kinds of commands to configure LLDS12, they are:
933	933	)))
934	934
935	935	* (((
...	...	@@ -960,12 +960,12 @@
960	960	)))
961	961
962	962	(((
963		-These commands only valid for LSPH01, as below:
	1012	+These commands only valid for LLDS12, as below:
964	964	)))
965	965
966	966
967	967
968		-== 3.1 Set Transmit Interval Time ==
	1017	+== 4.1  Set Transmit Interval Time ==
969	969
970	970	Feature: Change LoRaWAN End Node Transmit Interval.
971	971
...	...	@@ -997,15 +997,17 @@
997	997
998	998	)))
999	999
1000		-== 3.2 Set Interrupt Mode ==
	1049	+== 4.2  Set Interrupt Mode ==
1001	1001
1002	1002	Feature, Set Interrupt mode for GPIO_EXIT.
1003	1003
1004	1004	(% style="color:#037691" %)**AT Command: AT+INTMOD**
1005	1005
1006		-[[image:image-20220607171716-9.png]]
	1055	+[[image:image-20220610105806-2.png]]
1007	1007
1008	1008
	1058	+
	1059	+
1009	1009	(((
1010	1010	(% style="color:#037691" %)**Downlink Command: 0x06**
1011	1011	)))
...	...	@@ -1025,20 +1025,10 @@
1025	1025	Example 2: Downlink Payload: 06000003 ~/~/ Set the interrupt mode to rising edge trigger
1026	1026	)))
1027	1027
1028		-(((
1029		-
1030		-)))
1031	1031
1032	1032
	1081	+== 4.3  Get Firmware Version Info ==
1033	1033
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		-
1042	1042	Feature: use downlink to get firmware version.
1043	1043
1044	1044	(% style="color:#037691" %)**Downlink Command: 0x26**
...	...	@@ -1048,6 +1048,7 @@
1048	1048	* Reply to the confirmation package: 26 01
1049	1049	* Reply to non-confirmed packet: 26 00
1050	1050
	1092	+
1051	1051	Device will send an uplink after got this downlink command. With below payload:
1052	1052
1053	1053	Configures info payload:
...	...	@@ -1069,7 +1069,7 @@
1069	1069	Always 0x02
1070	1070	)))
1071	1071
1072		-**Software Type**: Always 0x03 for LSPH01
	1114	+**Software Type**: Always 0x03 for LLDS12
1073	1073
1074	1074
1075	1075	**Frequency Band**:
...	...	@@ -1115,7 +1115,7 @@
1115	1115
1116	1116	0x06: LSNPK01
1117	1117
1118		-0x07: LDDS12
	1160	+0x07: LLDS12
1119	1119
1120	1120
1121	1121

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