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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	* (((
...	...	@@ -960,7 +960,7 @@
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
...	...	@@ -1003,9 +1003,11 @@
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	)))
...	...	@@ -1038,6 +1038,7 @@
1038	1038	* Reply to the confirmation package: 26 01
1039	1039	* Reply to non-confirmed packet: 26 00
1040	1040
	1092	+
1041	1041	Device will send an uplink after got this downlink command. With below payload:
1042	1042
1043	1043	Configures info payload:
...	...	@@ -1059,7 +1059,7 @@
1059	1059	Always 0x02
1060	1060	)))
1061	1061
1062		-**Software Type**: Always 0x03 for LSPH01
	1114	+**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
	1160	+0x07: LLDS12
1109	1109
1110	1110
1111	1111

image-20220610105806-2.png

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	1	+XWiki.Xiaoling

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