IN that paper, it was stated that the max range was 3M and 144 bins. But each bin is 3.75cm.
Those 128 bins advertised in the VL53L8CH, represent 4.80M. Due to the 2uSec the VCSEL is on we need more than bins than the 4M might suggest. The paper is technically correct about there being 144 bins, but in effect there really are only 128 useable ones. The rest are used up in timing issues.
Dealing with the Compressed, Normalized bins the L8CH puts out is much easier than dealing with the raw data.
For one, the CNH starts with the logic bin 0. Something that is really tricky to find.
We developed that CNH code specifically for extracting the bin data in a useable format. It's so you can do interesting things with the data, and not kill yourself trying to make sense of the underlying hardware issues.
- john
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