Handheld Camera Stabilizer: 13 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:30

Taw qhia

Nov yog phau ntawv qhia rau tsim 3-axis lub koob yees duab tuav lub koob yees duab ruaj khov rau GoPro siv Digilent Zybo Zynq-7000 Pawg Neeg Saib Xyuas Kev Txhim Kho. Txoj haujlwm no tau tsim los rau CPE Lub Sijhawm Ua Haujlwm Sijhawm Ua Haujlwm (CPE 439). Qhov ruaj khov siv peb servos thiab IMU txhawm rau kho cov lus tsa suab ntawm tus neeg siv kom lub koob yees duab qib.

Yam Yuav Tsum Tau Ua rau Txoj Haujlwm

• Digilent Zybo Zynq-7000 Pawg Neeg Loj Hlob
• Sparkfun IMU Breakout - MPU 9250
• 2 HiTec HS-5485HB Servos (yuav 180 degree suab los yog program los ntawm 90 txog 180 degrees)
• 1 HiTec HS-5685MH Servo (yuav 180 degree suab los yog program los ntawm 90 txog 180 degrees)
• 2 Txuj Kev Pab Cuam Tshuam
• 1 Cov qhob cij
• 15 tus txiv neej-rau-txiv neej jumper xov hlau
• 4 txiv neej-rau-poj niam jumper xov hlau
• Kub nplaum
• Tuav lossis Kov
• 5 hli txoj kab uas hla ntoo ntoo
• GoPro lossis lwm lub koob yees duab thiab kho vajtse
• Lub zog hluav taws xob muaj peev xwm tso tawm 5V.
• Nkag mus rau 3D Tshuab Luam Ntawv

Kauj Ruam 1: Teeb Vivado Kho Vajtse

Cia peb pib nrog tsim lub hauv paus thaiv tsim rau txoj haujlwm.

1. Qhib Vivado 2016.2, nyem rau "Tsim Txoj Haujlwm Tshiab" icon, thiab nyem "Next>".
2. Npe koj qhov project thiab nyem "Next>".
3. Xaiv RTL txoj haujlwm thiab ntaus "Next>".
4. Ntaus rau hauv kab tshawb nrhiav xc7z010clg400-1 thiab tom qab ntawd xaiv ntu thiab ntaus "Next>" thiab "Finish".

Kauj Ruam 2: Teem Up Block Design

Tam sim no peb yuav pib tsim cov block tsim los ntawm kev ntxiv thiab teeb tsa Zynq IP Block.

1. Ntawm sab laug tes vaj huam sib luag, hauv qab IP Tus Kheej, Nyem "Tsim Tsim Tsim" thiab tom qab ntawd nyem "OK".
2. Txoj cai nyem rau ntawm "Daim duab" tab thiab xaiv "Ntxiv IP …".
3. Ntaus "ZYNQ7 Txheej Txheem Txheej Txheem" thiab nyem qhov xaiv.
4. Ob npaug nias rau ntawm Zynq block uas tshwm.
5. Nyem "Ntshuam XPS Chaw" thiab ntshuam cov ntaub ntawv "ZYBO_zynq_def.xml".
6. Mus rau "MIO Configuration" thiab xaiv "Application Processor Unit" thiab pab kom Timer 0 thiab Watchdog timers.
7. Hauv tib lub tab, hauv qab "I/O Peripherals", xaiv ENET 0 (thiab hloov cov ntawv qhia zaub mov rau "MIO 16.. 27", USB 0, SD 0, UART 1, I2C 0.
8. Hauv qab "GPIO", khij GPIO MIO, ENET Pib dua, USB Pib dua, thiab I2C Pib dua.
9. Tam sim no mus rau "Clock Configuration". Xaiv FCLK_CLK0 hauv qab PL Npuag Clocks. Tom qab ntawd, Nyem "OK".

Kauj Ruam 3: Tsim Kev Cai PWM IP Thaiv

Qhov IP thaiv no tso cai rau pawg thawj coj saib xa PWM teeb liab tawm los tswj kev txav chaw ntawm servos. Kev ua haujlwm tau hnyav raws li kev qhia los ntawm Digitronix Nepal, pom ntawm no. Logic tau ntxiv ua kom qeeb lub moos yog li cov mem tes tau tawm ntawm qhov raug. Lub block siv tus lej ntawm 0 txog 180 thiab hloov nws mus rau qhov mem tes los ntawm 750-2150 usec.

1. Tam sim no, hauv qab Cov Cuab Yeej tab nyob ze rau sab saum toj sab laug, nyem "Tsim thiab Pob IP …" thiab ntaus Tom ntej.
2. Tom qab ntawv xaiv "Tsim AXI4 tshiab ib leeg" thiab ntaus Next.
3. Npe koj tus PWM IP thaiv (peb lub npe nws pwm_core) thiab nyem Tom ntej thiab tom qab ntawd nyem Tom ntej ntawm nplooj ntawv tom ntej ib yam.
4. Tam sim no nyem "Kho IP" thiab ntaus kom tiav. Qhov no yuav qhib lub qhov rai tshiab los kho cov pwm thaiv.
5. Hauv "Cov peev txheej" tab thiab hauv qab "Cov Qauv Tsim", nthuav 'pwm_core_v1_0' (hloov pwm_core nrog koj lub npe) thiab qhib cov ntawv uas pom tau.
6. Luam thiab muab cov cai tso rau hauv qab 'pwm_core_v1_0_S00_AXI.v' hauv cov ntawv zip hauv qab ntawm txoj haujlwm. Ctrl + Ua haujlwm + R thiab hloov 'pwm_core' nrog koj lub npe rau ip thaiv.
7. Tom ntej qhib 'lub npe _v1_0' thiab luam hauv cov cai muab hauv cov ntawv 'pwm_core_v1_0.v'. Ctrl + Ua haujlwm + R thiab hloov 'pwm_core' nrog lub npe.
8. Tam sim no mus rau 'Pob IP - npe' tab thiab xaiv "Customization Parameters".
9. Hauv cov ntawv no yuav muaj lub tiaj daj nyob rau sab saum toj uas tau txuas cov ntawv. Xaiv qhov no, thiab "Hidden Parameters" yuav tshwm nyob rau hauv lub npov.
10. Tam sim no mus rau "Customization GUI" thiab nyem rau ntawm Pwm Counter Max xaiv "Kho Parameter …".
11. Txheeb xyuas "Pom hauv Customization GUI" thiab "Qhia Kom Paub Ntau" lub thawv.
12. Hloov qhov "Hom:" nco cov ntawv qhia zaub mov mus rau Range ntawm cov lej thiab teeb tsa yam tsawg kawg nkaus rau 0 thiab siab kawg rau 65535 thiab khij lub npov "Show Range". Tam sim no nyem OK.
13. Drag Pwm Counter Max hauv qab 'Nplooj 0' Tsob Ntoo. Tam sim no mus rau "Txheeb Xyuas thiab Pob" thiab nyem rau pob "Re-Package IP".

Kauj Ruam 4: Ntxiv PWM IP Thaiv rau Tsim

Peb yuav ntxiv IP tus thaiv rau hauv cov qauv tsim los tso cai rau tus neeg siv nkag mus rau PWM IP thaiv los ntawm tus txheej txheem.

1. Txoj cai nyem rau ntawm kab duab tab thiab nyem "IP Chaw …". Nkag mus rau "Tus Thawj Saib Xyuas Chaw".
2. Nyem lub pob ntsuab ntxiv thiab xaiv nws. Tam sim no nrhiav ip_repo hauv Tus Thawj Tswj Cov Ntaub Ntawv thiab ntxiv qhov ntawd rau txoj haujlwm. Tom qab ntawv nyem Thov thiab tom qab ntawd OK.
3. Txoj cai nyem rau ntawm kab duab tab thiab nyem "Ntxiv IP …". Ntaus koj tus PWM IP thaiv lub npe thiab xaiv nws.
4. Yuav tsum muaj lub bar ntsuab nyob rau sab saum toj ntawm lub vijtsam, xub xaiv "Run Connection Automation" thiab nyem OK. Tom qab ntawv nyem "Run Block Automation" thiab nyem OK.
5. Ob npaug nyem rau ntawm PWM thaiv thiab hloov Pwm Counter Max rau 1024 los ntawm 128.
6. Hover koj tus nas taw tes hla PWM0 ntawm PWM thaiv. Yuav tsum muaj tus xaum me me uas pom thaum koj ua. Txoj cai nyem thiab xaiv "Tsim Chaw …" thiab nyem OK thaum lub qhov rai qhib. Qhov no tsim qhov chaw nres nkoj sab nraud rau lub teeb liab kom dhau mus.
7. Rov ua cov kauj ruam 6 rau PWM1 thiab PWM2 ib yam.
8. Nrhiav qhov me me ncig ob npaug xub cim ntawm lub sidebar thiab nyem qhov ntawd. Nws yuav rov tsim dua cov txheej txheem thiab koj qhov tsim qauv yuav tsum zoo li daim duab saum toj no.

Kauj Ruam 5: Kho HDL Wrapper thiab Teeb Cov Kev Txwv Cov Ntaub Ntawv

Tam sim no peb tab tom tsim Kev Tsim Qauv Qib Siab rau peb Tus Qauv Tsim thiab tom qab ntawv qhia PWM0, PWM1, thiab PWM2 rau Pmod pins ntawm Zybo board.

1. Mus rau lub tab "Sources". Txoj cai nyem rau koj cov ntaub ntawv tsim nyob rau hauv "Tsim Cov Khoom" thiab nyem "Tsim HDL Wrapper …". Xaiv "Luam cov ntawv qhwv kom tso cai rau cov neeg siv kho" thiab nyem OK. Qhov no tsim Kev Tsim Qauv Qib Siab rau Cov Qauv Tsim Peb tsim.
2. Pmod peb yuav tawm mus yog JE.
3. Hauv Cov Ntaub Ntawv, xaiv "Ntxiv Cov Chaw …" thiab xaiv "Ntxiv lossis tsim kev txwv" thiab nyem Next.
4. Nyem ntxiv cov ntaub ntawv thiab xaiv suav nrog "ZYBO_Master.xdc" cov ntawv. Yog tias koj saib hauv cov ntawv no koj yuav pom txhua yam tsis txaus ntseeg tshwj tsis yog rau rau "set_property" kab hauv qab "## Pmod Header JE". Koj yuav pom tias PWM0, PWM1, thiab PWM2 yog cov lus sib cav rau cov kab no. Lawv daim ntawv qhia rau Pin 1, Pin 2, thiab Pin 3 ntawm JE Pmod.

Kauj Ruam 6: Tsim Bitstream

Peb yuav tsum tsim cov khoom me me rau kev tsim kho vajtse kom xa mus rau SDK ua ntej peb txav mus.

1. Hauv qab "Program thiab Debug" ntawm lub sidebar, xaiv "Generate Bitstream". Qhov no yuav ua kom muaj kev sib sau ua ke, tom qab ntawv ua tiav, thiab tom qab ntawd tsim cov bitstream rau kev tsim qauv.
2. Kho txhua qhov yuam kev uas tshwm sim, tab sis cov lus ceeb toom feem ntau tuaj yeem tsis quav ntsej.
3. Mus rau File-> Launch SDK thiab nyem OK. Qhov no yuav qhib Xilinx SDK.

Kauj Ruam 7: Teeb Txoj Haujlwm hauv SDK

Qhov no tuaj yeem ua rau me ntsis ntxhov siab. Thaum tsis ntseeg, ua BSP tshiab thiab hloov qhov qub. Qhov no tau cawm peb pawg ntawm lub sijhawm debugging.

1. Pib los ntawm rub tawm qhov hloov tshiab kawg ntawm FreeRTOS ntawm no.
2. Tshem tawm txhua yam los ntawm rub tawm thiab ntshuam FreeRTOS rau hauv SDK los ntawm Nyem Cov Ntaub Ntawv-> Ntshuam, thiab hauv qab "Dav" nyem "Cov Haujlwm Tseem Ceeb Rau Hauv Chaw Ua Haujlwm" ces nyem Tom ntej.
3. Mus rau "FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702" hauv FreeRTOS nplaub tshev. Tsuas yog ntshuam "RTOSDemo" los ntawm qhov chaw no.
4. Tam sim no tsim cov Pawg Txhawb Nqa Pawg (BSP) los ntawm txhaj rau File-> New Board Support Package.
5. Xaiv "ps7_cortexa9_0" thiab kos "lwip141" thiab nyem OK.
6. Txoj nyem rau ntawm RTOSDemo daim nplaub tshev xiav thiab xaiv "Project References".
7. Uncheck "RTOSDemo_bsp" thiab txheeb xyuas BSP tshiab uas peb nyuam qhuav tsim.

Kauj ruam 8: FreeRTOS Code Hloov Kho

Cov cai peb muab tuaj yeem sib cais ua 7 cov ntaub ntawv sib txawv. main.c, iic_main_thread.c, xil_printfloat.c, xil_printfloat.h, IIC_funcs.c, IIC_funcs.h thiab iic_imu.h. Cov cai hauv iic_main_thread.c tau hloov pauv los ntawm Kris Winer lub tsev qiv ntawv, uas tuaj yeem pom ntawm no. Peb feem ntau hloov pauv nws cov cai kom suav nrog cov haujlwm thiab ua kom nws ua haujlwm nrog Zybo pawg thawj coj. Peb kuj ntxiv cov haujlwm los laij qhov kev hloov kho ntawm lub koob yees duab. Peb tau tawm hauv ntau nqe lus luam tawm uas muaj txiaj ntsig zoo rau kev debugging. Feem ntau ntawm lawv tau hais tawm tab sis yog tias koj xav tias koj xav tau koj tuaj yeem tsis txaus siab rau lawv.

1. Txoj hauv kev yooj yim tshaj plaws los hloov kho cov ntaub ntawv main.c yog hloov cov cai nrog cov cai theej los ntawm peb cov ntaub ntawv main.c.
2. Txhawm rau tsim cov ntawv tshiab, nyem rau ntawm src nplaub tshev hauv RTOSDemo thiab xaiv C Source File. Lub npe cov ntaub ntawv no "iic_main_thread.c".
3. Luam cov cai los ntawm suav nrog "iic_main_thread.c" thiab muab tshuaj txhuam rau hauv koj li ntaub ntawv tsim tshiab.
4. Rov ua cov kauj ruam 2 thiab 3 nrog cov ntawv ntxiv.
5. xav tau kev qhia txuas hauv gcc. Txhawm rau ntxiv qhov no rau txoj hauv kev koj nyem rau ntawm RTOSDemo thiab xaiv "C/C ++ Tsim Chaw".
6. Ib lub qhov rai tshiab yuav qhib. Nkag mus rau ARM v7 gcc linker-> Tsev qiv ntawv. Xaiv cov ntawv me me ntxiv rau hauv kaum sab xis saum toj thiab ntaus "m". Qhov no yuav suav nrog tsev qiv ntawv lej hauv qhov haujlwm.
7. Tsim txoj haujlwm nrog Ctrl + B kom paub meej tias txhua yam ua haujlwm. Txheeb xyuas cov lus ceeb toom uas tau tsim tab sis koj tuaj yeem tuaj yeem tsis quav ntsej lawv.
8. Muaj ob peb qhov chaw uas yuav xav tau kev hloov pauv, feem ntau yog qhov tsis sib nqus ntawm koj qhov chaw nyob tam sim no. Peb yuav piav qhia yuav hloov qhov no li cas hauv qhov ntsuas ntawm qhov kev qhia.

Kauj Ruam 9: 3D Luam Ntawv rau Stabilizer

Koj yuav tsum luam 3D ob peb ntu rau txoj haujlwm no. Ib tus tuaj yeem tuaj yeem yuav cov khoom uas muaj qhov ntev/qhov sib xws zoo ib yam rau peb cov ntawv luam tawm.

1. Siv cov ntaub ntawv muab los luam tawm sab caj npab thiab tuav tus tuav rau GoPro.
2. Koj yuav tsum tau ntxiv scaffolding rau.stl cov ntaub ntawv.
3. Txiav/ntxuav ib feem ntawm cov scaffolding ntau tshaj thaum luam tawm.
4. Koj tuaj yeem hloov cov ntoo ntoo nrog qhov luam tawm 3D yog tias koj xav tau.

Kauj Ruam 10: Sib dhos Cov Xeem

Cov no yog ob peb ntu los sib dhos cov stabilizer. Cov khoom siv yuav los nrog 4 tus kheej tapping screws thiab 4 tus ntsia liaj qhov rooj nrog cov txiv ntoo. Txij li muaj 3 servos, ib qho ntawm lub tshuab raj xav tau yuav tsum tau ua ntej txhawm rau tso cai 2 ntawm cov ntsia hlau kom haum los ntawm.

1. Solder 8 tus pin mus rau IMU qhov tawg, 4 ntawm txhua sab.
2. IMU tau txuas nrog 3D luam tuav tuav rau GoPro nyob rau hauv nruab nrab ntawm tus tuav.
3. Taw qhia cov bracket yog li qhov servo mounting qhov nyob ntawm koj sab laug tes. Muab IMU rau ntawm ntug ze rau koj, nrog cov pins dai tawm ntawm ntug. Tom qab ntawd, tso GoPro mount rau sab saum toj ntawm IMU, lo rau IMU thiab teeb tsa hauv qhov chaw ntawm tus tuav.
4. Txuas tus HS-5485HB rau lub tog raj servo uas tau muab tso rau hauv 3D luam caj npab.
5. Ntsia lub GoPro bracket rau hauv caj npab txuas nrog servo, ua kom ntseeg tau tias cov servo tau teeb tsa kom nws nyob hauv nruab nrab ntawm nws cov lus tsa suab.
6. Tom ntej no, txuas HS-5685MH servo mus rau qhov chaw pabcuam servo. Tom qab ntawd coj mus rhaub servo horn nrog ib qho ntawm cov ntsia hlau. Tam sim no txuas cov servo rau hauv qab ntawm qhov kawg ntawm qhov kev pabcuam servo.
7. Tam sim no txuas qhov kawg servo rau lub bracket uas HS-5685MH servo tau ntsia rau hauv. Tom qab ntawd ntswj caj npab rau hauv qhov kev pabcuam no, ua kom ntseeg tau tias lub caj npab tau ntsaws rau yog li nws tuaj yeem txav 90 degrees txhua txoj kev.
8. Txhawm rau ua tiav kev tsim ntawm gimbal, ntxiv ib qho me me ntawm cov ntoo ntoo txuas rau nruab nrab ntawm GoPro bracket thiab 3D luam tawm caj npab. Tam sim no koj tau sib sau cov stabilizer.
9. Thaum kawg, koj tuaj yeem ntxiv tus tuav txuas nrog rau hauv qab servo bracket.

Kauj Ruam 11: Txuas Zybo rau Stabilizer

Muaj ob peb yam yuav tau ceev faj thaum ua qhov no. Koj xav kom paub tseeb tias 5V los ntawm lub zog xa khoom yeej tsis nkag mus rau Zybo pawg thawj coj, vim qhov no yuav ua rau muaj teeb meem nrog pawg thawj coj. Nco ntsoov xyuas ob zaug koj cov dhia kom paub tseeb tias tsis muaj xov hlau raug hloov.

1. Txhawm rau txuas Zybo rau tus neeg ruaj khov koj yuav xav tau 15 tus txiv neej rau txiv neej dhia thiab 4 tus txiv neej rau poj niam dhia.
2. Ua ntej, txuas ob lub dhia rau koj 5V lub zog xa khoom raws + thiab - ntsia ntawm lub khob cij. Cov no yuav muab lub zog rau cov servos.
3. Tom qab ntawd, txuas 3 khub dhia dhia mus rau + thiab - ntsia ntawm lub khob cij. Cov no yuav yog lub zog rau txhua qhov kev pabcuam.
4. Txuas lwm qhov kawg ntawm + thiab - dhia rau hauv txhua qhov kev pabcuam.
5. Txuas lub jumper nruab nrab ntawm - txoj kab tsheb nqaj hlau ntawm lub khob cij thiab ib qho ntawm GND pins ntawm Zybo JE Pmod (Saib daim duab 5). Qhov no yuav tsim ib qho hauv paus nruab nrab ntawm Zybo pawg thawj coj thiab lub zog siv.
6. Tom ntej txuas lub teeb liab rau tus pin 1, tus pin 2, thiab tus pin 3 ntawm JE Pmod. Pin 1 daim duab qhia chaw rau hauv qab servo, tus pin 2 daim duab qhia chaw rau servo kawg ntawm caj npab, thiab tus pin 3 daim duab qhia chaw rau nruab nrab servo.
7. Txuas 4 tus poj niam xov hlau rau hauv GND, VDD, SDA thiab SCL tus pin ntawm IMU kev tawm tsam. GND thiab VDD ntsaws rau hauv GND thiab 3V3 ntawm JF tus pin. Txuas SDA tus pin rau tus pin 8 thiab SCL rau tus pin 7 ntawm JF (Saib daim duab 5).
8. Thaum kawg, txuas lub khoos phis tawj rau lub rooj tsav khoom siv lub micro usb cable. Qhov no yuav tso cai uart sib txuas lus thiab tso cai rau koj ua haujlwm rau Zybo board.

Kauj Ruam 12: Kev Ncaj Ncees Sab Qaum Teb

Kev ntsuas ntsuas ntawm lub ntsuas hluav taws xob hauv IMU yog qhov tseem ceeb rau kev ua haujlwm raug ntawm lub cuab yeej. Qhov sib nqus poob qis, uas kho qhov sib nqus sab qaum teb mus rau sab qaum teb tseeb.

1. Txhawm rau kho qhov sib txawv ntawm sib nqus thiab sab qaum teb tiag, koj yuav tsum siv ob qhov kev pabcuam sib xws, Google Maps thiab NOAA lub tshuab xam zauv sib nqus.
2. Siv Google Maps txhawm rau nrhiav koj qhov latitude thiab longitude ntawm koj qhov chaw tam sim no.
3. Coj koj qhov ntev thiab latitude tam sim no thiab ntsaws rau hauv lub tshuab xam zauv sib nqus.
4. Dab tsi rov qab los yog qhov sib nqus sib nqus. Plug hauv qhov kev suav no rau hauv cov cai ntawm kab 378 ntawm "iic_main_thread.c". Yog tias koj qhov kev poob qis yog sab hnub tuaj, tom qab ntawd rho tawm ntawm tus nqi yaw, yog tias sab hnub poob ntxiv rau tus nqi yaw.

*daim duab tau coj los ntawm Sparkfun's MPU 9250 phau ntawv qhia kev sib txuas, pom ntawm no.

Kauj ruam 13: Khiav qhov program

Lub sijhawm koj tau tos! Qhov zoo tshaj plaws ntawm txoj haujlwm yog pom nws ua haujlwm. Ib qho teeb meem peb tau pom yog tias muaj kev txav los ntawm qhov txiaj ntsig tau tshaj tawm los ntawm IMU. Lub lim dej qis dhau tuaj yeem pab kho qhov drift no, thiab ua rau lub tshuab ntsuas hluav taws xob tsawg dua, ua kom nrawm dua thiab ntsuas qhov ntsuas hluav taws xob tseem yuav pab kho qhov drift no.

1. Ua ntej, tsim txhua yam hauv SDK, qhov no tuaj yeem ua tiav los ntawm nias Ctrl + B.
2. Nco ntsoov tias lub hwj huam tau qhib thiab teeb rau 5V. Txheeb xyuas ob zaug tias txhua lub xov hlau yuav mus rau lawv qhov chaw raug.
3. Tom qab ntawd, txhawm rau ua haujlwm, nyem rau daim duab peb sab ntsuab nyob rau sab saud ntawm lub luag haujlwm.
4. Thaum qhov kev zov me nyuam khiav, cov servos yuav rov pib dua rau lawv 0 txoj haujlwm, yog li npaj rau qhov rig txav mus. Thaum qhov kev zov me nyuam pib, cov servos yuav rov qab mus rau lawv li 90 degree txoj haujlwm.
5. Lub ntsuas hluav taws xob ntsuas qhov ntsuas hluav taws xob yuav ua haujlwm thiab cov lus qhia yuav luam tawm mus rau UART lub davhlau ya nyob twg, uas koj tuaj yeem txuas mus rau ntawm tus lej saib xyuas xws li 'putty' lossis cov saib hauv qab muab hauv SDK.
6. Kev ntsuas ntsuas yuav muaj koj txav lub cuab yeej hauv daim duab 8 rau ib puag ncig 10 vib nas this. Koj tuaj yeem tshem tawm cov kauj ruam no los ntawm kev tawm kab 273 ntawm "iic_main_thread.c". Yog tias koj tawm nws tawm koj yuav tsum tsis pom kab 323 - 325 "iic_main_thread.c". Cov txiaj ntsig no tau pib sau los ntawm cov ntsuas hluav taws xob ntsuas hluav taws xob saum toj no thiab tom qab ntawd ntsaws rau hauv qhov muaj txiaj ntsig.
7. Tom qab ntsuas qhov ntsuas tus lej ruaj ntseg yuav pib thiab lub cuab yeej yuav ua kom lub koob yees duab ruaj khov.