Reference
This article offers a detailed exploration of the UART communication protocol, covering baud rates, data formats, and timing diagrams, providing essential insights into frame data and checksums.
Communication Protocol Description
1、communication instructions
| Interface | Baud rate | Data bit | Stop bit | Check bit |
|---|---|---|---|---|
| UART | 115200bps | 8 | 1 | None |
2、Timing diagram
Note: T1 ≥ 19ms; T2 ≈ 13ms
3、UART output format
| Frame data | Output data | Description | Bytes |
|---|---|---|---|
| Frame header | 0XFF | Frame header, fixed as 0XFF | 1 byte |
| H_DATA | 0X07 | Higher 8 bits of distance data | 1 byte |
| L_DATA | 0XA1 | Lower 8 bits of distance data | 1 byte |
| SUM | 0XA7 | data checksum | 1 byte |
SUM= (header+Data_H+ Data_L)&0x00FF
=(0XFF + 0X07 + 0XA1)&0x00FF
=0XA7；
Distance value = DATA_ H * 256+DATA_L = 0x07A1;
Decimal conversion is equal to 1953;
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