For Arduino boards with only one serial port like UNO board, the function of software visual serial
port is to be used.
*/
//#include <SoftwareSerial.h> //header file of software serial port
//SoftwareSerial Serial1(13,14); //define software serial port name as Serial1 and define pin2 as RX and pin3 as TX
/* For Arduinoboards with multiple serial ports like DUEboard, interpret above two pieces of code
and directly use Serial1 serial port*/
int dist; //actual distance measurements of LiDAR
int strength; //signal strength of LiDAR
float temprature;
int check; //save check value
int i;
int uart[9]; //save data measured by LiDAR
const int HEADER = 0x59; //frame header of data package
void setup() {
Serial.begin(9600); //set bit rate of serial port connecting Arduino with computer
Serial1.begin(115200); //set bit rate of serial port connecting LiDAR with Arduino
}
void loop() {
if (Serial1.available()) { //check if serial port has data input
if (Serial1.read() == HEADER) { //assess data package frame header 0x59
uart[0] = HEADER;
if (Serial1.read() == HEADER) { //assess data package frame header 0x59
uart[1] = HEADER;
for (i = 2; i < 9; i++) { //save data in array
uart[i] = Serial1.read();
}
check = uart[0] + uart[1] + uart[2] + uart[3] + uart[4] + uart[5] + uart[6] + uart[7];
if (uart[8] == (check & 0xff)) { //verify the received data as per protocol
dist = uart[2] + uart[3] * 256; //calculate distance value
strength = uart[4] + uart[5] * 256; //calculate signal strength value
temprature = uart[6] + uart[7] * 256; //calculate chip temprature
temprature = temprature / 8 - 256;
Serial.print("dist = ");
Serial.print(dist); //output measure distance value of LiDAR
Serial.print('\t');
Serial.print("strength = ");
Serial.print(strength); //output signal strength value
Serial.print("\t Chip Temprature = ");
Serial.print(temprature);
Serial.println(" celcius degree"); //output chip temperature of Lidar
}
}
}
}
}
Please follow the advice given in the link below when posting code. Use code tags (the </> icon above the compose window) to make it easier to read and copy for examination
sorry I'am new to the forum.
How do you know?
One thing to pay attention to in your loop() code:
If one (or maybe more) bytes are available on Serial1, read all 10 bytes. That does not work, serial communication is slow compared to your Arduino.
One solution is to change if (Serial1.available()) and compare it with the number of bytes that you expect and next read them.
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