Stm32c8t6 driven lidar (I)

Silan A1 Laser radar

Preface

Let's first learn about lidar
RPLIDAR A1M8 360 Degree laser scanning ranging radar is made of SLAMTEC The low-cost two-dimensional laser radar developed by the company (LIDAR) Solution . It can be realized in two-dimensional plane 12 Within a radius of meters 360 Degree omni-directional laser ranging scanning , And generate the plane point cloud map information of the space . These cloud map information can be used for mapping 、 Robot positioning and navigation 、 object / Environment modeling and other practical applications .
Set the sampling period to 1450 Point sampling / Under the condition of weeks ,RPLIDAR Scanning frequency reaches 5.5hz, And up to 10hz Scanning frequency of . RPLIDAR Using the SLAMTEC Developed low-cost laser triangulation ranging system , In various indoor environments
And perform well in outdoor environment without direct sunlight .

One 、 System composition and connection

RPLIDAR A1 It is mainly divided into the laser ranging core and the mechanical part that makes the laser ranging core rotate at high speed . After supplying power to each subsystem respectively , The ranging core will start scanning clockwise . The user can go through RPLIDAR A1 Communication interface （ A serial port /USB etc. ） obtain RPLIDAR Scanning Ranging Data .
Since the serial port transmits data , Then we can use it on SCM , It's just a matter of data transmission format and data analysis .

Two 、 Working principle and use

1. working principle

RPLIDAR A1 Laser triangulation ranging technology is adopted , coordination SLAMTEC Developed high-speed visual acquisition and processing mechanism , Up to... Per second 8000 More than one ranging action . During each ranging ,RPLIDAR A1 A modulated infrared laser signal will be emitted , When the laser signal reaches the target object, the reflection will be RPLIDAR A1 Our vision acquisition system accepts . Embedded in RPLIDAR A1 Inside DSP The processor solves the problem in real time , The target object is illuminated with RPLIDAR A1 The distance value of and the current included angle information will be output from the communication interface .

Driven by the motor mechanism RPLIDAR A1 The ranging core of will rotate clockwise , So as to realize the right to 360 Scanning and ranging detection of all-round environment .

2. Communication and interface

RPLIDAR A1 The standard configuration adopts 3.3V Level serial port (UART) As a communication interface

summary

With these, we can 32 It has been used. , Now let's do 32 actual combat .