LidarStm32f103

ladar_MB_1R2T connection stm32f103 board
An example of connecting Chinese lidar model MB-1R2T V1.5.8 to stm32f103. As an example, the developer board described here is used: https://github.com/pav2000/DevBoardSTM32F103CBT


Starting from software version 0.35 transition to hardware 1.4.
Rotating the encoder changes the scale of the screen (from 1 to 6). The blue LED indicates the reception of the packet from the lidar. The red LED blinks when there are errors in the input packet.
The connection of the periphery can be viewed in the file LidarStm32f103.pdf, where the microcontroller settings are indicated.

UART connection parameters:
BR 153600 (bit 6.51us)
8 bit
parity none
stop bit 1
Bit format LSB
UART connection


Speed control:
max speed(pwm to GND) about 9 hz and 200 measurements per rotation
min speed (pwm to 5v) about 3.7hz 1024 measurements per rotation

Package structure:
1.0xAA, 0x55 - header
2.0x38 - lidar type (firmware type ??) possible values 0x28, 0x3С. We need to find out! And change it in the code!
3.0x28 - number of measurements in the package
4.2 bytes - starting angle of sending (least significant byte first)
5.2 bytes - end angle of sending (least significant byte first)
6.2 bytes ????
7. Data - length number of measurements (point 3) * 3 bytes. Each dimension is three bytes long. 1 byte - signal quality, 2 and 3 - distance to the object (least significant byte first)