URM12 - Ultra Long Range Ultrasonic Distance Sensor (70~1500cm, RS485) - ของแท้ DFRobot

/**************************************************************************************************************
*This code tests the range finder function of the URM12 ultrasonic sensor(1500cm&RS485)
*@ author : roker.wang@dfrobot.com
*@ data : 30.09.2019
*@ version: 1.0
**************************************************************************************************************/
#include <ArduinoModbus.h>
#include <ArduinoRS485.h>

#define slave_addr 0x0b

#define TEMP_CONFIG_BIT (0x03)
#define MEASURE_MODE_BIT (0x01 << 2)
#define MEASURE_TRIG_BIT (0x01 << 3)

typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;

volatile uint16_t cr_t = 0;

uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t = ModbusRTUClient.read();
}
return data_t;
}


uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{

if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
Serial.print("Failed to write coil! ");
Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}

void setup() {
ModbusRTUClient.begin(19200);
Serial.begin(9600);
cr_t |= MEASURE_MODE_BIT;// Set bit2
cr_t &= ~(uint16_t)TEMP_CONFIG_BIT;//internal temp compensation
write_data(slave_addr, CR, cr_t); //write CR
delay(100);
}
volatile uint16_t dist_t;
void loop() {
cr_t |= MEASURE_TRIG_BIT;//Set bit3
write_data(slave_addr, CR, cr_t); //write CR
delay(300);// delay 300ms
dist_t = read_data(slave_addr,DISTANCE);

Serial.print("distance = ");
Serial.print(dist_t, 1);
Serial.println("cm");
}

/**************************************************************************************************************
*This code tests the temperature measurement function of the URM12 ultrasonic sensor(1500cm&RS485)
*@ author : roker.wang@dfrobot.com
*@ data : 30.09.2019
*@ version: 1.0
*RX(RS485 Shield) -> TX1/D1 （Arduino Leonardo） TX（RS485 Shield）-> RX1/D0 （Arduino Leonardo）
**************************************************************************************************************/
#include <ArduinoModbus.h>
#include <ArduinoRS485.h>

#define slave_addr 0x0b

typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;

uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t = ModbusRTUClient.read();
}
return data_t;
}


uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{

if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
Serial.print("Failed to write coil! ");
Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}

void setup() {
Serial.begin(9600);
ModbusRTUClient.begin(19200);
}

volatile float temp;

void loop() {
temp = read_data(slave_addr,INTERNAL_TEMP) / 10.0;
Serial.print("internal temp = ");
Serial.print(temp,1);
Serial.println("C");
delay(500);
}

/**************************************************************************************************************
*This code tests the address modification function of the URM12 ultrasonic sensor(1500cm&RS485)
*@ author : roker.wang@dfrobot.com
*@ data : 30.09.2019
*@ version: 1.0
*RX(RS485 Shield) -> TX1/D1 （Arduino Leonardo） TX（RS485 Shield）-> RX1/D0 （Arduino Leonardo）
**************************************************************************************************************/
#include <ArduinoModbus.h>
#include <ArduinoRS485.h>

#define addr_public 0x00

typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;

uint16_t cr_t = 0;

uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t = ModbusRTUClient.read();
}
return data_t;
}


uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{

if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
//Serial.print("Failed to write coil! ");
//Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}



void setup() {
Serial.begin(9600);
ModbusRTUClient.begin(19200);
delay(3000);
}
volatile uint16_t addr, res;
void loop() {
addr = 0x11;
res = write_data(addr_public, SLAVE_ADDR, addr);
Serial.print("The device address has been modified as ");

Serial.print(addr);
Serial.println(".please power off and restart the device");
while (1);
}

/**************************************************************************************************************
*This code tests the baudrate modification function of the URM12 ultrasonic sensor(1500cm&RS485)
*@ author : roker.wang@dfrobot.com
*@ data : 30.09.2019
*@ version: 1.0
*RX(RS485 Shield) -> TX1/D1 （Arduino Leonardo） TX（RS485 Shield）-> RX1/D0 （Arduino Leonardo）
**************************************************************************************************************/
#include <ArduinoModbus.h>
#include <ArduinoRS485.h>

#define addr_default 0x0B
#define baudrate_default 19200

typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;

uint16_t cr_t = 0;

uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t = ModbusRTUClient.read();
}
return data_t;
}


uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{

if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
Serial.print("Failed to write coil! ");
Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}

void setup() {
Serial.begin(9600);
ModbusRTUClient.begin(baudrate_default);
delay(3000);
}
volatile uint16_t baudrate_index, res;
void loop() {

baudrate_index = 3;//0x0001---2400 0x0002---4800 0x0003---9600 0x0004---14400
//0x0005---19200 0x0006---38400 0x0007---57600 0x0008---115200 Other----115200
res = write_data(addr_default, COM_BAUDRATE, baudrate_index);
if(res)
Serial.print("The baudrate has been modified as 9600.please power off and restart the device");
while (1);
}