Skip to content

configuration.md

Latest commit

 

History

History
217 lines (142 loc) · 4.35 KB

configuration.md

File metadata and controls

217 lines (142 loc) · 4.35 KB

Configuration Guide

SensorConfig

SensorConfig stores the serial connection parameters used by the library:

from xkc_kl200_python import SensorConfig, XKC_KL200

config = SensorConfig(
    port="/dev/ttyUSB0",
    baudrate=9600,
    timeout=1.0,
    address=0xFFFF,
    startup_delay_s=0.1,
)

sensor = XKC_KL200(config=config)

Supported Baud Rates

The protocol exposes the following baud rates:

  • 2400
  • 4800
  • 9600
  • 14400
  • 19200
  • 38400
  • 56000
  • 57600
  • 115200
  • 128000

change_baud_rate accepts either a baud-rate code (0 to 9) or one of the actual baud-rate values listed above.

Notes

  • address=0xFFFF is the default broadcast-style device address used by the original sensor examples.
  • change_address only accepts values from 0x0000 to 0xFFFE.

Raspberry Pi Multi-Sensor Wiring

This setup uses the XKC-KL200 Laser Distance Measurement Sensor. The manufacturer states that this product supports multiple output modes, including UART serial output, and links a separate UART manual for the UART-capable version.

Hardware Used

The Raspberry Pi configuration described here uses:

  • UART1, UART2, UART3, and UART5
  • SPI0 for the MCP2515 CAN controller
  • no UART4

Raspberry Pi documents the uart2, uart3, and uart5 overlays on supported boards in its configuration documentation.

Why UART4 Is Not Used

The MCP2515 CAN controller is connected over SPI0. In this Raspberry Pi wiring setup, SPI0 occupies the same pin block needed for UART4, so both are not used together. The active UART selection is therefore:

  • UART1
  • UART2
  • UART3
  • UART5

Sensor Wire Meaning

For the UART-capable XKC-KL200 family, the wiring used in this setup is:

  • Brown = VCC
  • Blue = GND
  • Yellow = sensor signal output
  • Black = sensor RXD

In practice for Raspberry Pi wiring, this becomes:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> Raspberry Pi RX
  • Black -> Raspberry Pi TX

Power And Logic Level

The XKC product page lists an operating voltage of DC 5-24V. In this setup:

  • sensor power = 5V
  • sensor ground = GND
  • Raspberry Pi UART logic remains 3.3V

config.txt Overlays

The active /boot/firmware/config.txt block is:

[all]
dtoverlay=disable-bt
enable_uart=1
dtoverlay=uart2
dtoverlay=uart3
dtoverlay=uart5

Meaning of each line:

  • enable_uart=1 enables serial and UART support
  • dtoverlay=uart2 enables UART2
  • dtoverlay=uart3 enables UART3
  • dtoverlay=uart5 enables UART5

UART Mapping On Raspberry Pi

The active UART mapping is:

  • UART1 -> GPIO14 / GPIO15
  • UART2 -> GPIO0 / GPIO1
  • UART3 -> GPIO4 / GPIO5
  • UART5 -> GPIO12 / GPIO13

Extension HAT Label Notes

Some extension HATs do not label these pins as TXD2, RXD2, TXD3, and so on. Instead, they expose the original GPIO labels:

  • UART1: TXD = TXD1, RXD = RXD1
  • UART2: ID_SD = GPIO0 = TXD2, ID_SC = GPIO1 = RXD2
  • UART3: IO4 = GPIO4 = TXD3, IO5 = GPIO5 = RXD3
  • UART5: IO12 = GPIO12 = TXD5, IO13 = GPIO13 = RXD5

Full Wiring For Four Sensors

Sensor 1 on UART1:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> RXD
  • Black -> TXD

Sensor 2 on UART2:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> ID_SC
  • Black -> ID_SD

Sensor 3 on UART3:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> IO5
  • Black -> IO4

Sensor 4 on UART5:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> IO13
  • Black -> IO12

Simple Color Summary

For every sensor:

  • Brown -> 5V
  • Blue -> GND
  • Yellow -> Pi RX
  • Black -> Pi TX

Shared Power

All sensors can share the same power rails:

  • all Brown wires -> 5V
  • all Blue wires -> GND

The UART signal wires must remain separate for each sensor.

Multi-Sensor Port Mapping

In a four-sensor Raspberry Pi deployment, each sensor can be opened on its own UART device:

  • Sensor 1 -> /dev/ttyAMA0
  • Sensor 2 -> /dev/ttyAMA2
  • Sensor 3 -> /dev/ttyAMA3
  • Sensor 4 -> /dev/ttyAMA5

The sensor sends serial data to the Raspberry Pi over the yellow wire, and the Raspberry Pi sends commands back over the black wire.