简介：利用ESP32 MicroPython 模块中的UART1对于雷达模块性能进行测试。验证了它的基本通信格式，能够读取对应的数据，它的数据更新速率为每秒钟4个测量数据。

关键词： 雷达模块，ESP32

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微波雷达

目录
Contents

1.1 接口定义.....................................
1.2 测试电路板.................................
1.3 连接ESP32与XW-HLR26-24G
1.4 通信测试.....................................

更多测试

2.1 测试手臂前后移动

测试总结

§01 微波雷达

对于 XW-HLR26-24G毫米波测距测速雷达传感器模块移动侦测传感器可调距离TTL输出 中的微波雷达进行功能测试。

1.1 接口定义

SW-HLR26的接口如下图所示。这是对应的2mm间距的PIN4接口。

▲ 图1.1 XW-HLR26-24G微波雷达模块

1.2 测试电路板

利用 ESP32-S模块转接板设计与实现 中的ESP32的UART的UART1对 XW-HLR26-24G进行测试。

▲ 图1.2.1 ESP32-S 转接板的接口定义

1.2.1 ESP32串口测试

from machine                import UART,Pin
import utimeled  = Pin(5, Pin.OUT)
uart = UART(1, 115200)while True:led.on()utime.sleep_ms(100)led.off()utime.sleep_ms(100)uart.write(b'\x55')

下面是测TXD1输出信号。验证了：

这个管脚是ESP32的 TXD1 输出信号；
初始化的115200的波特率是正确的的；

▲ 图1.2.2 ESP32 TXD1管脚信号

1.3 连接ESP32与XW-HLR26-24G

1.3.1 信号连接

将XW-HLR26与ESP32连接。由于ESP32工作电压为3.3V。所以需要另外增加+5V的工作电源。

▲ 图1.3.1 测试XW-HLR26模块的ESP32测试电路板

XW-HLR26 的串口具有 3.3V/5V兼容的信号。

▲ 图1.3.2 XWS-HLR26 接口定义

1.3.2 初步测试

该模块施加+5V工作电源。模块工作流大约：84mA。

（1）模块上电信息

根据XW-HLR26的使用手册可以知道模块上电后主动上报模块的版本号。使用示波器检测模块的TX管脚，在上电后并没有看到任何发送的数据信号。同样在RX管教也没有发送数据信号信息。

（2）读数信息

uart.write(b'\x55\x5a\x02\xD3\x84')
utime.sleep_ms(50)readb = uart.read(uart.any())
print(readb)

Test XW-HLR26.
5
b'U\xa5\n\xd3\xff\xff\x00\x00\x00\x00\x00\x00\xd5'

1.4 通信测试

1.4.1 读取测试信息

def readXW():uart.write(b'\x55\x5a\x02\xD3\x84')utime.sleep_ms(10)readb = uart.read(uart.any())distance = 0speed = 0gesture = 0intensity = 0if readb[0:3] != b'\x55\xa5\n':return distance,speed,gesture,intensityprint(readb)distance = int.from_bytes(readb[4:6], 0)speed = int.from_bytes(readb[6:8], 0)intensity = int.from_bytes(readb[8:10], 0)gesture = readb[10]return distance,speed,intensity,gestured,s,i,g = readXW()
print(d,s,i,g)

1.4.2 测量范围

（1）查询雷达测量范围

def readRange():uart.write(b'\x55\x5a\x02\xD5\x86')utime.sleep_ms(10)readb = uart.read(uart.any())print(readb)readRange()

b'U\xa5\x0c\xd5\x00\x01\x00\xc8\x00\xb4\x00d\x00\xa0\\'

注意： 在上面的返回中，数据为12个，但在使用说明中，返回的数据应该是6个。

§02 更多测试

2.1 测试手臂前后移动

2.1.1 测量代码

from machine                import UART,Pin
import utimeled  = Pin(5, Pin.OUT)
uart = UART(1, 115200)def readXW():uart.write(b'\x55\x5a\x02\xD3\x84')utime.sleep_ms(10)readb = uart.read(uart.any())distance = 0speed = 0gesture = 0intensity = 0if readb[0:3] != b'\x55\xa5\n':return distance,speed,gesture,intensitydistance = int.from_bytes(readb[4:6], 0)speed = int.from_bytes(readb[6:8], 0)intensity = int.from_bytes(readb[8:10], 0)gesture = readb[10]return distance,speed,intensity,gesturedef readRange():readb = uart.read(uart.any())uart.write(b'\x55\x5a\x02\xD5\x86')utime.sleep_ms(2)readb = uart.read(uart.any())def setMaxRange():uart.write(b'\x55\x5a\x04\xD6\x01\x00\x8a')utime.sleep_ms(10)readb = uart.read(uart.any())NUMBER = 256
dist = [0]*NUMBERfor ii in range(NUMBER):d,s,i,g=readXW()dist[ii] = dprint(dist)while True:led.on()utime.sleep_ms(500)led.off()utime.sleep_ms(500)

2.1.2 测量结果

from headm import *
from tsmodule.tsstm32       import *stm32cmd('COPY')
time.sleep(.1)
strall = [s for s in clipboard.paste().split('\r\n') if len(s) > 0]
strnum = array([int(s) for s in strall[-1].replace('[','').replace(']','').split(',')])
strnum[where(strnum == 65535)] = 100printf(strnum)plt.plot(strnum)
plt.xlabel("n")
plt.ylabel("Distance")
plt.grid(True)
plt.tight_layout()
plt.show()

▲ 图2.1.1 测量结果

从测量结果来看，可以看到XW-HLR26反馈测量值的更新具有一定的周期。在连续读取数值的时候，大约2个数据之后才有更新。这对应的大约022秒。

▲ 图2.1.2 另外一次测量结果

测量 512个数据，消耗 5.515秒，对应每个数据大约时间10.77ms。对应22数据，大约消耗：237ms。由此可以估计出雷达模块大约每秒钟更新 4个数据。

※ 测试总结 ※

利用ESP32 MicroPython 模块中的UART1对于雷达模块性能进行测试。验证了它的基本通信格式，能够读取对应的数据，它的数据更新速率为每秒钟4个测量数据。

■ 相关文献链接:

XW-HLR26-24G毫米波测距测速雷达传感器模块移动侦测传感器可调距离TTL输出
ESP32-S模块转接板设计与实现

● 相关图表链接:

图1.1 XW-HLR26-24G微波雷达模块
图1.2.1 ESP32-S 转接板的接口定义
图1.2.2 ESP32 TXD1管脚信号
图1.3.1 测试XW-HLR26模块的ESP32测试电路板
图1.3.2 XWS-HLR26 接口定义
图2.1.1 测量结果
图2.1.2 另外一次测量结果

from machine                import UART,Pin
import utimeled  = Pin(5, Pin.OUT)
uart = UART(1, 115200)def readXW():uart.write(b'\x55\x5a\x02\xD3\x84')utime.sleep_ms(10)readb = uart.read(uart.any())distance = 0speed = 0gesture = 0intensity = 0if readb[0:3] != b'\x55\xa5\n':return distance,speed,gesture,intensitydistance = int.from_bytes(readb[4:6], 0)speed = int.from_bytes(readb[6:8], 0)intensity = int.from_bytes(readb[8:10], 0)gesture = readb[10]return distance,speed,intensity,gesturedef readRange():readb = uart.read(uart.any())uart.write(b'\x55\x5a\x02\xD5\x86')utime.sleep_ms(2)readb = uart.read(uart.any())def setMaxRange():uart.write(b'\x55\x5a\x04\xD6\x01\x00\x8a')utime.sleep_ms(10)readb = uart.read(uart.any())NUMBER = 512
dist = [0]*NUMBERstarttime = utime.ticks_ms()
for ii in range(NUMBER):for j in range(100):d,s,i,g=readXW()if d != 65535: breakdist[ii] = dprint(utime.ticks_ms() - starttime)print(dist)while True:led.on()utime.sleep_ms(500)led.off()utime.sleep_ms(500)

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测量 XW-HLR26-24G 微波雷达模块的性能测试

§01 微波雷达

1.1 接口定义

1.2 测试电路板

1.2.1 ESP32串口测试

1.3 连接ESP32与XW-HLR26-24G

1.3.1 信号连接

1.3.2 初步测试

（1）模块上电信息

（2）读数信息

1.4 通信测试

1.4.1 读取测试信息

1.4.2 测量范围

（1）查询雷达测量范围

§02 更多测试

2.1 测试手臂前后移动

2.1.1 测量代码

2.1.2 测量结果

※ 测试总结 ※

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