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docs/doc/hardware/sensor/README.md
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# 传感器
---
- [力敏传感器](./force_sensor.md)
- [气敏传感器](./gas_sensor.md)
- [热敏传感器](./heat_sensor.md)
- [湿敏传感器](./humidity_sensor.md)
- [磁敏传感器](./magneto_sensor.md)
- [光电传感器](./photoelec_sensor.md)
- [压强传感器](./pressure_sensor.md)
- [声音传感器](./voice_sensor.md)
- [图像传感器](./image_sensor.md)
docs/doc/hardware/sensor/force_sensor.md
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# 力敏传感器
## QS-FS 风速传感器
<div class = "wrapper">
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" >
<tr>
<td style="width: 50%;">
<!--左侧内容-->
<img src = "./imagesrc/QS-fs.png" alt="QS-fs" width =100% max-width= 100% >
</td>
<td style="width: 50%;">
<!--右侧内容-->
体积小，携带方便、安装简捷</br></br>
测量精度高，量程宽，稳定性好</br></br>
结构设计合理，外观质量佳</br></br>
数据信息线性度好，信号传输距离长，抗外界干扰能力强</br></br>
</td>
</tr>
</table>
</div>
### 适用范围
该传感器可广泛应用于温室、环境保护、气象站、船舶、 码头、养殖等环境的风速测量。
### 接线说明
**电压、电流以及脉冲型接线定义**
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 120 style = "text-align:center"><b>接入</b></td>
<td width = 480 colspan = "3" style = "text-align:center"><b>外部线</b></td>
</tr>
<tr style = "text-align:center">
<td width = 120 >电源正</td>
<td width = 160 >红色</td>
<td width = 160 rowspan = "3">或</td>
<td width = 160 >棕色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 >电源负</td>
<td width = 160 >蓝色</td>
<td width = 160 >黑色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 >信号</td>
<td width = 160 >黄色</td>
<td width = 160 >蓝色</td>
</tr>
</table>
</div>
**485型接线定义**
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr style = "text-align:center">
<td width = 120 ><b>线色</b></td>
<td width = 120 >棕色</td>
<td width = 120 >蓝色</td>
<td width = 120 >灰色</td>
<td width = 120 >黑色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 ><b>485</b></td>
<td width = 120 >电源正</td>
<td width = 120 >485A</td>
<td width = 120 >485B</td>
<td width = 120 >电源负</td>
</tr>
</table>
</div>
### 技术参数
启动风力：0.2-0.4 m/s</br></br>
测量精度：±(0.3+0.03V)m/s(V表示风速示值)</br></br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr >
<td width = 150 rowspan = "10" style = "text-align:center"><b>电压型</b></td>
<td width = 150 >量程</td>
<td width = 300 >0~32. 4 m/s</td>
</tr>
<tr >
<td >供电电压</td>
<td >7V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >0.4~2V </td>
</tr>
<tr >
<td >风速值</td>
<td >（输出电压-0.4）/1.6*32.4 </td>
</tr>
<tr >
<td >供电电压</td>
<td >12V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >0~5 V </td>
</tr>
<tr >
<td >风速值</td>
<td >输出电压/5*32.4 </td>
</tr>
<tr >
<td >供电电压</td>
<td >12V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >1~5 V </td>
</tr>
<tr >
<td >风速值</td>
<td >（输出电压-1）/4*32.4 </td>
</tr>
<tr >
<td width = 150 rowspan = "5" style = "text-align:center"><b>电流型</b></td>
<td width = 150 >量程</td>
<td width = 300 >0~32. 4 m/s</td>
</tr>
<tr >
<td >供电电压</td>
<td >12V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >4~20 mA </td>
</tr>
<tr >
<td >负载能力</td>
<td >≤200Ω </td>
</tr>
<tr >
<td >风速值</td>
<td >（输出电流-4）/16*32.4 </td>
</tr>
<tr >
<td width = 150 rowspan = "4" style = "text-align:center"><b>脉冲型</b></td>
<td width = 150 >量程</td>
<td width = 300 >0~60 m/s </td>
</tr>
<tr >
<td >供电电压</td>
<td >12V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >脉冲(每个脉冲对应0.88m/s) </td>
</tr>
<tr >
<td >信号说明</td>
<td >内加上拉电阻逻辑1=VCC，逻辑0=GND</td>
</tr>
<tr >
<td width = 150 rowspan = "3" style = "text-align:center"><b>485型</b></td>
<td width = 150 >量程</td>
<td width = 300 >0~32. 4 m/s</td>
</tr>
<tr >
<td >供电电压</td>
<td > 7V~24 V DC</td>
</tr>
<tr >
<td >通信协议</td>
<td >Modbus-RTU </td>
</tr>
</table>
</div>
### 通信协议
**MODBUS协议(可定制)**
+ 通讯方式：485 通讯，传送距离< 1000米
+ 通讯速率：9600,n,8,1
+ 通讯协议：MODBUS-RTU协议，出厂站号为2号站，依需要可以进行修改。
ModBus协议的命令包括：</br>
读出风速的数值（出厂为2号站）</br>
读取风速值命令格式举例：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 800>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
</tr>
<tr>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x03</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x01</td>
<td style = "text-align:center">0x84</td>
<td style = "text-align:center">0x39</td>
</tr>
</table>
</div>
注：开始的第一个字节02是站号，如果你已修改过站号设置，应将第一位的 02 修改为您设置的站号，最后两位84,39是 16位的CRC校验。</br>
返回风速的命令格式举例：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 700>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
</tr>
<tr>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x03</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x1F</td>
<td style = "text-align:center">0xBD</td>
<td style = "text-align:center">0x8C</td>
</tr>
</table>
</div>
注：001F所在的位4,5位为风速的值，客户自行计算CRC校验是否正确。</br>
风速数据解析方法：</br>
风速（m/s）=0X001F/10=31/10=3.1</br>
修改自身站号</br>
方法一：知道现在站号，发送如下指令</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 800>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
</tr>
<tr>
<td style = "text-align:center"><b>0x02</b></td>
<td style = "text-align:center">0x06</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center"><b>0x03</b></td>
<td style = "text-align:center">0xCD</td>
<td style = "text-align:center">0x38</td>
</tr>
</table>
</div>
或者使用10功能码也可：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 1100>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
<td width = 100 style = "text-align:center">8</td>
<td width = 100 style = "text-align:center">9</td>
<td width = 100 style = "text-align:center">10</td>
</tr>
<tr>
<td style = "text-align:center"><b>0x02</b></td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x01</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center"><b>0x03</b></td>
<td style = "text-align:center">0xE3</td>
<td style = "text-align:center">0x60</td>
</tr>
</table>
</div>
其功能是将站号由2号改为3号</br>
方法二：忘了原站站号，需要将产品独自连接到电脑上，注意总线上不能有其它485产品，用0号站对其操作，指令如下： </br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 800>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
</tr>
<tr>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x06</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center"><b>0x03</b></td>
<td style = "text-align:center">0xCC</td>
<td style = "text-align:center">0xDA</td>
</tr>
</table>
</div>
注：加粗字替换为希望修改成的目标站号值即可。</br>
方法三：可以用清易电子科技有限公司软件的设置站号指令。详见软件</br>
## QS-FX 风向传感器
<div class = "wrapper">
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" >
<tr>
<td style="width: 50%;">
<!--左侧内容-->
<img src = "./imagesrc/QS-fx.png" alt="QS-fx" width =100% max-width= 100% >
</td>
<td style="width: 50%;">
<!--右侧内容-->
自体积小，重量轻，野外携带安装极为方便，防水防震结构设计，可在野外全天候使用 </br></br>
检测精度高，系统采用低功耗环保节能设计，数字处理技术</br></br>
量程宽，稳定性好</br></br>
数据信息显示线性度好，信号传输距离长，抗外界干扰能力强</br></br>
</td>
</tr>
</table>
</div>
### 适用范围
该传感器可测量室外环境中的风向，可以测量以标签北为起点的0-359度的自然界风向，具有很高的性价比。该仪器广泛用于环保、气象、农业、林业、水利、建筑、科研及教学等领域。
### 接线说明
**电压、电流型接线定义**
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 120 style = "text-align:center"><b>接入</b></td>
<td width = 480 colspan = "3" style = "text-align:center"><b>外部线</b></td>
</tr>
<tr style = "text-align:center">
<td width = 120 >电源正</td>
<td width = 160 >红色</td>
<td width = 160 rowspan = "3">或</td>
<td width = 160 >棕色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 >电源负</td>
<td width = 160 >蓝色</td>
<td width = 160 >黑色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 >信号</td>
<td width = 160 >黄色</td>
<td width = 160 >蓝色</td>
</tr>
</table>
</div>
**485型接线定义**
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr style = "text-align:center">
<td width = 120 ><b>线色</b></td>
<td width = 120 >棕色</td>
<td width = 120 >蓝色</td>
<td width = 120 >灰色</td>
<td width = 120 >黑色</td>
</tr>
<tr style = "text-align:center">
<td width = 120 ><b>485</b></td>
<td width = 120 >电源正</td>
<td width = 120 >485B</td>
<td width = 120 >485A</td>
<td width = 120 >电源负</td>
</tr>
</table>
</div>
### 技术参数
测量范围：0--359度： (0.4V,或4MA对应0度，北的方向)</br>
16个方向：（每增加0.1v或1ma增加一个方位，</br>
0.4-2v，或4-20ma，16个刻度对应16个方位）</br></br>
测量精度：±1度</br></br>
工作电流：＜15mA</br></br>
负载能力：小于600欧 一般建议250欧</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr >
<td width = 150 rowspan = "6" style = "text-align:center"><b>电压型</b></td>
<td width = 150 >输入电压</td>
<td width = 300 >7V～24V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >0.4~2V </td>
</tr>
<tr >
<td >风向值</td>
<td >（输出电压-0.4）/1.6*360 </td>
</tr>
<tr >
<td >输入电压</td>
<td >12V~24 V DC</td>
</tr>
<tr >
<td >输出信号</td>
<td >0~5 V </td>
</tr>
<tr >
<td >风向值</td>
<td >（输出电压-1）/4*360 </td>
</tr>
<tr >
<td width = 150 rowspan = "3" style = "text-align:center"><b>电流型</b></td>
<td width = 150 >输入电压</td>
<td width = 300 >12V～24 V DC </td>
</tr>
<tr >
<td >输出信号</td>
<td >4～20mA</td>
</tr>
<tr >
<td >风向值</td>
<td >（输出电流-4）/16*360 </td>
</tr>
<tr >
<td width = 150 rowspan = "2" style = "text-align:center"><b>485型</b></td>
<td width = 150 >输入电压</td>
<td width = 300 >7V~24 V DC</td>
</tr>
<tr >
<td >通信协议</td>
<td >Modbus-RTU</td>
</tr>
</table>
</div>
### 通信协议
**MODBUS协议(可定制)**
+ 通讯方式：485 通讯，传送距离< 1000米
+ 通讯速率：9600,n,8,1
+ 通讯协议：MODBUS-RTU协议，出厂站号为2号站，依需要可以进行修改。
ModBus协议的命令包括：</br>
读出风向的数值（出厂为2号站）</br>
读取风向值命令格式举例：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 800>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
</tr>
<tr>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x03</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x01</td>
<td style = "text-align:center">0x84</td>
<td style = "text-align:center">0x39</td>
</tr>
</table>
</div>
注：开始的第一个字节02是站号，如果你已修改过站号设置，应将后第一位的 02 修改为您设置的站号。随之，最后两位是 16位的CRC校验，重新计算过后写上。</br>
返回风向的命令格式举例：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 700>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
</tr>
<tr>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x03</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x1F</td>
<td style = "text-align:center">0xBD</td>
<td style = "text-align:center">0x8C</td>
</tr>
</table>
</div>
注：001F所在的位4,5位为风向的值</br>
风向数据解析方法：</br>
风向（°）=0X001F=31（以北为开始，输出成顺时针输出度数）</br>
修改自身站号</br>
方法一：知道现在站号，发送如下指令</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 1100>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
<td width = 100 style = "text-align:center">8</td>
<td width = 100 style = "text-align:center">9</td>
<td width = 100 style = "text-align:center">10</td>
</tr>
<tr>
<td style = "text-align:center"><b>0x02</b></td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x01</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center"><b>0x03</b></td>
<td style = "text-align:center">0xE3</td>
<td style = "text-align:center">0x60</td>
</tr>
</table>
</div>
其功能是将站号有2号为3号</br>
目标站号值即可，发送需客户自行计算CRC的值。</br>
方法二：忘了原站站号， 需要将产品独自连接到电脑上，注意总线上不能有其它485产品，用0号站对其操作，指令如下：</br>
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 1100>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
<td width = 100 style = "text-align:center">5</td>
<td width = 100 style = "text-align:center">6</td>
<td width = 100 style = "text-align:center">7</td>
<td width = 100 style = "text-align:center">8</td>
<td width = 100 style = "text-align:center">9</td>
<td width = 100 style = "text-align:center">10</td>
</tr>
<tr>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x10</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center">0x01</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x00</td>
<td style = "text-align:center"><b>0x03</b></td>
<td style = "text-align:center">0xFA</td>
<td style = "text-align:center">0x00</td>
</tr>
</table>
</div>
方法三：可以用清易电子科技有限公司软件的设置站号指令。详见软件</br>
docs/doc/hardware/sensor/gas_sensor.md
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# 气敏传感器
<head>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js"],
jax: ["input/TeX", "output/HTML-CSS"],
tex2jax: {
<!--$表示行内元素，$$表示块状元素 -->
inlineMath: [ ['$','$'], ["\\(","\\)"] ],
displayMath: [ ['$$','$$'], ["\\[","\\]"] ],
processEscapes: true
},
"HTML-CSS": { availableFonts: ["TeX"] }
});
</script>
<!--加载MathJax的最新文件， async表示异步加载进来 -->
<script type="text/javascript" async src="https://cdn.mathjax.org/mathjax/latest/MathJax.js">
</script>
</head>
## TB600B-IAQ-10 空气质量检测模组
<div class = "wrapper">
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" >
<tr>
<td style="width: 50%;">
<!--左侧内容-->
<img src = "./imagesrc/TB600B.png" alt="TB600B" width =100% max-width= 100% >
</td>
<td style="width: 50%;">
<!--右侧内容-->
多种有害气体测量反应计算，可有效评估空气新鲜度；</br></br>
可检测VOC有机挥发物类、硫化物、氮氧化物、胺类、烃类、酮类、醇类、一氧化碳等多种无机气体；</br></br>
长寿命、检测稳定、可靠性高；</br></br>
快速响应；</br></br>
独立温湿度数字传感器，结合智能算法，环境适应性强；</br></br>
小体积低功耗；</br></br>
</td>
</tr>
</table>
</div>
### 应用领域
+ 室内家居空气质量污染监测
+ 家用、商用新风在线净化系统
+ 家用新风机、净化器
+ 商业场所空气质量污染监测
+ 室内温湿度监测仪
+ 车载空气净化器
+ 公共交通工具空间内空气监测
+ 暖通空调系统
+ 智能可穿戴设备（腕表、口罩、手机）
+ 健康运动设备
+ 抽油烟机和智能家具产品
+ 实验室排风柜系统
+ 超净实验室环境监测
+ 小型无人机环境空气质量监测
### 接线说明
<div style="display: flex;justify-content: center;align-items: center;">
<img src = "./imagesrc/TB600B_2.png" alt="TB600B_2" width =80% max-width= 80% >
</br>
</div>
按照上图中从上到下的顺序：
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 100>序号</td>
<td width = 250>TB600B模块</td>
<td width = 250>备注</td>
</tr>
<tr>
<td>1</td>
<td>TX</td>
<td>接嵌入式系统RX引脚</td>
</tr>
<tr>
<td>2</td>
<td>RX</td>
<td>接嵌入式系统TX引脚</td>
</tr>
<tr>
<td>3</td>
<td>GND</td>
<td>模块公共地</td>
</tr>
<tr>
<td>4</td>
<td>VCC</td>
<td>供电电压，3.3 V~5.5 V</td>
</tr>
</table>
</div>
### 使用步骤
+ 接线
+ 空气质量检测模组上电后需要短暂的数据稳定时间，通常在1min以内。
+ 该检测模组为扩散式检测环境气体，需要确保流量在500ml以内，且保证流量稳定。流量较大时会带来压力的变化，从而导致传感器信号值变化。流速会产生压力，压力的变化会导致输出信号的变化，压力增大，信号变大，传感器信号会出现峰值突变。避免在负压环境下使用，对传感器造成物理无法恢复的损坏。
### 通信协议
#### 一、通用设置
传感器使用串行通讯方式。
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 200>波特率</td>
<td width = 400>9600</td>
</tr>
<tr>
<td>数据位</td>
<td>8位</td>
</tr>
<tr>
<td>停止位</td>
<td>1位</td>
</tr>
<tr>
<td>校验位</td>
<td>无</td>
</tr>
</table>
</div>
注意： 通讯分为主动上传和问答式，上电默认为问答式。
docs/doc/hardware/sensor/heat_sensor.md
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# 热敏传感器
docs/doc/hardware/sensor/humidity_sensor.md
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# 湿敏传感器
##
docs/doc/hardware/sensor/image_sensor.md
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# 图像传感器
## 传感器介绍
| 传感器信号 | 传感器说明 | 驱动支持 | 传感器外形 |
| --- | --- | --- | --- |
| OV7670 | 最大支持 40x480，30万像素，不支持 JPEG 输出，不支持自动对焦 | 已支持 | ![ov7670](./imagesrc/sensor-ov7670.png) |
| OV2640 | 最大支持 1600x1200，200万像素，支持 JPEG 输出，不支持自动对焦 | 待支持 | ![ov7670](./imagesrc/sensor-ov2640.png) |
## 使用说明
本系统支持 dev fs，camera 设备会在 /dev 下面注册。
相关数据结构：
```c
enum CameraOutputFormat {
RGB565,
JPEG,
};
struct CameraInfo {
int width;
int height;
CameraOutputFormat format;
};
```
基本使用说明：
```c
// open camera device
int fd = open(“/dev/cam1”);
// get camera info
struct CameraInfo cam_info;
int ret = ioctl(fd, GET_INFO, &cam_info);
// read camera data to buf
void *buf = malloc(cam_info.width * cam_info.height * 2); // assume the format is RGB565
int ret = read(fd, buf, size);
```
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docs/doc/hardware/sensor/magneto_sensor.md
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# 磁敏传感器
docs/doc/hardware/sensor/photoelec_sensor.md
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# 光电传感器
docs/doc/hardware/sensor/pressure_sensor.md
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# 压强传感器
## BMP180
<div class = "wrapper">
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" >
<tr>
<td style="width: 50%;">
<!--左侧内容-->
<img src = "./imagesrc/bmp180.jpg" alt="bmp180" width =100% max-width= 100% >
</td>
<td style="width: 50%;">
<!--右侧内容-->
适合智能的高精度测量和数据采集，输出高精度的压力（或高度）和温度测量数据。</br></br>
与加速度计相互搭配，在没有GPS讯号的环境下，提供可靠的楼层侦测能力，以实现三维(3D)室内导航。</br></br>
可以检测：温度，大气压强，海拔高度。</br></br>
</td>
</tr>
</table>
</div>
### 接线说明
按照上图中从右向左的顺序：
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 100>序号</td>
<td width = 250>BMP180模块</td>
<td width = 250>备注</td>
</tr>
<tr>
<td>1</td>
<td>VIN</td>
<td>供电电压，1.8 V~3.6 V,典型值2.5 V</td>
</tr>
<tr>
<td>2</td>
<td>GND</td>
<td>模块公共地</td>
</tr>
<tr>
<td>3</td>
<td>SCL</td>
<td>I2C 时钟线</td>
</tr>
<tr>
<td>4</td>
<td>SDA</td>
<td>I2C 数据线</td>
</tr>
</table>
</div>
###
docs/doc/hardware/sensor/voice_sensor.md
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# 声音传感器
## D124
</br>
<div style="display: flex;justify-content: center;align-items: center;">
<img src = "./imagesrc/D124.png" alt="D124" width =30% max-width= 30% >
</br>
</div>
### 应用领域
用于采集当前环境中的声音分贝大小，并以串口形式输出。
### 接线说明
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 600>
<tr>
<td width = 100>1</td>
<td width = 250>棕线</td>
<td width = 250>VCC/DC12V</td>
</tr>
<tr>
<td>2</td>
<td>黑线</td>
<td>GND/电源线</td>
</tr>
<tr>
<td>3</td>
<td>蓝线</td>
<td>RXD</td>
</tr>
<tr>
<td>4</td>
<td>黄线</td>
<td>TXD</td>
</tr>
</table>
</div>
### 注意事项
+ 模块具有防反接保护，接时只要注意不要把电源接到串口输出线上即可，以免烧坏转换模块或MCU。
+ 串口输出为 TTL 电平，测试时请使用 TTL 转 USB 的模块。请勿使用 232 转 USB。
+ 模块在平常安静的环境中输出为 50dB 左右。
+ 测试时，电源地与串口地一定连通，让信号形成回路，否则测试时，串口软件显示无数据输出。当软件显示有乱码时，把串口测试软件的十六进制显示勾上即可显示正常数据。
### 通信协议
波 特 率：9600</br>
输出方式：串口输出（协议见下） 1 次/1S</br>
起始位与停止位为固定值。</br>
数据计算方法：（数据_H\*256+数据_L）/10</br>
校验位计算方法: 数据_H+数据_L</br></br>
例：
<div>
<table style="margin-left: auto; margin-right: auto; table-layout: fixed;" width = 500>
<tr>
<td width = 100 style = "text-align:center">0</td>
<td width = 100 style = "text-align:center">1</td>
<td width = 100 style = "text-align:center">2</td>
<td width = 100 style = "text-align:center">3</td>
<td width = 100 style = "text-align:center">4</td>
</tr>
<tr>
<td style = "text-align:center">0xAA</td>
<td style = "text-align:center">0x02</td>
<td style = "text-align:center">0x21</td>
<td style = "text-align:center">0x23</td>
<td style = "text-align:center">0xFF</td>
</tr>
</table>
</div>
声音计算方法: (2\*256+2\*16+1)/10=54.5dB</br>