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GY-US42 APM Aircraft Controller IIC I2C Integrated Ultrasonic Distance Measuring Sensor Module

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  It is a GY-US42 ultrasonic sensor module.The module can be adapted to different working environments and directly connected to the microcontroller.A USB to TTL module connection is required when connecting to a computer.IIC mode can directly connect with APM,Pixhawk,and other flight controllers.
  1>.It has built-in precise algorithms
  2>.Ultrasonic non-contact measurement
  3>.Test distance up to 720cm
  4>.It supports IIC,serial,and PWM communication formats.
  5>.Small power consumption,small size and easy installation.
  6>.40HZ measurement cycle
  1>.Product Name:GY-US42 Ultrasonic Sensor Module
  2>.Working Voltage:3V~5V
  3>.Working Current:9mA
  5>.Response Frequency:15Hz
  6>.Measuring Range:20cm~720cm
  7>.Work Temperature:-20℃~65℃
  8>.Storage Temperature:-40℃~85℃
  9>.Work Humidity:5%~95%RH
4.Pin Description:
  3>.Pin3:CR,serial port USART_RX/IIC_SCL/Trig
  4>.Pin4:DT,serial port USART_TX/IIC_SDA/Echo
  5>.Pin5:INT,measurement status
  6>.Pin6:PS,serial port/IIC/pulse mode conversion (default=IIC mode)
  7>.PS pin hardware selection module working mode
  8>.PS is left unconnected (default):IIC mode,Pin3(CR)=SCL,Pin4(DT)=SDA,Pin5 is INT status pin
  9>.PS to VCC(PS=H):Serial UART mode,Pin3 (CR)=RX,Pin4 (DT)=TX,TTL level
  10>.Connect PS to GND (PS=L):Pulse PWM mode,Pin3 (CR)=Trig trigger pin,Pin4 (DT)=Echo echo pin
5.Communication Protocol and Operation Steps:
  1>.Serial communication parameters:9600,N,8,1/115200,N,8,1(default baud rate is 9600bps)
  2>.Module output format,each frame contains 8-13 bytes (hexadecimal):
    1.1>.Byte0:0x5A,frame header flag
    1.2>.Byte1:0x5A,frame header flag
    1.3>.Byte2:0x45,this frame data type(represents that this frame data is distance data)
    1.4>.Byte3:0x02,the amount of data
    1.5>.Byte4:0x00~0xFF,the first 8 bits of data
    1.6>.Byte5:0x00~0xFF,lower 8 bits before the data
    1.7>.Byte6:0x00~0xFF,checksum (the previous data is accumulated and only the lower 8 bits are left)
  3>.Distance length calculation method:Distance=(Byte3<<8)|Byte4 (cm)
  4>.Serial command command:
    1.1>.Command format:0xA5+command+command+sum checksum
    1.2>.Sum checksum=sum of the first three data,take the lower 8 bits
  5>.Output mode setting instruction:
    1.1>.0xA5+0x55+0x15+0x0F:Query IIC address
    1.2>.0xA5+0x56+0x01+0xFC:Query output distance data
    1.3>.0xA5+0x56+0x02+0xFD:Continuous output distance data,about 10hz (default)
  6>.IIC address setting instruction:0xA5+0x57+addr+sum:addr is the IIC 8-bit address,the lowest bit must be 0
  7>.Baud rate configuration:
    1.1>.0xA5+0x58+0xAE+0XAB:9600 (default)
  8>.Save/restore configuration:
    1.1>.0xA5+0x5A+0x01+0X00:Save output configuration,IIC address,baud rate configuration
    1.2>.0xA5+0x5A+0x02+0X01:Restore factory settings,restore IIC address,baud rate
  9>.Operation steps in serial mode:
    1.1>.Use USB to TTL module or MCU to connect with GY-US42 module
    1.2>.TX-RX,RX-TX,the wiring method is cross connection.
    1.3>.The GY-US42 module defaults to automatic output.The TX pin sends data.You can get data directly on the serial port.For the format,refer to the communication protocol
    1.4>.For other operations,you can refer to the protocol to send corresponding instructions.
  1>.Intelligent robot
  2>.Teaching laboratory instruments
  3>.Product line inspection
  6>.Smart car
  1>.1pcs GY-US42 Ultrasonic Sensor Module
  2>.1pcs Pin
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