STP23L

LDROBOT STP-23L UART laser ranging sensor module for XRobot.

This module reads the STP-23L UART byte stream in a background thread, syncs on the fixed frame header, verifies checksum, publishes complete 12-point ranging frames, and exposes a RamFS shell command for status output.

The UART name is a constructor argument, so projects may use other hardware aliases if needed.

Required Hardware

• stp23l_uart
• ramfs

Constructor Arguments

• topic_name: default "stp23l_frame"
• task_stack_depth: default 2048
• uart_name: default "stp23l_uart"
• frame_timeout_ms: default 200

Published Topics

• topic_name: STP23L::Frame, including 12 raw points, sensor timestamp, average distance, min / max distance, and valid point count

Shell Commands

The module registers bin/stp23l in RamFS.

• bin/stp23l or bin/stp23l status: print frame counters and latest distance statistics

XRobot Configuration Example

- id: rangefinder
  name: STP23L
  constructor_args:
    topic_name: "stp23l_frame"
    task_stack_depth: 2048
    uart_name: "stp23l_uart"
    frame_timeout_ms: 200