IOGS_France
RP Lidar A2M8
Diff: rplidar.h
- Revision:
- 0:9803ade33ac3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar.h Tue Dec 14 15:01:18 2021 +0000
@@ -0,0 +1,117 @@
+/****************************************************************************/
+/* LIDAR RPLidar A2M8 module library */
+/****************************************************************************/
+/* LEnsE / Julien VILLEMEJANE / Institut d'Optique Graduate School */
+/****************************************************************************/
+/* Library - rplidar.h file */
+/****************************************************************************/
+/* Tested on Nucleo-L476RG / 4th nov 2021 */
+/****************************************************************************/
+
+#ifndef __include_rplidar_h__
+#define __include_rplidar_h__
+
+#include "mbed.h"
+#define LIDAR_MODE_STOP 0x25
+#define LIDAR_MODE_RESET 0x40
+#define LIDAR_MODE_SCAN 0x20
+#define LIDAR_MODE_FORCE 0x21
+#define LIDAR_MODE_INFO 0x50
+#define LIDAR_MODE_HEALTH 0x52
+#define LIDAR_MODE_RATE 0x59
+
+#define NB_BYTE_INFO_REQ 7
+#define NB_BYTE_INFO_RESP 20
+#define NB_BYTE_RATE_REQ 7
+#define NB_BYTE_RATE_RESP 4
+#define NB_BYTE_HEALTH_REQ 7
+#define NB_BYTE_HEALTH_RESP 3
+#define NB_BYTE_FORCE_REQ 7
+#define NB_BYTE_FORCE_RESP 5
+#define NB_BYTE_SCAN_REQ 7
+
+// Fonction d'initialisation du Lidar
+void initLidar(void);
+// Fonction de test du Lidar
+void testLidar();
+// Variables du Lidar
+
+extern char pc_debug_data[128];
+extern Serial debug_pc;
+extern int data_nb;
+extern int data_scan_nb;
+extern char received_data[];
+extern char mode;
+extern char scan_ok;
+extern int distance_scan[];
+extern int distance_scan_old[];
+extern char tour_ok;
+extern char trame_ok;
+extern struct lidar_data ld_current;
+// Lidar
+extern Serial lidar;
+extern PwmOut lidar_ct;
+
+/* Data Structure of lidar */
+struct lidar_data{
+ int quality;
+ int angle;
+ int distance;
+};
+
+/*********************************************************************** GENERAL FUNCTIONS */
+
+/** Print int value and its name
+ */
+void print_int(const char *name, int ki);
+/** Print data from serial communication
+ */
+void print_data(const char *name, char *datai, int sizedata);
+/** Wait seconds
+ */
+void wait_s(float sec);
+
+/** Find max in an integer array
+ */
+void findMax(int *int_data, int angle_min, int angle_max, int *value, int *indice);
+
+/************************************************************************* LIDAR FUNCTIONS */
+
+/** IT_lidar
+ interrupt function on serial receiving
+ */
+void IT_lidar(void);
+
+/** Reset request
+ send command to core reset of the lidar
+ this action took 2ms
+ */
+void sendResetReq(void);
+
+/** Health request
+ get device health information
+ */
+void getHealthLidar(void);
+
+/** Info request
+ get device information
+ model / firmware _ LSB / MSB / Hardware / SerialNumber (15 octets)
+ */
+void getInfoLidar(void);
+
+/** Sample Rate
+ get sample rate
+ */
+void getSampleRate(void);
+
+/** Start Scan
+ start standard scan
+ */
+void startScan(void);
+
+/** Stop Scan
+ stop standard scan
+ */
+void stopScan(void);
+
+#endif /* #ifndef __include_rplidar_h__ */
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