Impact-Echo
This library uses the power enable pin on the lidar lite unit to enable multi-unit sampling. Attempted to add an additional change address function but didn't quite complete it. Thus, functionality of multiple units at the same time is achieved by the power enable pin and not by addressing the units separately.
Dependencies: mbed
Fork of
LidarLite
by 
Akash Vibhute
Diff: LidarLite.cpp
- Revision:
- 0:8e6304ab38d2
- Child:
- 1:a01dc8b52be4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarLite.cpp Tue Feb 17 12:01:04 2015 +0000
@@ -0,0 +1,148 @@
+/*
+ * Library for easy interface of LidarLite with mbed using I2C
+ *
+ * Akash Vibhute <akash . roboticist [at] gmail . com>
+ *
+ * v0.1, 17/Feb/2015 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
+ *
+ */
+
+#include "LidarLite.h"
+
+LidarLite::LidarLite(PinName sda, PinName scl)
+{
+ i2c_ = new I2C(sda, scl);
+ i2c_->frequency(100000); //I2C @ 100kHz
+ wait(0.5);
+}
+
+int16_t LidarLite::getRange_cm()
+{
+ return(distance_LL);
+}
+
+int16_t LidarLite::getVelocity_cms()
+{
+ if(velocity_LL < 127)
+ return(velocity_LL*10);
+ else
+ return((velocity_LL-256)*10);
+}
+
+void LidarLite::refreshRange()
+{
+ uint8_t nackack;
+
+ char write[2]={SET_CommandReg, AcqMode};
+ char read_dist[1]={GET_Distance2BReg};
+ char read_vel[1]={GET_VelocityReg};
+
+ char dist[2];
+ char vel[1];
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2);
+ }
+ distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1];
+}
+
+void LidarLite::refreshVelocity()
+{
+ uint8_t nackack;
+
+ char write[2]={SET_CommandReg, AcqMode};
+ char read_dist[1]={GET_Distance2BReg};
+ char read_vel[1]={GET_VelocityReg};
+
+ char dist[2];
+ char vel[1];
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1);
+ }
+ velocity_LL = (uint16_t)vel[0];
+}
+
+void LidarLite::refreshRangeVelocity()
+{
+ uint8_t nackack;
+
+ char write[2]={SET_CommandReg, AcqMode};
+ char read_dist[1]={GET_Distance2BReg};
+ char read_vel[1]={GET_VelocityReg};
+
+ char dist[2];
+ char vel[1];
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2);
+ }
+ distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1];
+
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1);
+ }
+
+ nackack=1;
+ while(nackack !=0)
+ {
+ wait_ms(1);
+ nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1);
+ }
+ velocity_LL = (uint16_t)vel[0];
+}
\ No newline at end of file