Impact-Echo / Mbed 2 deprecated LidarLite_Multi-Unit

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

LidarLite.cpp

Committer:
akashvibhute
Date:
2015-02-17
Revision:
0:8e6304ab38d2
Child:
1:a01dc8b52be4

File content as of revision 0:8e6304ab38d2:

/*
 *  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];
}