le programme de est du lidar

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Comitter:
GaspardD
Date:
Sun Sep 09 12:55:53 2018 +0000
Commit message:
pour omar

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 09 12:55:53 2018 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+Serial device(A4,A5);  // tx, rx
+
+int dist;// LiDAR actually measured distance value
+int strength;// LiDAR signal strength
+int check;// check numerical value storage
+int i;
+int uart[9];// store data measured by LiDAR
+const int HEADER=0x59;// data package frame header
+
+int main()
+{
+    pc.baud(115200);
+    device.baud(115200);
+    int i=0;
+    pc.printf("Hello \n");
+    while(1) {
+        if (device.readable()) { //check whether the serial port has data input
+            if(device.getc()==HEADER) { // determine data package frame header 0x59
+                uart[0]=HEADER;
+                if(device.getc()==HEADER) { //determine data package frame header 0x59
+                    uart[1]=HEADER;
+                    for(i=2; i<9; i++) { // store data to array
+                        uart[i]=device.getc();
+                    }
+                    check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
+                    if(uart[8]==(check&0xff)) { // check the received data as per protocols
+                        dist=uart[2]+uart[3]*256;// calculate distance value
+                        strength=uart[4]+uart[5]*256;// calculate signal strength value
+                        pc.printf("\rdist = %d strength = %d     ",dist,strength);// output signal strength value
+                    }
+                }
+            }
+        }
+    }
+}
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Sep 09 12:55:53 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539
\ No newline at end of file