RPLIDAR A1M8 LCD
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Communication.cpp@1:1ff3fe3679c1, 2016-11-23 (annotated)
- Committer:
- Carminio
- Date:
- Wed Nov 23 16:18:07 2016 +0000
- Revision:
- 1:1ff3fe3679c1
- Parent:
- 0:88706d6abbf7
- Child:
- 2:8f71c97fe9d7
Versione con pulsanti da sistemare
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Carminio | 0:88706d6abbf7 | 1 | #include "mbed.h" |
Carminio | 0:88706d6abbf7 | 2 | #include "Communication.h" |
Carminio | 0:88706d6abbf7 | 3 | #include "Serial.h" |
Carminio | 0:88706d6abbf7 | 4 | #include "BufferedSerial.h" |
Carminio | 0:88706d6abbf7 | 5 | #include "math.h" |
Carminio | 0:88706d6abbf7 | 6 | #include "LCD_DISCO_F746NG.h" |
Carminio | 0:88706d6abbf7 | 7 | #include "Trigo.h" |
Carminio | 0:88706d6abbf7 | 8 | |
Carminio | 0:88706d6abbf7 | 9 | #define _USE_MATH_DEFINES |
Carminio | 0:88706d6abbf7 | 10 | |
Carminio | 0:88706d6abbf7 | 11 | |
Carminio | 0:88706d6abbf7 | 12 | BufferedSerial lidar(PC_6, PC_7,4096); |
Carminio | 0:88706d6abbf7 | 13 | Serial pc(USBTX, USBRX); |
Carminio | 0:88706d6abbf7 | 14 | LCD_DISCO_F746NG lcdComm; |
Carminio | 0:88706d6abbf7 | 15 | |
Carminio | 0:88706d6abbf7 | 16 | void Communication::confUART() |
Carminio | 0:88706d6abbf7 | 17 | { |
Carminio | 0:88706d6abbf7 | 18 | // Send command |
Carminio | 0:88706d6abbf7 | 19 | lidar.baud(115200); |
Carminio | 0:88706d6abbf7 | 20 | pc.baud(115200); |
Carminio | 0:88706d6abbf7 | 21 | } |
Carminio | 0:88706d6abbf7 | 22 | |
Carminio | 0:88706d6abbf7 | 23 | |
Carminio | 0:88706d6abbf7 | 24 | void Communication::Reset() |
Carminio | 0:88706d6abbf7 | 25 | { |
Carminio | 0:88706d6abbf7 | 26 | // Send command |
Carminio | 0:88706d6abbf7 | 27 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 28 | lidar.putc(0x40); |
Carminio | 0:88706d6abbf7 | 29 | } |
Carminio | 0:88706d6abbf7 | 30 | |
Carminio | 0:88706d6abbf7 | 31 | void Communication::Stop() |
Carminio | 0:88706d6abbf7 | 32 | { |
Carminio | 0:88706d6abbf7 | 33 | // Send command |
Carminio | 0:88706d6abbf7 | 34 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 35 | lidar.putc(0x25); |
Carminio | 0:88706d6abbf7 | 36 | } |
Carminio | 0:88706d6abbf7 | 37 | |
Carminio | 0:88706d6abbf7 | 38 | void Communication::Get_Info() |
Carminio | 0:88706d6abbf7 | 39 | { |
Carminio | 0:88706d6abbf7 | 40 | short const cardRespReq=7; |
Carminio | 0:88706d6abbf7 | 41 | short const cardRespData=20; |
Carminio | 0:88706d6abbf7 | 42 | |
Carminio | 0:88706d6abbf7 | 43 | // Send command |
Carminio | 0:88706d6abbf7 | 44 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 45 | lidar.putc(0x50); |
Carminio | 0:88706d6abbf7 | 46 | |
Carminio | 0:88706d6abbf7 | 47 | wait_ms(100); |
Carminio | 0:88706d6abbf7 | 48 | |
Carminio | 0:88706d6abbf7 | 49 | //Header reading |
Carminio | 0:88706d6abbf7 | 50 | for (int i=0; i<cardRespReq; i++) { |
Carminio | 0:88706d6abbf7 | 51 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 52 | } |
Carminio | 0:88706d6abbf7 | 53 | |
Carminio | 0:88706d6abbf7 | 54 | //Data reading |
Carminio | 0:88706d6abbf7 | 55 | for (int i=0; i<cardRespData; i++) { |
Carminio | 0:88706d6abbf7 | 56 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 57 | } |
Carminio | 0:88706d6abbf7 | 58 | } |
Carminio | 0:88706d6abbf7 | 59 | |
Carminio | 0:88706d6abbf7 | 60 | |
Carminio | 0:88706d6abbf7 | 61 | void Communication::Get_Health() |
Carminio | 0:88706d6abbf7 | 62 | { |
Carminio | 0:88706d6abbf7 | 63 | short const cardRespReq=7; |
Carminio | 0:88706d6abbf7 | 64 | short const cardRespData=3; |
Carminio | 0:88706d6abbf7 | 65 | |
Carminio | 0:88706d6abbf7 | 66 | //Send command |
Carminio | 0:88706d6abbf7 | 67 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 68 | lidar.putc(0x52); |
Carminio | 0:88706d6abbf7 | 69 | |
Carminio | 0:88706d6abbf7 | 70 | wait_ms(100); |
Carminio | 0:88706d6abbf7 | 71 | |
Carminio | 0:88706d6abbf7 | 72 | //Header reading |
Carminio | 0:88706d6abbf7 | 73 | for (int i=0; i<cardRespReq; i++) { |
Carminio | 0:88706d6abbf7 | 74 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 75 | } |
Carminio | 0:88706d6abbf7 | 76 | |
Carminio | 0:88706d6abbf7 | 77 | //Data reading |
Carminio | 0:88706d6abbf7 | 78 | for (int i=0; i<cardRespData; i++) { |
Carminio | 0:88706d6abbf7 | 79 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 80 | } |
Carminio | 0:88706d6abbf7 | 81 | |
Carminio | 0:88706d6abbf7 | 82 | } |
Carminio | 0:88706d6abbf7 | 83 | |
Carminio | 0:88706d6abbf7 | 84 | |
Carminio | 0:88706d6abbf7 | 85 | |
Carminio | 0:88706d6abbf7 | 86 | |
Carminio | 0:88706d6abbf7 | 87 | void Communication::Scan() |
Carminio | 0:88706d6abbf7 | 88 | { |
Carminio | 0:88706d6abbf7 | 89 | short const cardResReqInfo=7; |
Carminio | 0:88706d6abbf7 | 90 | struct ScanDataFrame { |
Carminio | 0:88706d6abbf7 | 91 | uint16_t quality; |
Carminio | 0:88706d6abbf7 | 92 | uint16_t angle1,angle2; |
Carminio | 0:88706d6abbf7 | 93 | uint16_t distance1,distance2; |
Carminio | 0:88706d6abbf7 | 94 | }; |
Carminio | 0:88706d6abbf7 | 95 | |
Carminio | 0:88706d6abbf7 | 96 | struct ScanDataFrame ScanData; |
Carminio | 0:88706d6abbf7 | 97 | uint16_t angle, distance,countClear; |
Carminio | 0:88706d6abbf7 | 98 | float distanceX,distanceY,angRad; |
Carminio | 0:88706d6abbf7 | 99 | uint8_t checkBit; |
Carminio | 0:88706d6abbf7 | 100 | int16_t distanceXLCD,distanceYLCD; |
Carminio | 0:88706d6abbf7 | 101 | |
Carminio | 0:88706d6abbf7 | 102 | //Wait for motor stabilization |
Carminio | 0:88706d6abbf7 | 103 | wait_ms(2000); |
Carminio | 0:88706d6abbf7 | 104 | |
Carminio | 0:88706d6abbf7 | 105 | //Send command |
Carminio | 0:88706d6abbf7 | 106 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 107 | lidar.putc(0x20); |
Carminio | 0:88706d6abbf7 | 108 | |
Carminio | 0:88706d6abbf7 | 109 | wait_ms(10); |
Carminio | 0:88706d6abbf7 | 110 | |
Carminio | 0:88706d6abbf7 | 111 | for (int i=0; i<cardResReqInfo; i++) |
Carminio | 0:88706d6abbf7 | 112 | { |
Carminio | 0:88706d6abbf7 | 113 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 114 | } |
Carminio | 0:88706d6abbf7 | 115 | |
Carminio | 0:88706d6abbf7 | 116 | wait_ms(2000); |
Carminio | 1:1ff3fe3679c1 | 117 | //lcdComm.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 118 | lcdComm.SetBackColor(LCD_COLOR_GREEN); |
Carminio | 1:1ff3fe3679c1 | 119 | // lcdComm.SetTextColor(LCD_COLOR_WHITE); |
Carminio | 0:88706d6abbf7 | 120 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 121 | |
Carminio | 0:88706d6abbf7 | 122 | countClear=0; |
Carminio | 0:88706d6abbf7 | 123 | while (1) |
Carminio | 0:88706d6abbf7 | 124 | { |
Carminio | 0:88706d6abbf7 | 125 | ScanData.quality=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 126 | ScanData.angle1=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 127 | ScanData.angle2=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 128 | ScanData.distance1=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 129 | ScanData.distance2=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 130 | checkBit=ScanData.angle1 & 0x1; |
Carminio | 0:88706d6abbf7 | 131 | if (checkBit==1) { |
Carminio | 0:88706d6abbf7 | 132 | distance=0; |
Carminio | 0:88706d6abbf7 | 133 | distance=(uint16_t)(ScanData.distance2<<8 | ScanData.distance1); |
Carminio | 0:88706d6abbf7 | 134 | distance=distance>>2; |
Carminio | 0:88706d6abbf7 | 135 | angle=((uint16_t)(ScanData.angle2<<8 | ScanData.angle1)>>1); |
Carminio | 0:88706d6abbf7 | 136 | angle=angle>>6; |
Carminio | 0:88706d6abbf7 | 137 | |
Carminio | 0:88706d6abbf7 | 138 | if (distance>0) |
Carminio | 0:88706d6abbf7 | 139 | { |
Carminio | 0:88706d6abbf7 | 140 | countClear=countClear+1; |
Carminio | 0:88706d6abbf7 | 141 | angRad=angle*3.14159/180.0; |
Carminio | 0:88706d6abbf7 | 142 | PolRec(distance,angRad,&distanceY,&distanceX); |
Carminio | 0:88706d6abbf7 | 143 | if ((abs(distanceX)<6000) && (abs(distanceY)<6000)) |
Carminio | 0:88706d6abbf7 | 144 | { |
Carminio | 0:88706d6abbf7 | 145 | distanceXLCD=(int16_t)floor(240+((distanceX/6000)*130)); |
Carminio | 0:88706d6abbf7 | 146 | distanceYLCD=(int16_t)floor(130+((distanceY/6000)*130)); |
Carminio | 0:88706d6abbf7 | 147 | } |
Carminio | 0:88706d6abbf7 | 148 | |
Carminio | 0:88706d6abbf7 | 149 | // Debug |
Carminio | 0:88706d6abbf7 | 150 | // pc.printf("\r"); |
Carminio | 0:88706d6abbf7 | 151 | // pc.printf("Angle: %d Distance: %d X: %f Y: %f",angle,distance,distanceX,distanceY); |
Carminio | 0:88706d6abbf7 | 152 | // pc.printf("Angle: %d Distance:[mm] %d",angle,distance); |
Carminio | 0:88706d6abbf7 | 153 | // pc.printf("X: %d Y: %d",distanceX,distanceY); |
Carminio | 0:88706d6abbf7 | 154 | // pc.printf("Angle: %d Distance: %d X: %d Y: %d",angle,distance,distanceXLCD,distanceYLCD); |
Carminio | 0:88706d6abbf7 | 155 | // Debug |
Carminio | 0:88706d6abbf7 | 156 | // |
Carminio | 0:88706d6abbf7 | 157 | lcdComm.DrawPixel(distanceXLCD,distanceYLCD,LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 158 | wait_ms(1); |
Carminio | 1:1ff3fe3679c1 | 159 | |
Carminio | 0:88706d6abbf7 | 160 | |
Carminio | 0:88706d6abbf7 | 161 | if (countClear > 360) |
Carminio | 0:88706d6abbf7 | 162 | { |
Carminio | 0:88706d6abbf7 | 163 | lcdComm.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 164 | countClear=0; |
Carminio | 0:88706d6abbf7 | 165 | } |
Carminio | 0:88706d6abbf7 | 166 | |
Carminio | 0:88706d6abbf7 | 167 | } |
Carminio | 0:88706d6abbf7 | 168 | } |
Carminio | 0:88706d6abbf7 | 169 | |
Carminio | 0:88706d6abbf7 | 170 | } |
Carminio | 0:88706d6abbf7 | 171 | } |