RPLIDAR A1M8 LCD
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Communication.cpp@8:7788cc96e8ad, 2021-06-22 (annotated)
- Committer:
- KheirddineZ
- Date:
- Tue Jun 22 13:22:01 2021 +0000
- Revision:
- 8:7788cc96e8ad
- Parent:
- 5:734551a9f4e7
RPLIDAR A1M8
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 | |
KheirddineZ | 8:7788cc96e8ad | 12 | BufferedSerial lidar(PC_6, PC_7,4096); // TX RX BAUD |
Carminio | 0:88706d6abbf7 | 13 | Serial pc(USBTX, USBRX); |
KheirddineZ | 8:7788cc96e8ad | 14 | LCD_DISCO_F746NG lcdComm; //Init LCD |
Carminio | 0:88706d6abbf7 | 15 | |
Carminio | 0:88706d6abbf7 | 16 | void Communication::confUART() |
Carminio | 0:88706d6abbf7 | 17 | { |
KheirddineZ | 8:7788cc96e8ad | 18 | //ENVOIE REQUETE |
Carminio | 0:88706d6abbf7 | 19 | lidar.baud(115200); |
Carminio | 0:88706d6abbf7 | 20 | pc.baud(115200); |
KheirddineZ | 8:7788cc96e8ad | 21 | |
KheirddineZ | 8:7788cc96e8ad | 22 | |
KheirddineZ | 8:7788cc96e8ad | 23 | |
Carminio | 0:88706d6abbf7 | 24 | } |
Carminio | 0:88706d6abbf7 | 25 | |
Carminio | 0:88706d6abbf7 | 26 | |
Carminio | 0:88706d6abbf7 | 27 | void Communication::Reset() |
Carminio | 0:88706d6abbf7 | 28 | { |
KheirddineZ | 8:7788cc96e8ad | 29 | //ENVOIE REQUETE |
Carminio | 0:88706d6abbf7 | 30 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 31 | lidar.putc(0x40); |
KheirddineZ | 8:7788cc96e8ad | 32 | wait_ms(2); |
Carminio | 0:88706d6abbf7 | 33 | } |
Carminio | 0:88706d6abbf7 | 34 | |
Carminio | 0:88706d6abbf7 | 35 | void Communication::Stop() |
Carminio | 0:88706d6abbf7 | 36 | { |
KheirddineZ | 8:7788cc96e8ad | 37 | //ENVOIE REQUETE |
Carminio | 0:88706d6abbf7 | 38 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 39 | lidar.putc(0x25); |
KheirddineZ | 8:7788cc96e8ad | 40 | |
KheirddineZ | 8:7788cc96e8ad | 41 | wait_ms(1); |
Carminio | 0:88706d6abbf7 | 42 | } |
Carminio | 0:88706d6abbf7 | 43 | |
Carminio | 0:88706d6abbf7 | 44 | void Communication::Get_Info() |
Carminio | 0:88706d6abbf7 | 45 | { |
Carminio | 0:88706d6abbf7 | 46 | short const cardRespReq=7; |
Carminio | 0:88706d6abbf7 | 47 | short const cardRespData=20; |
Carminio | 0:88706d6abbf7 | 48 | |
KheirddineZ | 8:7788cc96e8ad | 49 | //ENVOIE REQUETE |
Carminio | 0:88706d6abbf7 | 50 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 51 | lidar.putc(0x50); |
Carminio | 0:88706d6abbf7 | 52 | |
Carminio | 0:88706d6abbf7 | 53 | wait_ms(100); |
Carminio | 0:88706d6abbf7 | 54 | |
KheirddineZ | 8:7788cc96e8ad | 55 | //LECTURE DE L'ENTETE |
Carminio | 0:88706d6abbf7 | 56 | for (int i=0; i<cardRespReq; i++) { |
Carminio | 0:88706d6abbf7 | 57 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 58 | } |
Carminio | 0:88706d6abbf7 | 59 | |
KheirddineZ | 8:7788cc96e8ad | 60 | |
KheirddineZ | 8:7788cc96e8ad | 61 | //LECTURE DONNEE |
Carminio | 0:88706d6abbf7 | 62 | for (int i=0; i<cardRespData; i++) { |
Carminio | 0:88706d6abbf7 | 63 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 64 | } |
Carminio | 0:88706d6abbf7 | 65 | } |
Carminio | 0:88706d6abbf7 | 66 | |
Carminio | 0:88706d6abbf7 | 67 | |
Carminio | 0:88706d6abbf7 | 68 | void Communication::Get_Health() |
Carminio | 0:88706d6abbf7 | 69 | { |
Carminio | 0:88706d6abbf7 | 70 | short const cardRespReq=7; |
Carminio | 0:88706d6abbf7 | 71 | short const cardRespData=3; |
Carminio | 0:88706d6abbf7 | 72 | |
KheirddineZ | 8:7788cc96e8ad | 73 | //ENVOIE REQUETE |
KheirddineZ | 8:7788cc96e8ad | 74 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 75 | lidar.putc(0x52); |
Carminio | 0:88706d6abbf7 | 76 | |
Carminio | 0:88706d6abbf7 | 77 | wait_ms(100); |
Carminio | 0:88706d6abbf7 | 78 | |
Carminio | 0:88706d6abbf7 | 79 | for (int i=0; i<cardRespReq; i++) { |
Carminio | 0:88706d6abbf7 | 80 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 81 | } |
Carminio | 0:88706d6abbf7 | 82 | |
KheirddineZ | 8:7788cc96e8ad | 83 | //LECTURE DONNEES |
Carminio | 0:88706d6abbf7 | 84 | for (int i=0; i<cardRespData; i++) { |
Carminio | 0:88706d6abbf7 | 85 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 86 | } |
Carminio | 0:88706d6abbf7 | 87 | |
Carminio | 0:88706d6abbf7 | 88 | } |
Carminio | 0:88706d6abbf7 | 89 | |
Carminio | 0:88706d6abbf7 | 90 | |
Carminio | 0:88706d6abbf7 | 91 | |
Carminio | 0:88706d6abbf7 | 92 | |
Carminio | 0:88706d6abbf7 | 93 | void Communication::Scan() |
Carminio | 0:88706d6abbf7 | 94 | { |
Carminio | 0:88706d6abbf7 | 95 | short const cardResReqInfo=7; |
Carminio | 0:88706d6abbf7 | 96 | struct ScanDataFrame { |
Carminio | 0:88706d6abbf7 | 97 | uint16_t quality; |
Carminio | 0:88706d6abbf7 | 98 | uint16_t angle1,angle2; |
Carminio | 0:88706d6abbf7 | 99 | uint16_t distance1,distance2; |
Carminio | 0:88706d6abbf7 | 100 | }; |
Carminio | 0:88706d6abbf7 | 101 | |
Carminio | 0:88706d6abbf7 | 102 | struct ScanDataFrame ScanData; |
Carminio | 0:88706d6abbf7 | 103 | uint16_t angle, distance,countClear; |
Carminio | 0:88706d6abbf7 | 104 | float distanceX,distanceY,angRad; |
Carminio | 0:88706d6abbf7 | 105 | uint8_t checkBit; |
Carminio | 0:88706d6abbf7 | 106 | int16_t distanceXLCD,distanceYLCD; |
Carminio | 0:88706d6abbf7 | 107 | |
Carminio | 5:734551a9f4e7 | 108 | |
KheirddineZ | 8:7788cc96e8ad | 109 | // ENVOIE REQUETE |
Carminio | 0:88706d6abbf7 | 110 | lidar.putc(0xA5); |
Carminio | 0:88706d6abbf7 | 111 | lidar.putc(0x20); |
Carminio | 0:88706d6abbf7 | 112 | |
Carminio | 0:88706d6abbf7 | 113 | wait_ms(10); |
Carminio | 0:88706d6abbf7 | 114 | |
Carminio | 0:88706d6abbf7 | 115 | for (int i=0; i<cardResReqInfo; i++) |
Carminio | 0:88706d6abbf7 | 116 | { |
Carminio | 0:88706d6abbf7 | 117 | pc.putc(lidar.getc()); |
Carminio | 0:88706d6abbf7 | 118 | } |
KheirddineZ | 8:7788cc96e8ad | 119 | // ATTENTE STABILISATION |
Carminio | 2:8f71c97fe9d7 | 120 | wait_ms(1000); |
Carminio | 0:88706d6abbf7 | 121 | lcdComm.SetBackColor(LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 122 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 123 | |
Carminio | 0:88706d6abbf7 | 124 | countClear=0; |
Carminio | 0:88706d6abbf7 | 125 | while (1) |
Carminio | 0:88706d6abbf7 | 126 | { |
KheirddineZ | 8:7788cc96e8ad | 127 | |
KheirddineZ | 8:7788cc96e8ad | 128 | //LECTURE DONNEEs |
Carminio | 0:88706d6abbf7 | 129 | ScanData.quality=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 130 | ScanData.angle1=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 131 | ScanData.angle2=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 132 | ScanData.distance1=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 133 | ScanData.distance2=lidar.getc(); |
Carminio | 0:88706d6abbf7 | 134 | checkBit=ScanData.angle1 & 0x1; |
KheirddineZ | 8:7788cc96e8ad | 135 | |
KheirddineZ | 8:7788cc96e8ad | 136 | |
KheirddineZ | 8:7788cc96e8ad | 137 | |
KheirddineZ | 8:7788cc96e8ad | 138 | // RESTRUCTURATION DES DONNEES |
Carminio | 0:88706d6abbf7 | 139 | if (checkBit==1) { |
Carminio | 0:88706d6abbf7 | 140 | distance=0; |
Carminio | 0:88706d6abbf7 | 141 | distance=(uint16_t)(ScanData.distance2<<8 | ScanData.distance1); |
Carminio | 0:88706d6abbf7 | 142 | distance=distance>>2; |
Carminio | 0:88706d6abbf7 | 143 | angle=((uint16_t)(ScanData.angle2<<8 | ScanData.angle1)>>1); |
Carminio | 0:88706d6abbf7 | 144 | angle=angle>>6; |
Carminio | 0:88706d6abbf7 | 145 | |
Carminio | 0:88706d6abbf7 | 146 | if (distance>0) |
Carminio | 0:88706d6abbf7 | 147 | { |
Carminio | 0:88706d6abbf7 | 148 | countClear=countClear+1; |
Carminio | 0:88706d6abbf7 | 149 | angRad=angle*3.14159/180.0; |
Carminio | 0:88706d6abbf7 | 150 | PolRec(distance,angRad,&distanceY,&distanceX); |
Carminio | 0:88706d6abbf7 | 151 | if ((abs(distanceX)<6000) && (abs(distanceY)<6000)) |
Carminio | 0:88706d6abbf7 | 152 | { |
KheirddineZ | 8:7788cc96e8ad | 153 | |
KheirddineZ | 8:7788cc96e8ad | 154 | // TENTATIVE |
Carminio | 0:88706d6abbf7 | 155 | distanceXLCD=(int16_t)floor(240+((distanceX/6000)*130)); |
Carminio | 0:88706d6abbf7 | 156 | distanceYLCD=(int16_t)floor(130+((distanceY/6000)*130)); |
Carminio | 0:88706d6abbf7 | 157 | } |
Carminio | 0:88706d6abbf7 | 158 | |
KheirddineZ | 8:7788cc96e8ad | 159 | |
KheirddineZ | 8:7788cc96e8ad | 160 | |
KheirddineZ | 8:7788cc96e8ad | 161 | |
KheirddineZ | 8:7788cc96e8ad | 162 | // DEBUGAGE SUR PC |
KheirddineZ | 8:7788cc96e8ad | 163 | pc.printf("\r"); |
KheirddineZ | 8:7788cc96e8ad | 164 | pc.printf("Angle: %d Distance: %d X: %f Y: %f",angle,distance,distanceX,distanceY); |
KheirddineZ | 8:7788cc96e8ad | 165 | pc.printf("Angle: %d Distance:[mm] %d",angle,distance); |
KheirddineZ | 8:7788cc96e8ad | 166 | pc.printf("X: %d Y: %d",distanceX,distanceY); |
KheirddineZ | 8:7788cc96e8ad | 167 | pc.printf("Angle: %d Distance: %d X: %d Y: %d",angle,distance,distanceXLCD,distanceYLCD); |
KheirddineZ | 8:7788cc96e8ad | 168 | |
KheirddineZ | 8:7788cc96e8ad | 169 | // AFFICHE UN POINT SUR LCD EN FONCTION DE DX ET DY |
KheirddineZ | 8:7788cc96e8ad | 170 | lcdComm.DrawPixel(distanceXLCD,distanceYLCD,LCD_COLOR_WHITE); |
Carminio | 0:88706d6abbf7 | 171 | wait_ms(1); |
Carminio | 1:1ff3fe3679c1 | 172 | |
Carminio | 0:88706d6abbf7 | 173 | |
Carminio | 0:88706d6abbf7 | 174 | if (countClear > 360) |
Carminio | 0:88706d6abbf7 | 175 | { |
Carminio | 0:88706d6abbf7 | 176 | lcdComm.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 177 | countClear=0; |
Carminio | 0:88706d6abbf7 | 178 | } |
Carminio | 0:88706d6abbf7 | 179 | |
Carminio | 0:88706d6abbf7 | 180 | } |
Carminio | 0:88706d6abbf7 | 181 | } |
Carminio | 0:88706d6abbf7 | 182 | |
Carminio | 0:88706d6abbf7 | 183 | } |
KheirddineZ | 8:7788cc96e8ad | 184 | } |