Akash Vibhute / Mbed 2 deprecated LidarLite

Library for easy interface of LidarLite with mbed using I2C

Dependencies:   mbed

Dependents:   LidarLite_mbed Lidar_Magnet

Library for easy interface of LidarLite with mbed using I2C

LidarLite.h@1:543c0d15d3b3, 2016-06-05 (annotated)

Committer:
akashvibhute
Date:
Sun Jun 05 02:44:57 2016 +0000
Revision:
1:543c0d15d3b3
Parent:
0:8e6304ab38d2 
updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 1:543c0d15d3b3 1 /** LidarLite mBed I2C driver
akashvibhute 1:543c0d15d3b3 2 *
akashvibhute 1:543c0d15d3b3 3 * @author Akash Vibhute
akashvibhute 1:543c0d15d3b3 4 * @author < akash . roboticist [at] gmail . com >
akashvibhute 1:543c0d15d3b3 5 * @version 0.1
akashvibhute 1:543c0d15d3b3 6 * @date Feb/17/2015 - v0.1 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
akashvibhute 1:543c0d15d3b3 7 * @date June/05/2016 - Doc update
akashvibhute 1:543c0d15d3b3 8 *
akashvibhute 1:543c0d15d3b3 9 * @section LICENSE
akashvibhute 1:543c0d15d3b3 10 *
akashvibhute 1:543c0d15d3b3 11 * Copyright (c) 2015 Akash Vibhute
akashvibhute 1:543c0d15d3b3 12 *
akashvibhute 1:543c0d15d3b3 13 * Licensed under the Apache License, Version 2.0 (the "License");
akashvibhute 1:543c0d15d3b3 14 * you may not use this file except in compliance with the License.
akashvibhute 1:543c0d15d3b3 15 * You may obtain a copy of the License at
akashvibhute 1:543c0d15d3b3 16 * http://www.apache.org/licenses/LICENSE-2.0
akashvibhute 1:543c0d15d3b3 17 *
akashvibhute 1:543c0d15d3b3 18 * Unless required by applicable law or agreed to in writing, software
akashvibhute 1:543c0d15d3b3 19 * distributed under the License is distributed on an "AS IS" BASIS,
akashvibhute 1:543c0d15d3b3 20 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
akashvibhute 1:543c0d15d3b3 21 * See the License for the specific language governing permissions and
akashvibhute 1:543c0d15d3b3 22 * limitations under the License.
akashvibhute 1:543c0d15d3b3 23 *
akashvibhute 1:543c0d15d3b3 24 * The above copyright notice and this permission notice shall be included in
akashvibhute 1:543c0d15d3b3 25 * all copies or substantial portions of the Software.
akashvibhute 1:543c0d15d3b3 26 */
akashvibhute 1:543c0d15d3b3 27
akashvibhute 0:8e6304ab38d2 28 #ifndef LidarLite_H
akashvibhute 1:543c0d15d3b3 29 #define LidarLite_H
akashvibhute 1:543c0d15d3b3 30
akashvibhute 0:8e6304ab38d2 31 #include <mbed.h>
akashvibhute 0:8e6304ab38d2 32
akashvibhute 1:543c0d15d3b3 33 /* Default I2C Address of LIDAR-Lite. */
akashvibhute 1:543c0d15d3b3 34 #define LIDARLite_WriteAdr 0xc4 /// 8-bit slave write address
akashvibhute 1:543c0d15d3b3 35 #define LIDARLite_ReadAdr 0xc5 /// 8-bit slave read address
akashvibhute 0:8e6304ab38d2 36
akashvibhute 1:543c0d15d3b3 37 /* Commands */
akashvibhute 1:543c0d15d3b3 38 #define SET_CommandReg 0x00 /// Register to write to initiate ranging
akashvibhute 1:543c0d15d3b3 39 #define AcqMode 0x04 /// Value to set in control register to initiate ranging
akashvibhute 1:543c0d15d3b3 40
akashvibhute 1:543c0d15d3b3 41 /* Read Registers */
akashvibhute 1:543c0d15d3b3 42 #define GET_DistanceHBReg 0x0f /// High byte of distance reading data
akashvibhute 1:543c0d15d3b3 43 #define GET_DistanceLBReg 0x10 /// Low byte of distance reading data
akashvibhute 1:543c0d15d3b3 44 #define GET_Distance2BReg 0x8f /// Register to get both High and Low bytes of distance reading data in 1 call
akashvibhute 1:543c0d15d3b3 45 #define GET_VelocityReg 0x09 /// Velocity measutement data
akashvibhute 0:8e6304ab38d2 46
akashvibhute 1:543c0d15d3b3 47 /** LidarLite
akashvibhute 1:543c0d15d3b3 48 *
akashvibhute 1:543c0d15d3b3 49 * @section DESCRIPTION
akashvibhute 1:543c0d15d3b3 50 * This is the LIDAR Lite, a compact high performance optical distance measurement
akashvibhute 1:543c0d15d3b3 51 * sensor from PulsedLight. The LIDAR Lite is ideal when used in drone, robot, or
akashvibhute 1:543c0d15d3b3 52 * unmanned vehicle situations where you need a reliable and powerful proximity
akashvibhute 1:543c0d15d3b3 53 * sensor but don’t possess a lot of space. All you need to communicate with this
akashvibhute 1:543c0d15d3b3 54 * sensor is a standard I2C or PWM interface and the LIDAR Lite, with its range of
akashvibhute 1:543c0d15d3b3 55 * up to 40 meters, will be yours to command!
akashvibhute 1:543c0d15d3b3 56 *
akashvibhute 1:543c0d15d3b3 57 * Each LIDAR Lite features an edge emitting, 905nm (75um, 1 watt, 4 mrad, 14mm optic),
akashvibhute 1:543c0d15d3b3 58 * single stripe laser transmitter and a surface mount PIN, 3° FOV with 14mm optics receiver.
akashvibhute 1:543c0d15d3b3 59 * The LIDAR Lite operates between 4.7 - 5.5VDC with a max of 6V DC and has a current
akashvibhute 1:543c0d15d3b3 60 * consumption rate of <100mA at continuous operation. On top of everything else, the
akashvibhute 1:543c0d15d3b3 61 * LIDAR Lite has an acquisition time of only 0.02 seconds or less and can be interfaced
akashvibhute 1:543c0d15d3b3 62 * via I2C or PWM.
akashvibhute 1:543c0d15d3b3 63 *
akashvibhute 1:543c0d15d3b3 64 * Note: The LIDAR Lite is designated as Class 1 during all procedures of operation,
akashvibhute 1:543c0d15d3b3 65 * however operating the sensor without its optics or housing or making modifications to the
akashvibhute 1:543c0d15d3b3 66 * housing can result in direct exposure to laser radiation and the risk of permanent eye damage.
akashvibhute 1:543c0d15d3b3 67 * Direct eye contact should be avoided and under no circumstances should you ever stare
akashvibhute 1:543c0d15d3b3 68 * straight into the emitter.
akashvibhute 1:543c0d15d3b3 69 *
akashvibhute 1:543c0d15d3b3 70 * Features:
akashvibhute 1:543c0d15d3b3 71 * Range: 0-40m Laser Emitter
akashvibhute 1:543c0d15d3b3 72 * Accuracy: +/- 0.025m
akashvibhute 1:543c0d15d3b3 73 * Power: 4.7 - 5.5V DC Nominal, Maximum 6V DC
akashvibhute 1:543c0d15d3b3 74 * Current Consumption: <100mA continuous operation
akashvibhute 1:543c0d15d3b3 75 * Acquisition Time: < 0.02 sec
akashvibhute 1:543c0d15d3b3 76 * Rep Rate: 1-100Hz
akashvibhute 1:543c0d15d3b3 77 * Interface: I2C or PWM
akashvibhute 1:543c0d15d3b3 78 *
akashvibhute 1:543c0d15d3b3 79 * Example:
akashvibhute 1:543c0d15d3b3 80 * @code
akashvibhute 1:543c0d15d3b3 81 * #include "mbed.h"
akashvibhute 1:543c0d15d3b3 82 * #include "LidarLite.h"
akashvibhute 1:543c0d15d3b3 83 *
akashvibhute 1:543c0d15d3b3 84 * #define LIDARLite1_SDA p9 //SDA pin on LPC1768
akashvibhute 1:543c0d15d3b3 85 * #define LIDARLite1_SCL p10 //SCL pin on LPC1768
akashvibhute 1:543c0d15d3b3 86 *
akashvibhute 1:543c0d15d3b3 87 * LidarLite sensor1(LIDARLite1_SDA, LIDARLite1_SCL); //Define LIDAR Lite sensor 1
akashvibhute 1:543c0d15d3b3 88 *
akashvibhute 1:543c0d15d3b3 89 * Timer dt;
akashvibhute 1:543c0d15d3b3 90 *
akashvibhute 1:543c0d15d3b3 91 * Serial pc(USBTX,USBRX);
akashvibhute 1:543c0d15d3b3 92 *
akashvibhute 1:543c0d15d3b3 93 * int main()
akashvibhute 1:543c0d15d3b3 94 * {
akashvibhute 1:543c0d15d3b3 95 * pc.baud(921600);
akashvibhute 1:543c0d15d3b3 96 * dt.start();
akashvibhute 1:543c0d15d3b3 97 *
akashvibhute 1:543c0d15d3b3 98 * while(1)
akashvibhute 1:543c0d15d3b3 99 * {
akashvibhute 1:543c0d15d3b3 100 * //sensor1.refreshRange();
akashvibhute 1:543c0d15d3b3 101 * //sensor1.refreshVelocity();
akashvibhute 1:543c0d15d3b3 102 * sensor1.refreshRangeVelocity();
akashvibhute 1:543c0d15d3b3 103 *
akashvibhute 1:543c0d15d3b3 104 * pc.printf("range: %d cm, velocity: %d cm/s, rate: %.2f Hz\n", sensor1.getRange_cm(), sensor1.getVelocity_cms(), 1/dt.read());
akashvibhute 1:543c0d15d3b3 105 * dt.reset();
akashvibhute 1:543c0d15d3b3 106 * }
akashvibhute 1:543c0d15d3b3 107 *
akashvibhute 1:543c0d15d3b3 108 * }
akashvibhute 1:543c0d15d3b3 109 * @endcode
akashvibhute 1:543c0d15d3b3 110 */
akashvibhute 0:8e6304ab38d2 111 class LidarLite
akashvibhute 0:8e6304ab38d2 112 {
akashvibhute 1:543c0d15d3b3 113 public:
akashvibhute 1:543c0d15d3b3 114
akashvibhute 1:543c0d15d3b3 115 /** Creates a LidarLite instance connected to specified I2C pins
akashvibhute 1:543c0d15d3b3 116 *
akashvibhute 1:543c0d15d3b3 117 * @param sda I2C-bus SDA pin
akashvibhute 1:543c0d15d3b3 118 * @param scl I2C-bus SCL pin
akashvibhute 1:543c0d15d3b3 119 */
akashvibhute 1:543c0d15d3b3 120 LidarLite(PinName sda, PinName scl);
akashvibhute 1:543c0d15d3b3 121
akashvibhute 1:543c0d15d3b3 122 /** Queries distance (range) and velocity registers of the sensor
akashvibhute 1:543c0d15d3b3 123 *
akashvibhute 1:543c0d15d3b3 124 */
akashvibhute 1:543c0d15d3b3 125 void refreshRangeVelocity();
akashvibhute 1:543c0d15d3b3 126
akashvibhute 1:543c0d15d3b3 127 /** Queries velocity register of the sensor
akashvibhute 1:543c0d15d3b3 128 *
akashvibhute 1:543c0d15d3b3 129 */
akashvibhute 1:543c0d15d3b3 130 void refreshVelocity();
akashvibhute 1:543c0d15d3b3 131
akashvibhute 1:543c0d15d3b3 132 /** Queries distance (range) register of the sensor
akashvibhute 1:543c0d15d3b3 133 *
akashvibhute 1:543c0d15d3b3 134 */
akashvibhute 1:543c0d15d3b3 135 void refreshRange();
akashvibhute 1:543c0d15d3b3 136
akashvibhute 1:543c0d15d3b3 137 /** Returns distance in cm (range) measured by sensor as read by earlier refresh function
akashvibhute 1:543c0d15d3b3 138 *
akashvibhute 1:543c0d15d3b3 139 */
akashvibhute 1:543c0d15d3b3 140 int16_t getRange_cm();
akashvibhute 1:543c0d15d3b3 141
akashvibhute 1:543c0d15d3b3 142 /** Returns velocity in cm/s measured by sensor as read by earlier refresh function
akashvibhute 1:543c0d15d3b3 143 *
akashvibhute 1:543c0d15d3b3 144 */
akashvibhute 1:543c0d15d3b3 145 int16_t getVelocity_cms();
akashvibhute 1:543c0d15d3b3 146
akashvibhute 1:543c0d15d3b3 147 private:
akashvibhute 1:543c0d15d3b3 148 I2C* i2c_;
akashvibhute 1:543c0d15d3b3 149 int16_t distance_LL;
akashvibhute 1:543c0d15d3b3 150 int16_t velocity_LL;
akashvibhute 0:8e6304ab38d2 151 };
akashvibhute 0:8e6304ab38d2 152
akashvibhute 0:8e6304ab38d2 153 #endif /* LidarLite_H */