Diff: LidarLite.h

Revision:

0:8e6304ab38d2

Child:

1:543c0d15d3b3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarLite.h	Tue Feb 17 12:01:04 2015 +0000
@@ -0,0 +1,47 @@
+/*
+ *  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]
+ *
+ */
+ 
+#ifndef LidarLite_H
+#define LidarLite_H 
+ 
+#include <mbed.h>
+
+// Default I2C Address of LIDAR-Lite.
+#define LIDARLite_WriteAdr  0xc4    //8-bit slave write address
+#define LIDARLite_ReadAdr   0xc5    //8-bit slave read address
+
+// Commands
+#define SET_CommandReg       0x00   // Register to write to initiate ranging
+#define AcqMode              0x04   // Value to set in control register to initiate ranging
+
+// Read Registers
+#define GET_DistanceHBReg    0x0f   // High byte of distance reading data
+#define GET_DistanceLBReg    0x10   // Low byte of distance reading data
+#define GET_Distance2BReg    0x8f   // Register to get both High and Low bytes of distance reading data in 1 call
+#define GET_VelocityReg      0x09   // Velocity measutement data
+
+
+class LidarLite
+{
+    public:
+        LidarLite(PinName sda, PinName scl);    //Constructor
+        void refreshRangeVelocity();            //refreshes range and velocity data from registers of sensor
+        void refreshVelocity();                 //refreshes velocity data from registers of sensor
+        void refreshRange();                    //refreshes range data from registers of sensor
+        
+        int16_t getRange_cm();                  //Read distance in cm from sensor
+        int16_t getVelocity_cms();              //Read velocity in cm/s from sensor
+        
+    private:
+        I2C* i2c_;
+        int16_t distance_LL;
+        int16_t velocity_LL;
+};
+
+#endif /* LidarLite_H */
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