Library for easy interface of LidarLite with mbed using I2C
Dependents: LidarLite_mbed Lidar_Magnet
Library for easy interface of LidarLite with mbed using I2C
LidarLite.cpp@0:8e6304ab38d2, 2015-02-17 (annotated)
- Committer:
- akashvibhute
- Date:
- Tue Feb 17 12:01:04 2015 +0000
- Revision:
- 0:8e6304ab38d2
v0.1, 17/Feb/2015 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:8e6304ab38d2 | 1 | /* |
akashvibhute | 0:8e6304ab38d2 | 2 | * Library for easy interface of LidarLite with mbed using I2C |
akashvibhute | 0:8e6304ab38d2 | 3 | * |
akashvibhute | 0:8e6304ab38d2 | 4 | * Akash Vibhute <akash . roboticist [at] gmail . com> |
akashvibhute | 0:8e6304ab38d2 | 5 | * |
akashvibhute | 0:8e6304ab38d2 | 6 | * v0.1, 17/Feb/2015 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary] |
akashvibhute | 0:8e6304ab38d2 | 7 | * |
akashvibhute | 0:8e6304ab38d2 | 8 | */ |
akashvibhute | 0:8e6304ab38d2 | 9 | |
akashvibhute | 0:8e6304ab38d2 | 10 | #include "LidarLite.h" |
akashvibhute | 0:8e6304ab38d2 | 11 | |
akashvibhute | 0:8e6304ab38d2 | 12 | LidarLite::LidarLite(PinName sda, PinName scl) |
akashvibhute | 0:8e6304ab38d2 | 13 | { |
akashvibhute | 0:8e6304ab38d2 | 14 | i2c_ = new I2C(sda, scl); |
akashvibhute | 0:8e6304ab38d2 | 15 | i2c_->frequency(100000); //I2C @ 100kHz |
akashvibhute | 0:8e6304ab38d2 | 16 | wait(0.5); |
akashvibhute | 0:8e6304ab38d2 | 17 | } |
akashvibhute | 0:8e6304ab38d2 | 18 | |
akashvibhute | 0:8e6304ab38d2 | 19 | int16_t LidarLite::getRange_cm() |
akashvibhute | 0:8e6304ab38d2 | 20 | { |
akashvibhute | 0:8e6304ab38d2 | 21 | return(distance_LL); |
akashvibhute | 0:8e6304ab38d2 | 22 | } |
akashvibhute | 0:8e6304ab38d2 | 23 | |
akashvibhute | 0:8e6304ab38d2 | 24 | int16_t LidarLite::getVelocity_cms() |
akashvibhute | 0:8e6304ab38d2 | 25 | { |
akashvibhute | 0:8e6304ab38d2 | 26 | if(velocity_LL < 127) |
akashvibhute | 0:8e6304ab38d2 | 27 | return(velocity_LL*10); |
akashvibhute | 0:8e6304ab38d2 | 28 | else |
akashvibhute | 0:8e6304ab38d2 | 29 | return((velocity_LL-256)*10); |
akashvibhute | 0:8e6304ab38d2 | 30 | } |
akashvibhute | 0:8e6304ab38d2 | 31 | |
akashvibhute | 0:8e6304ab38d2 | 32 | void LidarLite::refreshRange() |
akashvibhute | 0:8e6304ab38d2 | 33 | { |
akashvibhute | 0:8e6304ab38d2 | 34 | uint8_t nackack; |
akashvibhute | 0:8e6304ab38d2 | 35 | |
akashvibhute | 0:8e6304ab38d2 | 36 | char write[2]={SET_CommandReg, AcqMode}; |
akashvibhute | 0:8e6304ab38d2 | 37 | char read_dist[1]={GET_Distance2BReg}; |
akashvibhute | 0:8e6304ab38d2 | 38 | char read_vel[1]={GET_VelocityReg}; |
akashvibhute | 0:8e6304ab38d2 | 39 | |
akashvibhute | 0:8e6304ab38d2 | 40 | char dist[2]; |
akashvibhute | 0:8e6304ab38d2 | 41 | char vel[1]; |
akashvibhute | 0:8e6304ab38d2 | 42 | |
akashvibhute | 0:8e6304ab38d2 | 43 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 44 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 45 | { |
akashvibhute | 0:8e6304ab38d2 | 46 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 47 | nackack = i2c_->write(LIDARLite_WriteAdr, write, 2); |
akashvibhute | 0:8e6304ab38d2 | 48 | } |
akashvibhute | 0:8e6304ab38d2 | 49 | |
akashvibhute | 0:8e6304ab38d2 | 50 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 51 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 52 | { |
akashvibhute | 0:8e6304ab38d2 | 53 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 54 | nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1); |
akashvibhute | 0:8e6304ab38d2 | 55 | } |
akashvibhute | 0:8e6304ab38d2 | 56 | |
akashvibhute | 0:8e6304ab38d2 | 57 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 58 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 59 | { |
akashvibhute | 0:8e6304ab38d2 | 60 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 61 | nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2); |
akashvibhute | 0:8e6304ab38d2 | 62 | } |
akashvibhute | 0:8e6304ab38d2 | 63 | distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1]; |
akashvibhute | 0:8e6304ab38d2 | 64 | } |
akashvibhute | 0:8e6304ab38d2 | 65 | |
akashvibhute | 0:8e6304ab38d2 | 66 | void LidarLite::refreshVelocity() |
akashvibhute | 0:8e6304ab38d2 | 67 | { |
akashvibhute | 0:8e6304ab38d2 | 68 | uint8_t nackack; |
akashvibhute | 0:8e6304ab38d2 | 69 | |
akashvibhute | 0:8e6304ab38d2 | 70 | char write[2]={SET_CommandReg, AcqMode}; |
akashvibhute | 0:8e6304ab38d2 | 71 | char read_dist[1]={GET_Distance2BReg}; |
akashvibhute | 0:8e6304ab38d2 | 72 | char read_vel[1]={GET_VelocityReg}; |
akashvibhute | 0:8e6304ab38d2 | 73 | |
akashvibhute | 0:8e6304ab38d2 | 74 | char dist[2]; |
akashvibhute | 0:8e6304ab38d2 | 75 | char vel[1]; |
akashvibhute | 0:8e6304ab38d2 | 76 | |
akashvibhute | 0:8e6304ab38d2 | 77 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 78 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 79 | { |
akashvibhute | 0:8e6304ab38d2 | 80 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 81 | nackack = i2c_->write(LIDARLite_WriteAdr, write, 2); |
akashvibhute | 0:8e6304ab38d2 | 82 | } |
akashvibhute | 0:8e6304ab38d2 | 83 | |
akashvibhute | 0:8e6304ab38d2 | 84 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 85 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 86 | { |
akashvibhute | 0:8e6304ab38d2 | 87 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 88 | nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1); |
akashvibhute | 0:8e6304ab38d2 | 89 | } |
akashvibhute | 0:8e6304ab38d2 | 90 | |
akashvibhute | 0:8e6304ab38d2 | 91 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 92 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 93 | { |
akashvibhute | 0:8e6304ab38d2 | 94 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 95 | nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1); |
akashvibhute | 0:8e6304ab38d2 | 96 | } |
akashvibhute | 0:8e6304ab38d2 | 97 | velocity_LL = (uint16_t)vel[0]; |
akashvibhute | 0:8e6304ab38d2 | 98 | } |
akashvibhute | 0:8e6304ab38d2 | 99 | |
akashvibhute | 0:8e6304ab38d2 | 100 | void LidarLite::refreshRangeVelocity() |
akashvibhute | 0:8e6304ab38d2 | 101 | { |
akashvibhute | 0:8e6304ab38d2 | 102 | uint8_t nackack; |
akashvibhute | 0:8e6304ab38d2 | 103 | |
akashvibhute | 0:8e6304ab38d2 | 104 | char write[2]={SET_CommandReg, AcqMode}; |
akashvibhute | 0:8e6304ab38d2 | 105 | char read_dist[1]={GET_Distance2BReg}; |
akashvibhute | 0:8e6304ab38d2 | 106 | char read_vel[1]={GET_VelocityReg}; |
akashvibhute | 0:8e6304ab38d2 | 107 | |
akashvibhute | 0:8e6304ab38d2 | 108 | char dist[2]; |
akashvibhute | 0:8e6304ab38d2 | 109 | char vel[1]; |
akashvibhute | 0:8e6304ab38d2 | 110 | |
akashvibhute | 0:8e6304ab38d2 | 111 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 112 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 113 | { |
akashvibhute | 0:8e6304ab38d2 | 114 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 115 | nackack = i2c_->write(LIDARLite_WriteAdr, write, 2); |
akashvibhute | 0:8e6304ab38d2 | 116 | } |
akashvibhute | 0:8e6304ab38d2 | 117 | |
akashvibhute | 0:8e6304ab38d2 | 118 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 119 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 120 | { |
akashvibhute | 0:8e6304ab38d2 | 121 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 122 | nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1); |
akashvibhute | 0:8e6304ab38d2 | 123 | } |
akashvibhute | 0:8e6304ab38d2 | 124 | |
akashvibhute | 0:8e6304ab38d2 | 125 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 126 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 127 | { |
akashvibhute | 0:8e6304ab38d2 | 128 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 129 | nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2); |
akashvibhute | 0:8e6304ab38d2 | 130 | } |
akashvibhute | 0:8e6304ab38d2 | 131 | distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1]; |
akashvibhute | 0:8e6304ab38d2 | 132 | |
akashvibhute | 0:8e6304ab38d2 | 133 | |
akashvibhute | 0:8e6304ab38d2 | 134 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 135 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 136 | { |
akashvibhute | 0:8e6304ab38d2 | 137 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 138 | nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1); |
akashvibhute | 0:8e6304ab38d2 | 139 | } |
akashvibhute | 0:8e6304ab38d2 | 140 | |
akashvibhute | 0:8e6304ab38d2 | 141 | nackack=1; |
akashvibhute | 0:8e6304ab38d2 | 142 | while(nackack !=0) |
akashvibhute | 0:8e6304ab38d2 | 143 | { |
akashvibhute | 0:8e6304ab38d2 | 144 | wait_ms(1); |
akashvibhute | 0:8e6304ab38d2 | 145 | nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1); |
akashvibhute | 0:8e6304ab38d2 | 146 | } |
akashvibhute | 0:8e6304ab38d2 | 147 | velocity_LL = (uint16_t)vel[0]; |
akashvibhute | 0:8e6304ab38d2 | 148 | } |