Revision 1:543c0d15d3b3, committed 2016-06-05

Comitter:

akashvibhute

Date:

Sun Jun 05 02:44:57 2016 +0000

Parent:

0:8e6304ab38d2

Commit message:

updated documentation

Changed in this revision

--- a/LidarLite.h	Tue Feb 17 12:01:04 2015 +0000
+++ b/LidarLite.h	Sun Jun 05 02:44:57 2016 +0000
@@ -1,47 +1,153 @@
-/*
- *  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]
- *
- */
- 
+/** LidarLite mBed I2C driver
+*
+* @author Akash Vibhute
+* @author < akash . roboticist [at] gmail . com >
+* @version 0.1
+* @date Feb/17/2015 - v0.1 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
+* @date June/05/2016 - Doc update
+*
+* @section LICENSE
+*
+* Copyright (c) 2015 Akash Vibhute
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*/
+
 #ifndef LidarLite_H
-#define 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
+/* 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
+/* 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
 
-// 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
-
-
+/** LidarLite
+ *
+ *  @section DESCRIPTION
+ *  This is the LIDAR Lite, a compact high performance optical distance measurement
+ *  sensor from PulsedLight. The LIDAR Lite is ideal when used in drone, robot, or
+ *  unmanned vehicle situations where you need a reliable and powerful proximity
+ *  sensor but don’t possess a lot of space. All you need to communicate with this
+ *  sensor is a standard I2C or PWM interface and the LIDAR Lite, with its range of
+ *  up to 40 meters, will be yours to command!
+ *
+ *  Each LIDAR Lite features an edge emitting, 905nm (75um, 1 watt, 4 mrad, 14mm optic),
+ *  single stripe laser transmitter and a surface mount PIN, 3° FOV with 14mm optics receiver.
+ *  The LIDAR Lite operates between 4.7 - 5.5VDC with a max of 6V DC and has a current
+ *  consumption rate of <100mA at continuous operation. On top of everything else, the
+ *  LIDAR Lite has an acquisition time of only 0.02 seconds or less and can be interfaced
+ *  via I2C or PWM.
+ *
+ *  Note: The LIDAR Lite is designated as Class 1 during all procedures of operation,
+ *  however operating the sensor without its optics or housing or making modifications to the
+ *  housing can result in direct exposure to laser radiation and the risk of permanent eye damage.
+ *  Direct eye contact should be avoided and under no circumstances should you ever stare
+ *  straight into the emitter.
+ *
+ *  Features:
+ *  Range: 0-40m Laser Emitter
+ *  Accuracy: +/- 0.025m
+ *  Power: 4.7 - 5.5V DC Nominal, Maximum 6V DC
+ *  Current Consumption: <100mA continuous operation
+ *  Acquisition Time: < 0.02 sec
+ *  Rep Rate: 1-100Hz
+ *  Interface: I2C or PWM
+ *
+ *  Example:
+ *  @code
+ *  #include "mbed.h"
+ *  #include "LidarLite.h"
+ *
+ *  #define LIDARLite1_SDA p9   //SDA pin on LPC1768
+ *  #define LIDARLite1_SCL p10  //SCL pin on LPC1768
+ *
+ *  LidarLite sensor1(LIDARLite1_SDA, LIDARLite1_SCL); //Define LIDAR Lite sensor 1
+ *
+ *  Timer dt;
+ *
+ *  Serial pc(USBTX,USBRX);
+ *
+ *  int main()
+ *  {
+ *      pc.baud(921600);
+ *      dt.start();
+ *
+ *      while(1)
+ *      {
+ *          //sensor1.refreshRange();
+ *          //sensor1.refreshVelocity();
+ *          sensor1.refreshRangeVelocity();
+ *
+ *          pc.printf("range: %d cm, velocity: %d cm/s, rate: %.2f Hz\n", sensor1.getRange_cm(), sensor1.getVelocity_cms(), 1/dt.read());
+ *          dt.reset();
+ *      }
+ *
+ *  }
+ *  @endcode
+ */
 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;
+public:
+
+    /** Creates a LidarLite instance connected to specified I2C pins
+     *
+     * @param sda I2C-bus SDA pin
+     * @param scl I2C-bus SCL pin
+     */
+    LidarLite(PinName sda, PinName scl);
+
+    /** Queries distance (range) and velocity registers of the sensor
+     *
+     */
+    void refreshRangeVelocity();            
+    
+    /** Queries velocity register of the sensor
+     *
+     */
+    void refreshVelocity();                 
+    
+    /** Queries distance (range) register of the sensor
+     *
+     */
+    void refreshRange();                    
+
+    /** Returns distance in cm (range) measured by sensor as read by earlier refresh function
+     *
+     */
+    int16_t getRange_cm();
+    
+    /** Returns velocity in cm/s measured by sensor as read by earlier refresh function
+     *
+     */                  
+    int16_t getVelocity_cms();              
+
+private:
+    I2C* i2c_;
+    int16_t distance_LL;
+    int16_t velocity_LL;
 };
 
 #endif /* LidarLite_H */
\ No newline at end of file