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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
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
LidarLite.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 8e6304ab38d2 -r 543c0d15d3b3 LidarLite.h --- 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