File content as of revision 0:96bdb0d08de1:

#define PERIOD 0.00005
#define GET_INFO 0x50
#define GET_HEALTH 0x52
#define RESET 0x40 
#define SYNC 0xA5
#define SCAN 0x20
#define STOP 0x25
#define BOFF 7

Serial Lidar (PC_10,PC_11); 
Serial pc(USBTX,USBRX);

PwmOut LIDAR(A3);

char msg[50] = {0};
int i=0;
int flag=0;



void get_health(void)
{
    Lidar.putc(SYNC);
    Lidar.putc(GET_HEALTH);
    wait(0.1);
    int statut=msg[BOFF];
    if( statut==0)
    {
        pc.printf("Statut = 0 : GOOD");
    }
    else if( statut==1)
    {
        pc.printf("Statut = 1 : WARNING");
    }    
    else if( statut==2)
    {
        pc.printf("Statut = 2 : ERROR");
    } 
    pc.printf("\n\r");
    for(int j=0; j<=50;j++)
    {
        msg[i]=0;
    }
    i=0; 
}   


void get_info(void)
{
    Lidar.putc(SYNC);
    Lidar.putc(GET_INFO);
    wait(0.1);
    pc.printf("LIDAR MODEL : %d, LIDAR FIRMWARE : %d.%d, NUMERO DE SERIE : ",msg[BOFF],msg[BOFF+2],msg[BOFF+1]);
    for(int j=BOFF+3; j<=16+BOFF+3;j++)
    {
        pc.printf("%x",msg[j]);
    }
    pc.printf("\n\r");
    for(int j=0; j<=50;j++)
    {
        msg[i]=0;
    }
    i=0;    
}

void reception (void)
{
    msg[i] =Lidar.getc();
    /*if((flag==0)&&(i==6))
    {
        pc.printf("%d ,%d ,%d,%d ,%d, %d ,%d\n\r",msg[0],msg[1],msg[2],msg[3],msg[4], msg[5], msg[6]);
        flag=1;
        i=-1;
        for(int j=0; j<=50;j++)
        {
            msg[i]=0;
        }  
    }
    //pc.printf("%d",c);
    
    if((i==4) && (flag==1))
    {
        if(msg[1] & 0xb1)
        int qualite= msg[0]>>2;
        if(qualite>=2)
        {
            int angle=((msg[1] >> 1) + (msg[2] << 7)) / 64.0;
            int dist=((msg[3]) + ((msg[4]) << 8)) / 4.0;
            pc.printf("%d ,%d ,%d\n\r",qualite,angle,dist); 
        }
        //pc.printf("%d",i);
        i=-1;
        for(int j=0; j<=50;j++)
        {
            msg[i]=0;
        }        
    }*/
    
    i++;

}