Steven Ventura / LidarLitev2

LidarLitev2 Library for distance reading. Capable of both single distance reads and continuous distance read setup.

Dependents:   Lidar_Distance Lidar_DistanceContinuous Lidar_2D_Mapping Motions_Secure_Server_IUPUI ... more

LidarLitev2.cpp@0:7e6c07be1754, 2015-10-22 (annotated)

Committer:
sventura3
Date:
Thu Oct 22 18:52:54 2015 +0000
Revision:
0:7e6c07be1754
Child:
1:238f6a0108e7
LidarLitev2 Library for distance reading

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sventura3 0:7e6c07be1754 1 #include "LidarLitev2.h"
sventura3 0:7e6c07be1754 2 #include "math.h"
sventura3 0:7e6c07be1754 3
sventura3 0:7e6c07be1754 4 int nackack;
sventura3 0:7e6c07be1754 5 //Constructor iniating the I2C connection
sventura3 0:7e6c07be1754 6 LidarLitev2::LidarLitev2(PinName sda, PinName scl, bool fast) : i2c(sda, scl)
sventura3 0:7e6c07be1754 7 {
sventura3 0:7e6c07be1754 8 if (fast) i2c.frequency(400000); //I2C @ 400kHz
sventura3 0:7e6c07be1754 9 else i2c.frequency(100000); //I2C @ 100Khz
sventura3 0:7e6c07be1754 10 wait(0.2);
sventura3 0:7e6c07be1754 11 }
sventura3 0:7e6c07be1754 12
sventura3 0:7e6c07be1754 13 void LidarLitev2::configure(int config, int LidarLitev2_addr)
sventura3 0:7e6c07be1754 14 {
sventura3 0:7e6c07be1754 15 char reset[2] = {0x00, 0x00}; //Register and value to Reset the Lidar to orgional settings
sventura3 0:7e6c07be1754 16 char aquisition[2] = {0x04, 0x00}; //Register and value to set the acquisition to 1/3 default value
sventura3 0:7e6c07be1754 17 switch (config){
sventura3 0:7e6c07be1754 18 case 0: //Deafault config
sventura3 0:7e6c07be1754 19 nackack = 1;
sventura3 0:7e6c07be1754 20 while(nackack !=0)
sventura3 0:7e6c07be1754 21 {
sventura3 0:7e6c07be1754 22 //wait_ms(1);
sventura3 0:7e6c07be1754 23 nackack = i2c.write(LidarLitev2_addr, reset, 2); // Resets the Lidar settings
sventura3 0:7e6c07be1754 24 }
sventura3 0:7e6c07be1754 25
sventura3 0:7e6c07be1754 26 break;
sventura3 0:7e6c07be1754 27 case 1:
sventura3 0:7e6c07be1754 28 nackack = 1;
sventura3 0:7e6c07be1754 29 while(nackack !=0)
sventura3 0:7e6c07be1754 30 {
sventura3 0:7e6c07be1754 31 //wait_ms(1);
sventura3 0:7e6c07be1754 32 nackack = i2c.write(LidarLitev2_addr, aquisition, 2); // Set the acquisition to 1/3 default value
sventura3 0:7e6c07be1754 33 }
sventura3 0:7e6c07be1754 34 break;
sventura3 0:7e6c07be1754 35 }
sventura3 0:7e6c07be1754 36 }
sventura3 0:7e6c07be1754 37
sventura3 0:7e6c07be1754 38 void LidarLitev2::beginContinuous(bool modePinLow, char interval, char numberOfReadings,int LidarLitev2_addr)
sventura3 0:7e6c07be1754 39 {
sventura3 0:7e6c07be1754 40 char reg_freq[2] = {0x45, interval}; // Sets the time between measurements through reg 0x45
sventura3 0:7e6c07be1754 41
sventura3 0:7e6c07be1754 42 nackack = 1;
sventura3 0:7e6c07be1754 43 while(nackack !=0)
sventura3 0:7e6c07be1754 44 {
sventura3 0:7e6c07be1754 45 nackack =i2c.write(LidarLitev2_addr, reg_freq, 2, false); //Write to register 0x45 the interval time
sventura3 0:7e6c07be1754 46 }
sventura3 0:7e6c07be1754 47 // Set register 0x04 to 0x20 to look at "NON-default" value of velocity scale
sventura3 0:7e6c07be1754 48 // If you set bit 0 of 0x04 to "1" then the mode pin will be low when done
sventura3 0:7e6c07be1754 49 char reg_modePin[2] = {0x04, 0x21}; // Default modePin Setting
sventura3 0:7e6c07be1754 50 if (!modePinLow) reg_modePin[1] = 0x20;
sventura3 0:7e6c07be1754 51
sventura3 0:7e6c07be1754 52 nackack = 1;
sventura3 0:7e6c07be1754 53 while(nackack !=0)
sventura3 0:7e6c07be1754 54 {
sventura3 0:7e6c07be1754 55 nackack =i2c.write(LidarLitev2_addr, reg_modePin, 2, false);
sventura3 0:7e6c07be1754 56 }
sventura3 0:7e6c07be1754 57 char reg_numOfReadings[2] = {0x11, numberOfReadings}; // Set the number of readings through reg 0x11
sventura3 0:7e6c07be1754 58
sventura3 0:7e6c07be1754 59 nackack = 1;
sventura3 0:7e6c07be1754 60 while(nackack !=0)
sventura3 0:7e6c07be1754 61 {
sventura3 0:7e6c07be1754 62 nackack =i2c.write(LidarLitev2_addr, reg_numOfReadings, 2, false); // writes into Reg_numofreadings the number of readings desired
sventura3 0:7e6c07be1754 63 }
sventura3 0:7e6c07be1754 64 char reg_reading_distance[2] = {0x00, 0x04}; // Iniates reg_readDistance
sventura3 0:7e6c07be1754 65 nackack = 1;
sventura3 0:7e6c07be1754 66 while(nackack !=0)
sventura3 0:7e6c07be1754 67 {
sventura3 0:7e6c07be1754 68 nackack =i2c.write(LidarLitev2_addr, reg_reading_distance, 2, false); // writes into Reg_readDistance to begin continuos reading
sventura3 0:7e6c07be1754 69 }
sventura3 0:7e6c07be1754 70 }
sventura3 0:7e6c07be1754 71
sventura3 0:7e6c07be1754 72 int LidarLitev2::distance(bool stablizePreampFlag, bool takeReference, int LidarLitev2_addr){
sventura3 0:7e6c07be1754 73 // Standard read distance protocol without continuous
sventura3 0:7e6c07be1754 74
sventura3 0:7e6c07be1754 75 char reg_dc[2] = {0x00, 0x04}; // Iniates reg_readDistance
sventura3 0:7e6c07be1754 76 if(!stablizePreampFlag) reg_dc[1] = 0x03;
sventura3 0:7e6c07be1754 77
sventura3 0:7e6c07be1754 78 nackack = 1;
sventura3 0:7e6c07be1754 79 while(nackack !=0)
sventura3 0:7e6c07be1754 80 {
sventura3 0:7e6c07be1754 81 nackack = i2c.write(LidarLitev2_addr, reg_dc, 2); // writes into Reg_readDistance to begin a reading
sventura3 0:7e6c07be1754 82 }
sventura3 0:7e6c07be1754 83
sventura3 0:7e6c07be1754 84 char data[2];
sventura3 0:7e6c07be1754 85 char reg_read[1] = {0x8f}; // Register to read distance value from
sventura3 0:7e6c07be1754 86
sventura3 0:7e6c07be1754 87 nackack = 1;
sventura3 0:7e6c07be1754 88 while(nackack !=0)
sventura3 0:7e6c07be1754 89 {
sventura3 0:7e6c07be1754 90 nackack = i2c.write(LidarLitev2_addr, reg_read, 1); // Ready to read from reg distance
sventura3 0:7e6c07be1754 91 }
sventura3 0:7e6c07be1754 92
sventura3 0:7e6c07be1754 93 nackack = 1;
sventura3 0:7e6c07be1754 94 while(nackack !=0)
sventura3 0:7e6c07be1754 95 {
sventura3 0:7e6c07be1754 96 nackack = i2c.read(LidarLitev2_addr, data, 2); // Read from reg distance 2bytes of information
sventura3 0:7e6c07be1754 97 }
sventura3 0:7e6c07be1754 98 int distance = ((uint8_t)data[0]<<8) + (uint8_t)data[1]; //Combine byes to a int to be returned as the distance measured
sventura3 0:7e6c07be1754 99 return distance;
sventura3 0:7e6c07be1754 100 }
sventura3 0:7e6c07be1754 101
sventura3 0:7e6c07be1754 102 int LidarLitev2::distanceContinuous(int LidarLitev2_addr)
sventura3 0:7e6c07be1754 103 {
sventura3 0:7e6c07be1754 104 char data[2];
sventura3 0:7e6c07be1754 105 char reg_read[1] = {0x8f}; // Register to read distance value from
sventura3 0:7e6c07be1754 106
sventura3 0:7e6c07be1754 107 nackack = 1;
sventura3 0:7e6c07be1754 108 while(nackack !=0)
sventura3 0:7e6c07be1754 109 {
sventura3 0:7e6c07be1754 110 nackack =i2c.write(LidarLitev2_addr, reg_read, 1); // Ready to read from reg distance
sventura3 0:7e6c07be1754 111 }
sventura3 0:7e6c07be1754 112 nackack = 1;
sventura3 0:7e6c07be1754 113 while(nackack !=0)
sventura3 0:7e6c07be1754 114 {
sventura3 0:7e6c07be1754 115 nackack =i2c.read(LidarLitev2_addr, data, 2); // Read from reg distance 2bytes of information
sventura3 0:7e6c07be1754 116 }
sventura3 0:7e6c07be1754 117 int distance = ((uint8_t)data[0]<<8) + (uint8_t)data[1]; //Combine byes to a int to be returned as the distance measured
sventura3 0:7e6c07be1754 118 return distance;
sventura3 0:7e6c07be1754 119 }