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
- Committer:
- sventura3
- Date:
- 2015-10-22
- Revision:
- 0:7e6c07be1754
- Child:
- 1:238f6a0108e7
File content as of revision 0:7e6c07be1754:
#include "LidarLitev2.h" #include "math.h" int nackack; //Constructor iniating the I2C connection LidarLitev2::LidarLitev2(PinName sda, PinName scl, bool fast) : i2c(sda, scl) { if (fast) i2c.frequency(400000); //I2C @ 400kHz else i2c.frequency(100000); //I2C @ 100Khz wait(0.2); } void LidarLitev2::configure(int config, int LidarLitev2_addr) { char reset[2] = {0x00, 0x00}; //Register and value to Reset the Lidar to orgional settings char aquisition[2] = {0x04, 0x00}; //Register and value to set the acquisition to 1/3 default value switch (config){ case 0: //Deafault config nackack = 1; while(nackack !=0) { //wait_ms(1); nackack = i2c.write(LidarLitev2_addr, reset, 2); // Resets the Lidar settings } break; case 1: nackack = 1; while(nackack !=0) { //wait_ms(1); nackack = i2c.write(LidarLitev2_addr, aquisition, 2); // Set the acquisition to 1/3 default value } break; } } void LidarLitev2::beginContinuous(bool modePinLow, char interval, char numberOfReadings,int LidarLitev2_addr) { char reg_freq[2] = {0x45, interval}; // Sets the time between measurements through reg 0x45 nackack = 1; while(nackack !=0) { nackack =i2c.write(LidarLitev2_addr, reg_freq, 2, false); //Write to register 0x45 the interval time } // Set register 0x04 to 0x20 to look at "NON-default" value of velocity scale // If you set bit 0 of 0x04 to "1" then the mode pin will be low when done char reg_modePin[2] = {0x04, 0x21}; // Default modePin Setting if (!modePinLow) reg_modePin[1] = 0x20; nackack = 1; while(nackack !=0) { nackack =i2c.write(LidarLitev2_addr, reg_modePin, 2, false); } char reg_numOfReadings[2] = {0x11, numberOfReadings}; // Set the number of readings through reg 0x11 nackack = 1; while(nackack !=0) { nackack =i2c.write(LidarLitev2_addr, reg_numOfReadings, 2, false); // writes into Reg_numofreadings the number of readings desired } char reg_reading_distance[2] = {0x00, 0x04}; // Iniates reg_readDistance nackack = 1; while(nackack !=0) { nackack =i2c.write(LidarLitev2_addr, reg_reading_distance, 2, false); // writes into Reg_readDistance to begin continuos reading } } int LidarLitev2::distance(bool stablizePreampFlag, bool takeReference, int LidarLitev2_addr){ // Standard read distance protocol without continuous char reg_dc[2] = {0x00, 0x04}; // Iniates reg_readDistance if(!stablizePreampFlag) reg_dc[1] = 0x03; nackack = 1; while(nackack !=0) { nackack = i2c.write(LidarLitev2_addr, reg_dc, 2); // writes into Reg_readDistance to begin a reading } char data[2]; char reg_read[1] = {0x8f}; // Register to read distance value from nackack = 1; while(nackack !=0) { nackack = i2c.write(LidarLitev2_addr, reg_read, 1); // Ready to read from reg distance } nackack = 1; while(nackack !=0) { nackack = i2c.read(LidarLitev2_addr, data, 2); // Read from reg distance 2bytes of information } int distance = ((uint8_t)data[0]<<8) + (uint8_t)data[1]; //Combine byes to a int to be returned as the distance measured return distance; } int LidarLitev2::distanceContinuous(int LidarLitev2_addr) { char data[2]; char reg_read[1] = {0x8f}; // Register to read distance value from nackack = 1; while(nackack !=0) { nackack =i2c.write(LidarLitev2_addr, reg_read, 1); // Ready to read from reg distance } nackack = 1; while(nackack !=0) { nackack =i2c.read(LidarLitev2_addr, data, 2); // Read from reg distance 2bytes of information } int distance = ((uint8_t)data[0]<<8) + (uint8_t)data[1]; //Combine byes to a int to be returned as the distance measured return distance; }