Revision 1:238f6a0108e7, committed 2015-10-22

Comitter:

sventura3

Date:

Thu Oct 22 23:49:53 2015 +0000

Parent:

0:7e6c07be1754

Child:

2:b0deebd36eb3

Commit message:

Commenting

Changed in this revision

--- a/LidarLitev2.cpp	Thu Oct 22 18:52:54 2015 +0000
+++ b/LidarLitev2.cpp	Thu Oct 22 23:49:53 2015 +0000
@@ -14,85 +14,77 @@
 {
     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){
+    switch (config) {
         case 0: //Deafault config
             nackack = 1;
-            while(nackack !=0)
-            {
+            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)
-            {
+            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
+    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);
-            }
+    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
-            }
+    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
-            }
+    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){
+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)
-    {
+    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)
-    {
+    while(nackack !=0) {
         nackack = i2c.write(LidarLitev2_addr, reg_read, 1); // Ready to read from reg distance
     }
-    
+
     nackack = 1;
-    while(nackack !=0)
-    {
+    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
@@ -103,17 +95,15 @@
 {
     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
-            }
+    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
-            }
+    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;
 }

--- a/LidarLitev2.h	Thu Oct 22 18:52:54 2015 +0000
+++ b/LidarLitev2.h	Thu Oct 22 23:49:53 2015 +0000
@@ -1,25 +1,59 @@
 #ifndef LidarLitev2_H
-#define LidarLitev2_H 
+#define LidarLitev2_H
 
 
 #include "mbed.h"
 
+/** My LidarLite class
+*   Used for controlling and interacting with the LidarLitev2
+Example:
+*   @code
+*   //Measures distance from the lidarlite and prints it through serial
+*   #include "LidarLitev2.h"
+*   LidarLitev2 Lidar(p28, p27);
+*   Serial pc(USBTX,USBRX);
+*
+*
+*       Timer dt;
+*   int main()
+*   {   
+*    
+*       pc.baud(115200);
+*       Lidar.configure();
+*       dt.start();
+*       while(1){
+*           pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distance(), 1/dt.read());
+*           dt.reset();
+*       }
+*   }
+*   @endcode
+*
+*
+*/
 
 class LidarLitev2
 {
 public:
     LidarLitev2(PinName sda, PinName scl, bool = true);  // Constructor iniates I2C setup
-    void configure(int = 0, int = 0xc4);   // Configure the mode and slave address 
+    
+    /** Configure the different modes of the Lidar */
+    void configure(int = 0, int = 0xc4);   // Configure the mode and slave address
+    
+    /** Sets the Lidar to read continuously, indicating its ready to be read from by the modepin pulling down,  a cerntain amount of times */
     void beginContinuous(bool = true, char = 0x04, char = 0xff, int = 0xc4); //Enable if using continous setup with mode from Lidar and pulldown
+    
+    
     int distance(bool = true, bool = true, int = 0xc4); //Calclulates distance through I2C protocol of activating sensor with a write, then a write for the register, and a read.
     // Returns distance as a integer in cm
+
     
-    int distanceContinuous(int = 0xc4); // 1.) Set Lidar circuit for continuous mode 
-                                        // 2.) utilize the beginContinous function and configure as desired
-                                        // This function returns distance without any need to activate the lidar senore through a write command,
-                                        // instead the mode pin pulls down when the lidar is ready for a read
+    int distanceContinuous(int = 0xc4); 
+    // 1.) Set Lidar circuit for continuous mode
+    // 2.) utilize the beginContinous function and configure as desired
+    // This function returns distance without any need to activate the lidar senore through a write command,
+    // instead the mode pin pulls down when the lidar is ready for a read
     // Returns distance as a integer in cm
-    
+
 private:
     // I2C Functions //
     ///////////////////