Revision 2:d6e45ac03963, committed 2022-02-09

Comitter:

vermaelen

Date:

Wed Feb 09 15:13:07 2022 +0000

Parent:

1:bd9e4d198947

Commit message:

plein de changement, ca marche

Changed in this revision

--- a/LIDARLite_v3HP.cpp	Wed Feb 09 14:21:29 2022 +0000
+++ b/LIDARLite_v3HP.cpp	Wed Feb 09 15:13:07 2022 +0000
@@ -51,14 +51,14 @@
 ------------------------------------------------------------------------------*/
 LIDARLite_v3HP::LIDARLite_v3HP(I2C *i2c):i2c_(i2c)
 {
-    addr_ = LIDARLITE_ADDR_DEFAULT; 
+    addr_ = LIDARLITE_ADDR_DEFAULT;
 
 } /* LIDARLite_v3HP::LIDARLite_v3HP */
 
 LIDARLite_v3HP::LIDARLite_v3HP(I2C *i2c, uint8_t &addr):i2c_(i2c)
-{ 
+{
     addr_ = addr;
-    
+
 } /* LIDARLite_v3HP::LIDARLite_v3HP */
 
 void LIDARLite_v3HP::configure(const uint8_t &configuration, const uint8_t &lidarliteAddress)
@@ -68,8 +68,7 @@
     uint8_t refCountMax;
     uint8_t thresholdBypass;
 
-    switch (configuration)
-    {
+    switch (configuration) {
         case 0: // Default mode, balanced performance
             sigCountMax     = 0x80; // Default
             acqConfigReg    = 0x08; // Default
@@ -120,9 +119,9 @@
             break;
     }
 
-    write(0x02, &sigCountMax    , 1, lidarliteAddress);
-    write(0x04, &acqConfigReg   , 1, lidarliteAddress);
-    write(0x12, &refCountMax    , 1, lidarliteAddress);
+    write(0x02, &sigCountMax, 1, lidarliteAddress);
+    write(0x04, &acqConfigReg, 1, lidarliteAddress);
+    write(0x12, &refCountMax, 1, lidarliteAddress);
     write(0x1c, &thresholdBypass, 1, lidarliteAddress);
 } /* LIDARLite_v3HP::configure */
 
@@ -159,8 +158,7 @@
     write(0x1e, dataBytes, 1, lidarliteAddress);
 
     // If desired, disable default I2C device address (using the new I2C device address)
-    if (disableDefault)
-    {
+    if (disableDefault) {
         read (0x1e, dataBytes, 1, newAddress);
         dataBytes[0] = dataBytes[0] | (1 << 3); // set bit to disable default address
         write(0x1e, dataBytes, 1, newAddress);
@@ -179,9 +177,11 @@
 ------------------------------------------------------------------------------*/
 void LIDARLite_v3HP::takeRange(const uint8_t &lidarliteAddress)
 {
-    uint8_t dataByte = 0x01;
-
-    write(0x00, &dataByte, 1, lidarliteAddress);
+ //   uint8_t  dataByte= 0x04;
+ char start[2]={0,4};
+ i2c_->write((lidarliteAddress<<1), start, 2);
+   // write(0x00, &dataByte, 1, lidarliteAddress);
+       //    i2c.write(0xC4,start,2); //on lance la mesure
 } /* LIDARLite_v3HP::takeRange */
 
 /*------------------------------------------------------------------------------
@@ -197,26 +197,35 @@
 void LIDARLite_v3HP::waitForBusy(const uint8_t &lidarliteAddress)
 {
     uint16_t busyCounter = 0; // busyCounter counts number of times busy flag is checked, for timeout
-    uint8_t  busyFlag    = 1; // busyFlag monitors when the device is done with a measurement
+    char  busyFlag    ; // busyFlag monitors when the device is done with a measurement
+    char status=0x01; //status register
+
+    /*     i2c_->write((lidarliteAddress<<1), &status, 1);//choix de l'adresse à lire...
 
-    while (busyFlag)      // Loop until device is not busy
-    {
-        // Handle timeout condition, exit while loop and goto bailout
-        if (busyCounter > 9999)
-        {
+             // Loop until device is not busy
+        do{
+            // Handle timeout condition, exit while loop and goto bailout
+            if (busyCounter > 99)
+            {
+                break;
+            }
+
+            busyFlag = getBusyFlag(lidarliteAddress);
+            printf(".");
+
+            // Increment busyCounter for timeout
+            busyCounter++;
+        }while (busyFlag!=0) ;*/
+    i2c_->write((lidarliteAddress<<1), &status, 1);
+    do {
+        i2c_->read((lidarliteAddress<<1), &busyFlag, 1);
+        busyCounter++;
+        if (busyCounter > 99) {
             break;
         }
-
-        busyFlag = getBusyFlag(lidarliteAddress);
+        putchar('.'); // pour voir le nombre de wait
+    } while((busyFlag&1)!=0);
 
-        // Increment busyCounter for timeout
-        busyCounter++;
-    }
-
-    // bailout reports error over serial
-    if (busyCounter > 9999)
-    {
-    }
 } /* LIDARLite_v3HP::waitForBusy */
 
 /*------------------------------------------------------------------------------
@@ -231,15 +240,14 @@
 ------------------------------------------------------------------------------*/
 uint8_t LIDARLite_v3HP::getBusyFlag(const uint8_t &lidarliteAddress)
 {
-    uint8_t  busyFlag; // busyFlag monitors when the device is done with a measurement
+    char  busyFlag; // busyFlag monitors when the device is done with a measurement
 
     // Read status register to check busy flag
-    read(0x01, &busyFlag, 1, lidarliteAddress);
+    //read(0x01, &busyFlag, 1, lidarliteAddress);
+    i2c_->read((lidarliteAddress<<1), &busyFlag, 1);
 
     // STATUS bit 0 is busyFlag
-    busyFlag &= 0x01;
-
-    return busyFlag;
+    return (busyFlag&0x01);
 } /* LIDARLite_v3HP::getBusyFlag */
 
 /*------------------------------------------------------------------------------
@@ -262,13 +270,13 @@
 {
     uint16_t  distance;
     uint8_t dataByteHigh;
-     uint8_t dataByteLow;   
+    uint8_t dataByteLow;
 
     // Read two bytes from register 0x0f and 0x10 (autoincrement)
     // ca marche pas !!!!
-   // read(0x0f, dataBytes, 2, lidarliteAddress);
-   read(0x0f, dataByteHigh, 1, lidarliteAddress);
-   read(0x0f, dataByteLow, 1, lidarliteAddress);
+    // read(0x0f, dataBytes, 2, lidarliteAddress);
+    read(0x0f, &dataByteHigh, 1, lidarliteAddress);
+    read(0x10, &dataByteLow, 1, lidarliteAddress);
     distance =(dataByteHigh<<8)+dataByteLow;
     return (distance);
 } /* LIDARLite_v3HP::readDistance */
@@ -356,12 +364,11 @@
     // -----------------------------------------------------------------
     // I2C.write(i2cAddress, *data, length, repeated = false)
 
-    
-    nackCatcher = i2c_->write(lidarliteAddress<<1, (char *)dataBytes, numBytes, false);
+
+    nackCatcher = i2c_->write((lidarliteAddress<<1), (char *)dataBytes, numBytes, false);
 
     // A nack means the device is not responding. Report the error over serial.
-    if (nackCatcher != 0)
-    {
+    if (nackCatcher != 0) {
         printf("> nack\n\r");
     }
 
@@ -391,20 +398,19 @@
                             const uint16_t &numBytes, const uint8_t &lidarliteAddress)
 {
     int nackCatcher = 0;
-    
+
     char regAddrC = char(regAddr);
-    
+
     // A nack means the device is not responding, report the error over serial
-    nackCatcher = i2c_->write(lidarliteAddress<<1, &regAddrC, 1, false); // false means perform repeated start
-    
-    if (nackCatcher != 0)
-    {
+    nackCatcher = i2c_->write((lidarliteAddress<<1), &regAddrC, 1, false); // false means perform repeated start
+
+    if (nackCatcher != 0) {
         printf("> nack\n\r");
     }
 
     // Perform read, save in dataBytes array
-    i2c_->read(lidarliteAddress<<1, (char *)dataBytes, numBytes);
-   
+    i2c_->read((lidarliteAddress<<1), (char *)dataBytes, numBytes);
+
 } /* LIDARLite_v3HP::read */
 
 /*------------------------------------------------------------------------------
@@ -443,8 +449,7 @@
     dataBytes[0] = 0x07;
     write(0x40, dataBytes, 1, lidarliteAddress);
 
-    for (i=0 ; i<numberOfReadings ; i++)
-    {
+    for (i=0 ; i<numberOfReadings ; i++) {
         read(0x52, dataBytes, 2, lidarliteAddress);
 
         //  Low byte is the value of the correlation record
@@ -452,12 +457,11 @@
 
         // if upper byte lsb is one, the value is negative
         // so here we test to artifically sign extend the data
-        if ( (int) dataBytes[1] == 1)
-        {
+        if ( (int) dataBytes[1] == 1) {
             correlationValue |= 0xff00;
         }
         printf("%d\n\r", correlationValue);
-        
+
     }
 
     // test mode disable