Diff: main.cpp

Revision:

0:439469932304

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,88 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "rplidar.h"
+
+#define BLINKING_RATE_MS        500
+#define NB_DATA_MAX             20
+#define AFF_DATA                0
+
+char            pc_debug_data[128];
+char            received_data[64];
+int             data_nb = 0;
+int             data_scan_nb = 0;
+char            mode = LIDAR_MODE_STOP;
+char            scan_ok = 0;
+int             distance_scan[360] = {0};
+int             distance_scan_old[360] = {0};
+char            tour_ok = 0;
+char            trame_ok = 0;
+
+UnbufferedSerial    pc(USBTX, USBRX, 115200);
+DigitalOut          led(LED1);
+DigitalOut          debug_data(D10);
+DigitalOut          debug_tour(D9);
+DigitalOut          debug_out(D7);
+DigitalOut          data_ok(D5);
+DigitalOut          data_ok_q(D4);
+
+UnbufferedSerial    lidar(A0, A1, 115200);
+PwmOut              rotation(A3);
+
+struct lidar_data   ld_current;
+
+
+/** MAIN FUNCTION
+ */
+int main()
+{
+    int nb_tour = 0;
+    wait_s(3.0);
+    rotation.period(1/25000.0);
+    rotation.write(0.4);
+    wait_s(2.0);
+    pc.write("\r\nLIDAR Testing\r\n", sizeof("\r\nLIDAR Testing\r\n")+1);
+    lidar.attach(&IT_lidar);
+    wait_s(1.0);
+    pc.write("\r\nLIDAR OK\r\n", sizeof("\r\nLIDAR OK\r\n")+1);
+
+    getHealthLidar();
+    getInfoLidar();
+    getSampleRate();  
+    // Start a new scan
+    startScan(); 
+    // Infinite Loop
+    while (true) {
+        if(trame_ok){
+            debug_tour = !debug_tour;
+        }
+
+        if(tour_ok == 4){
+            int maxDistance, maxAngle;
+            tour_ok = 0;
+            findMax(distance_scan_old, 360, &maxDistance, &maxAngle);
+            print_int("A", maxAngle);
+        }
+        /*
+        stopScan();
+        tour_ok = 0;
+        print_int("NB ", data_scan_nb);
+        // affichage données
+        if(AFF_DATA){
+            for(int k = 0; k < 360; k++){
+                if(distance_scan_old[k] != 0){
+                    sprintf(pc_debug_data, "\t%d = %d", k, distance_scan_old[k]);
+                    pc.write(pc_debug_data, strlen(pc_debug_data));
+                }
+            }
+        }
+        getHealthLidar();
+        wait_s(0.001);
+        startScan();
+        */
+    }
+}
+