Revision 0:439469932304, committed 2021-03-25

Comitter:

villemejane

Date:

Thu Mar 25 10:11:59 2021 +0000

Commit message:

Test for data scanning of RPLidar A2M8

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTRIBUTING.md	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,5 @@
+# Contributing to Mbed OS
+
+Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor.
+
+To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,64 @@
+![](./resources/official_armmbed_example_badge.png)
+# Blinky Mbed OS example
+
+The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/).
+
+You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).)
+
+1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html).
+
+1. Clone this repository on your system, and change the current directory to where the project was cloned:
+
+    ```bash
+    $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+    Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand:
+
+    ```bash
+    $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+
+## Application functionality
+
+The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board.
+
+## Building and running
+
+1. Connect a USB cable between the USB port on the board and the host computer.
+2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory:
+    ```bash
+    $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash
+    ```
+The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`.
+
+Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB.
+
+Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target:
+
+```bash
+$ mbed compile -S
+```
+
+## Expected output
+The LED on your target turns on and off every 500 milliseconds.
+
+
+## Troubleshooting
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
+
+## Related Links
+
+* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html).
+* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html).
+* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html).
+* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html).
+* [Mbed boards](https://os.mbed.com/platforms/).
+
+### License and contributions
+
+The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info.
+
+This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.

--- /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();
+        */
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os.git/#96e19afdd196c6c99edd58fddd44e2c691cdca2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,3 @@
+{
+    "requires" : ["bare-metal"]
+}
\ No newline at end of file

Binary file resources/official_armmbed_example_badge.png has changed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar.cpp	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,164 @@
+#include "mbed.h"
+#include "rplidar.h"
+#include <cstdio>
+
+void print_int(const char *name, int ki){
+    char data_to_send[64];
+    sprintf(data_to_send, "\t %s = %d\r\n", name, ki);
+    pc.write(data_to_send, strlen(data_to_send));
+}
+
+void print_data(const char *name, char *datai, int sizedata){
+    char data_to_send[64];
+    sprintf(data_to_send, "\t %s = ", name);
+    pc.write(data_to_send, strlen(data_to_send));
+    for(int i = 0; i < sizedata; i++){
+        sprintf(data_to_send, "%x ", datai[i]);
+        pc.write(data_to_send, strlen(data_to_send));
+    }
+    pc.write("\r\n", strlen("\r\n"));
+}
+
+void wait_s(float sec){
+    wait_us(sec*1000000);
+}
+
+void findMax(int *int_data, int size_data, int *value, int *indice){
+    *value = 0;
+    *indice = 0;
+    for(int k = 0; k < size_data; k++){
+        if(int_data[k] > *value){
+            *value = int_data[k];
+            *indice = k;
+        }
+    }
+}
+
+void IT_lidar(void){
+    char data, startt, nostartt;
+    debug_data = 1;
+    lidar.read(&data, 1);
+
+    if(scan_ok){
+        switch(data_scan_nb % 5){
+            case 0 :
+                data_ok = 0;
+                data_ok_q = 0;
+                if (((data&0X03)==0X01) || ((data&0X03)==0X02)) { 
+                    trame_ok=1;
+                } else {
+                    trame_ok=0;
+                }
+                ld_current.quality = data >> 2;
+                startt = data & 0x01;
+                nostartt = (data & 0x02) >> 1;
+                if((data & 0x01) == 0x01){
+                    debug_out = 1;
+                    for(int k = 0; k < 360; k++){
+                        distance_scan_old[k] = distance_scan[k];
+                        distance_scan[k] = 0;
+                    }
+                    debug_out = 0;
+                    tour_ok++;
+                }   
+                if(startt == nostartt)      data_scan_nb = 0;
+                break;            
+            case 1 :
+                if((data&0x01) == 0){
+                    trame_ok = 0;
+                    data_scan_nb = 0;
+                }
+                // angle_q6[6:0] / 64 and check (degre)
+                ld_current.angle = data >> (1 + 6);
+                // check ?
+                break;            
+            case 2 :
+                // angle_q6[14:7] / 64 (degre)
+                ld_current.angle += data << 1;
+                break;            
+            case 3 :
+                // distance_q2[7:0] / 4 (mm)
+                ld_current.distance = data >> 2;
+                break;
+            default :
+                // distance_q2[15:8] / 4 (mm)
+                ld_current.distance += data << 6;
+                if(trame_ok){
+                    distance_scan[ld_current.angle%360] = ld_current.distance;
+                    data_ok = 1;
+                    if(ld_current.quality > 0) data_ok_q = 1;
+                }         
+        }
+        data_scan_nb++;
+    }
+    else{
+        data_ok = 0;
+        data_ok_q = 0;
+        received_data[data_nb] = data;
+        data_nb++;
+    }
+    debug_data = 0;
+}
+
+
+void sendResetReq(void){
+    mode = LIDAR_MODE_RESET;
+    char data[2] = {0xA5, 0x40};
+    lidar.write(data, 2);
+    wait_us(10000);
+}
+
+void getHealthLidar(void){
+    stopScan();
+    mode = LIDAR_MODE_HEALTH;
+    char data[2] = {0xA5, LIDAR_MODE_HEALTH};
+    lidar.write(data, 2);
+    data_nb = 0;
+    while(data_nb != (NB_BYTE_HEALTH_REQ + NB_BYTE_HEALTH_RESP)){__nop();}
+    //print_data("Health", received_data, (NB_BYTE_HEALTH_REQ + NB_BYTE_HEALTH_RESP));
+    if(received_data[7] == 0)   pc.write("\r\nGOOD\r\n", sizeof("\r\nGOOD\r\n"));
+    else   pc.write("\r\nBAD\r\n", sizeof("\r\nBAD\r\n"));
+
+}
+
+void getInfoLidar(void){
+    stopScan();
+    mode = LIDAR_MODE_INFO;
+    char data[2] = {0xA5, LIDAR_MODE_INFO};
+    lidar.write(data, 2);
+    data_nb = 0;
+    while(data_nb != (NB_BYTE_INFO_REQ + NB_BYTE_INFO_RESP)){__nop();}
+    print_data("Info", received_data, (NB_BYTE_INFO_REQ + NB_BYTE_INFO_RESP));
+}
+
+void getSampleRate(void){
+    stopScan();
+    mode = LIDAR_MODE_RATE;
+    char data[2] = {0xA5, LIDAR_MODE_RATE};
+    lidar.write(data, 2);
+    data_nb = 0;
+    while(data_nb != (NB_BYTE_RATE_REQ + NB_BYTE_RATE_RESP)){__nop();}
+    print_data("Rate", received_data, (NB_BYTE_RATE_REQ + NB_BYTE_RATE_RESP));
+    int usRate = (received_data[8] << 8) + received_data[7];
+    print_int("Standard (uS) ", usRate);
+    usRate = (received_data[10] << 8) + received_data[9];
+    print_int("Express (uS) ", usRate);
+}
+
+void startScan(void){
+    stopScan();
+    mode = LIDAR_MODE_SCAN;
+    char data[2] = {0xA5, LIDAR_MODE_SCAN};
+    lidar.write(data, 2);
+    data_nb = 0;
+    data_scan_nb = 0;
+    while(data_nb != (NB_BYTE_SCAN_REQ)){__nop();}
+    scan_ok = 1;
+}
+
+void stopScan(void){
+    mode = LIDAR_MODE_STOP;
+    scan_ok = 0;
+    char data[2] = {0xA5, LIDAR_MODE_STOP};
+    lidar.write(data, 2);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar.h	Thu Mar 25 10:11:59 2021 +0000
@@ -0,0 +1,104 @@
+#ifndef __include_rplidar_h__
+#define __include_rplidar_h__
+
+#include "mbed.h"
+#define     LIDAR_MODE_STOP     0x25
+#define     LIDAR_MODE_RESET    0x40
+#define     LIDAR_MODE_SCAN     0x20
+#define     LIDAR_MODE_FORCE    0x21
+#define     LIDAR_MODE_INFO     0x50
+#define     LIDAR_MODE_HEALTH   0x52
+#define     LIDAR_MODE_RATE     0x59
+
+#define     NB_BYTE_INFO_REQ        7
+#define     NB_BYTE_INFO_RESP       20
+#define     NB_BYTE_RATE_REQ        7
+#define     NB_BYTE_RATE_RESP       4
+#define     NB_BYTE_HEALTH_REQ      7
+#define     NB_BYTE_HEALTH_RESP     3
+#define     NB_BYTE_FORCE_REQ       7
+#define     NB_BYTE_FORCE_RESP      5
+#define     NB_BYTE_SCAN_REQ        7
+
+extern char     pc_debug_data[128];
+
+extern  UnbufferedSerial    lidar;
+extern  UnbufferedSerial    pc;
+extern  DigitalOut          debug_data;
+extern  DigitalOut          debug_out;
+extern  DigitalOut          data_ok;
+extern  DigitalOut          data_ok_q;
+extern  int                 data_nb;
+extern  int                 data_scan_nb;
+extern  char                received_data[];
+extern  char                mode;
+extern  char                scan_ok;
+extern  int                 distance_scan[];
+extern  int                 distance_scan_old[];
+extern  char                tour_ok;
+extern  char                trame_ok;
+extern  struct lidar_data   ld_current;
+
+/* Data Structure of lidar */
+struct lidar_data{
+    int quality;
+    int angle;
+    int distance;
+};
+
+/*********************************************************************** GENERAL FUNCTIONS */
+
+/** Print int value and its name
+ */ 
+void print_int(const char *name, int ki);
+/** Print data from serial communication
+ */ 
+void print_data(const char *name, char *datai, int sizedata);
+/** Wait seconds
+ */ 
+void wait_s(float sec);
+
+/** Find max in an integer array
+ */ 
+void findMax(int *int_data, int size, int *value, int *indice);
+
+/************************************************************************* LIDAR FUNCTIONS */
+
+/** IT_lidar
+        interrupt function on serial receiving
+ */
+void IT_lidar(void);
+
+/** Reset request
+        send command to core reset of the lidar
+        this action took 2ms
+ */
+void sendResetReq(void);
+
+/** Health request
+        get device health information
+ */
+void getHealthLidar(void);
+
+/** Info request
+        get device information
+        model / firmware _ LSB / MSB / Hardware / SerialNumber (15 octets)
+ */
+void getInfoLidar(void);
+
+/** Sample Rate
+        get sample rate
+ */
+void getSampleRate(void);
+
+/** Start Scan
+        start standard scan
+ */
+void startScan(void);
+
+/** Stop Scan
+        stop standard scan
+ */
+void stopScan(void);
+
+#endif /* #ifndef __include_rplidar_h__ */
\ No newline at end of file