yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

sensor/lidar_lite.cpp@3:a9b4b2565a23, 2022-03-27 (annotated)

Committer:
yootee
Date:
Sun Mar 27 04:51:16 2022 +0000
Revision:
3:a9b4b2565a23
my new gear...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 3:a9b4b2565a23 1 #include "lidar_lite.h"
yootee 3:a9b4b2565a23 2
yootee 3:a9b4b2565a23 3 LIDARLite::LIDARLite(I2C &i2c):i2c_(i2c){}
yootee 3:a9b4b2565a23 4
yootee 3:a9b4b2565a23 5 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 6 Begin
yootee 3:a9b4b2565a23 7 Starts the sensor and I2C.
yootee 3:a9b4b2565a23 8 Parameters
yootee 3:a9b4b2565a23 9 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 10 configuration: Default 0. Selects one of several preset configurations.
yootee 3:a9b4b2565a23 11 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 12 operating manual for instructions.
yootee 3:a9b4b2565a23 13 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 14 void LIDARLite::begin(int configuration, char lidarliteAddress)
yootee 3:a9b4b2565a23 15 {
yootee 3:a9b4b2565a23 16 configure(configuration, lidarliteAddress); // Configuration settings
yootee 3:a9b4b2565a23 17 } /* LIDARLite::begin */
yootee 3:a9b4b2565a23 18
yootee 3:a9b4b2565a23 19 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 20 Configure
yootee 3:a9b4b2565a23 21 Selects one of several preset configurations.
yootee 3:a9b4b2565a23 22 Parameters
yootee 3:a9b4b2565a23 23 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 24 configuration: Default 0.
yootee 3:a9b4b2565a23 25 0: Default mode, balanced performance.
yootee 3:a9b4b2565a23 26 1: Short range, high speed. Uses 0x1d maximum acquisition count.
yootee 3:a9b4b2565a23 27 2: Default range, higher speed short range. Turns on quick termination
yootee 3:a9b4b2565a23 28 detection for faster measurements at short range (with decreased
yootee 3:a9b4b2565a23 29 accuracy)
yootee 3:a9b4b2565a23 30 3: Maximum range. Uses 0xff maximum acquisition count.
yootee 3:a9b4b2565a23 31 4: High sensitivity detection. Overrides default valid measurement detection
yootee 3:a9b4b2565a23 32 algorithm, and uses a threshold value for high sensitivity and noise.
yootee 3:a9b4b2565a23 33 5: Low sensitivity detection. Overrides default valid measurement detection
yootee 3:a9b4b2565a23 34 algorithm, and uses a threshold value for low sensitivity and noise.
yootee 3:a9b4b2565a23 35 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 36 operating manual for instructions.
yootee 3:a9b4b2565a23 37 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 38 void LIDARLite::configure(int configuration, char lidarliteAddress)
yootee 3:a9b4b2565a23 39 {
yootee 3:a9b4b2565a23 40 switch (configuration)
yootee 3:a9b4b2565a23 41 {
yootee 3:a9b4b2565a23 42 case 0: // Default mode, balanced performance
yootee 3:a9b4b2565a23 43 write(0x02,0x80,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 44 write(0x04,0x08,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 45 write(0x1c,0x00,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 46 break;
yootee 3:a9b4b2565a23 47
yootee 3:a9b4b2565a23 48 case 1: // Short range, high speed
yootee 3:a9b4b2565a23 49 write(0x02,0x1d,lidarliteAddress);
yootee 3:a9b4b2565a23 50 write(0x04,0x08,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 51 write(0x1c,0x00,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 52 break;
yootee 3:a9b4b2565a23 53
yootee 3:a9b4b2565a23 54 case 2: // Default range, higher speed short range
yootee 3:a9b4b2565a23 55 write(0x02,0x80,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 56 write(0x04,0x00,lidarliteAddress);
yootee 3:a9b4b2565a23 57 write(0x1c,0x00,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 58 break;
yootee 3:a9b4b2565a23 59
yootee 3:a9b4b2565a23 60 case 3: // Maximum range
yootee 3:a9b4b2565a23 61 write(0x02,0xff,lidarliteAddress);
yootee 3:a9b4b2565a23 62 write(0x04,0x08,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 63 write(0x1c,0x00,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 64 break;
yootee 3:a9b4b2565a23 65
yootee 3:a9b4b2565a23 66 case 4: // High sensitivity detection, high erroneous measurements
yootee 3:a9b4b2565a23 67 write(0x02,0x80,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 68 write(0x04,0x08,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 69 write(0x1c,0x80,lidarliteAddress);
yootee 3:a9b4b2565a23 70 break;
yootee 3:a9b4b2565a23 71
yootee 3:a9b4b2565a23 72 case 5: // Low sensitivity detection, low erroneous measurements
yootee 3:a9b4b2565a23 73 write(0x02,0x80,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 74 write(0x04,0x08,lidarliteAddress); // Default
yootee 3:a9b4b2565a23 75 write(0x1c,0xb0,lidarliteAddress);
yootee 3:a9b4b2565a23 76 break;
yootee 3:a9b4b2565a23 77 }
yootee 3:a9b4b2565a23 78 } /* LIDARLite::configure */
yootee 3:a9b4b2565a23 79
yootee 3:a9b4b2565a23 80 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 81 Set I2C Address
yootee 3:a9b4b2565a23 82 Set Alternate I2C Device Address. See Operation Manual for additional info.
yootee 3:a9b4b2565a23 83 Parameters
yootee 3:a9b4b2565a23 84 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 85 newAddress: desired secondary I2C device address
yootee 3:a9b4b2565a23 86 disableDefault: a non-zero value here means the default 0x62 I2C device
yootee 3:a9b4b2565a23 87 address will be disabled.
yootee 3:a9b4b2565a23 88 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 89 operating manual for instructions.
yootee 3:a9b4b2565a23 90 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 91 void LIDARLite::setI2Caddr(char newAddress, bool disableDefault, char lidarliteAddress)
yootee 3:a9b4b2565a23 92 {
yootee 3:a9b4b2565a23 93 char dataBytes[2];
yootee 3:a9b4b2565a23 94
yootee 3:a9b4b2565a23 95 // Read UNIT_ID serial number bytes and write them into I2C_ID byte locations
yootee 3:a9b4b2565a23 96 read ((0x16 | 0x80), 2, dataBytes, false, lidarliteAddress);
yootee 3:a9b4b2565a23 97 write(0x18, dataBytes[0], lidarliteAddress);
yootee 3:a9b4b2565a23 98 write(0x19, dataBytes[1], lidarliteAddress);
yootee 3:a9b4b2565a23 99
yootee 3:a9b4b2565a23 100 // Write the new I2C device address to registers
yootee 3:a9b4b2565a23 101 dataBytes[0] = newAddress;
yootee 3:a9b4b2565a23 102 write(0x1a, dataBytes[0], lidarliteAddress);
yootee 3:a9b4b2565a23 103
yootee 3:a9b4b2565a23 104 // Enable the new I2C device address using the default I2C device address
yootee 3:a9b4b2565a23 105 dataBytes[0] = 0;
yootee 3:a9b4b2565a23 106 write(0x1e, dataBytes[0], lidarliteAddress);
yootee 3:a9b4b2565a23 107
yootee 3:a9b4b2565a23 108 // If desired, disable default I2C device address (using the new I2C device address)
yootee 3:a9b4b2565a23 109 if (disableDefault)
yootee 3:a9b4b2565a23 110 {
yootee 3:a9b4b2565a23 111 dataBytes[0] = (1 << 3); // set bit to disable default address
yootee 3:a9b4b2565a23 112 write(0x1e, dataBytes[0], newAddress);
yootee 3:a9b4b2565a23 113 }
yootee 3:a9b4b2565a23 114 } /* LIDARLite::setI2Caddr */
yootee 3:a9b4b2565a23 115
yootee 3:a9b4b2565a23 116 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 117 Reset
yootee 3:a9b4b2565a23 118 Reset device. The device reloads default register settings, including the
yootee 3:a9b4b2565a23 119 default I2C address. Re-initialization takes approximately 22ms.
yootee 3:a9b4b2565a23 120 Parameters
yootee 3:a9b4b2565a23 121 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 122 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 123 operating manual for instructions.
yootee 3:a9b4b2565a23 124 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 125 void LIDARLite::reset( char lidarliteAddress)
yootee 3:a9b4b2565a23 126 {
yootee 3:a9b4b2565a23 127 write(0x00,0x00,lidarliteAddress);
yootee 3:a9b4b2565a23 128 } /* LIDARLite::reset */
yootee 3:a9b4b2565a23 129
yootee 3:a9b4b2565a23 130 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 131 Distance
yootee 3:a9b4b2565a23 132 Take a distance measurement and read the result.
yootee 3:a9b4b2565a23 133 Process
yootee 3:a9b4b2565a23 134 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 135 1. Write 0x04 or 0x03 to register 0x00 to initiate an aquisition.
yootee 3:a9b4b2565a23 136 2. Read register 0x01 (this is handled in the read() command)
yootee 3:a9b4b2565a23 137 - if the first bit is "1" then the sensor is busy, loop until the first
yootee 3:a9b4b2565a23 138 bit is "0"
yootee 3:a9b4b2565a23 139 - if the first bit is "0" then the sensor is ready
yootee 3:a9b4b2565a23 140 3. Read two bytes from register 0x8f and save
yootee 3:a9b4b2565a23 141 4. Shift the first value from 0x8f << 8 and add to second value from 0x8f.
yootee 3:a9b4b2565a23 142 The result is the measured distance in centimeters.
yootee 3:a9b4b2565a23 143 Parameters
yootee 3:a9b4b2565a23 144 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 145 biasCorrection: Default true. Take aquisition with receiver bias
yootee 3:a9b4b2565a23 146 correction. If set to false measurements will be faster. Receiver bias
yootee 3:a9b4b2565a23 147 correction must be performed periodically. (e.g. 1 out of every 100
yootee 3:a9b4b2565a23 148 readings).
yootee 3:a9b4b2565a23 149 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 150 operating manual for instructions.
yootee 3:a9b4b2565a23 151 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 152 int LIDARLite::distance(bool biasCorrection, char lidarliteAddress)
yootee 3:a9b4b2565a23 153 {
yootee 3:a9b4b2565a23 154 if(biasCorrection)
yootee 3:a9b4b2565a23 155 {
yootee 3:a9b4b2565a23 156 // Take acquisition & correlation processing with receiver bias correction
yootee 3:a9b4b2565a23 157 write(0x00,0x04,lidarliteAddress);
yootee 3:a9b4b2565a23 158 }
yootee 3:a9b4b2565a23 159 else
yootee 3:a9b4b2565a23 160 {
yootee 3:a9b4b2565a23 161 // Take acquisition & correlation processing without receiver bias correction
yootee 3:a9b4b2565a23 162 write(0x00,0x03,lidarliteAddress);
yootee 3:a9b4b2565a23 163 }
yootee 3:a9b4b2565a23 164 // Array to store high and low bytes of distance
yootee 3:a9b4b2565a23 165 char distanceArray[2];
yootee 3:a9b4b2565a23 166 // Read two bytes from register 0x8f (autoincrement for reading 0x0f and 0x10)
yootee 3:a9b4b2565a23 167 read(0x8f,2,distanceArray,true,lidarliteAddress);//0x8f
yootee 3:a9b4b2565a23 168 // Shift high byte and add to low byte
yootee 3:a9b4b2565a23 169 int distance = (distanceArray[0] << 8) + distanceArray[1];
yootee 3:a9b4b2565a23 170 return(distance);
yootee 3:a9b4b2565a23 171 } /* LIDARLite::distance */
yootee 3:a9b4b2565a23 172
yootee 3:a9b4b2565a23 173 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 174 Write
yootee 3:a9b4b2565a23 175 Perform I2C write to device.
yootee 3:a9b4b2565a23 176 Parameters
yootee 3:a9b4b2565a23 177 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 178 myAddress: register address to write to.
yootee 3:a9b4b2565a23 179 myValue: value to write.
yootee 3:a9b4b2565a23 180 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 181 operating manual for instructions.
yootee 3:a9b4b2565a23 182 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 183 void LIDARLite::write(char myAddress, char myValue, char lidarliteAddress)
yootee 3:a9b4b2565a23 184 {
yootee 3:a9b4b2565a23 185 char data[2] = {myAddress,myValue};//register value
yootee 3:a9b4b2565a23 186 int nackCatcher = i2c_.write((int)lidarliteAddress,data,2);
yootee 3:a9b4b2565a23 187 // A nack means the device is not responding, report the error over serial
yootee 3:a9b4b2565a23 188 /*
yootee 3:a9b4b2565a23 189 if(nackCatcher != 0)
yootee 3:a9b4b2565a23 190 {
yootee 3:a9b4b2565a23 191 //printf("> nack");
yootee 3:a9b4b2565a23 192 }*/
yootee 3:a9b4b2565a23 193
yootee 3:a9b4b2565a23 194 //wait_ms(1); // 1 ms delay for robustness with successive reads and writes
yootee 3:a9b4b2565a23 195 } /* LIDARLite::write */
yootee 3:a9b4b2565a23 196
yootee 3:a9b4b2565a23 197 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 198 Read
yootee 3:a9b4b2565a23 199 Perform I2C read from device. Will detect an unresponsive device and report
yootee 3:a9b4b2565a23 200 the error over serial. The optional busy flag monitoring
yootee 3:a9b4b2565a23 201 can be used to read registers that are updated at the end of a distance
yootee 3:a9b4b2565a23 202 measurement to obtain the new data.
yootee 3:a9b4b2565a23 203 Parameters
yootee 3:a9b4b2565a23 204 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 205 myAddress: register address to read from.
yootee 3:a9b4b2565a23 206 numOfBytes: numbers of bytes to read. Can be 1 or 2.
yootee 3:a9b4b2565a23 207 arrayToSave: an array to store the read values.
yootee 3:a9b4b2565a23 208 monitorBusyFlag: if true, the routine will repeatedly read the status
yootee 3:a9b4b2565a23 209 register until the busy flag (LSB) is 0.
yootee 3:a9b4b2565a23 210 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 211 void LIDARLite::read(char myAddress, int numOfBytes, char arrayToSave[2], bool monitorBusyFlag, char lidarliteAddress)
yootee 3:a9b4b2565a23 212 {
yootee 3:a9b4b2565a23 213 char data;
yootee 3:a9b4b2565a23 214 int busyFlag = 0; // busyFlag monitors when the device is done with a measurement
yootee 3:a9b4b2565a23 215 bool errer_flag =false;
yootee 3:a9b4b2565a23 216 if(monitorBusyFlag)
yootee 3:a9b4b2565a23 217 {
yootee 3:a9b4b2565a23 218 busyFlag = 1; // Begin read immediately if not monitoring busy flag
yootee 3:a9b4b2565a23 219 }
yootee 3:a9b4b2565a23 220 int busyCounter = 0; // busyCounter counts number of times busy flag is checked, for timeout
yootee 3:a9b4b2565a23 221
yootee 3:a9b4b2565a23 222 while(busyFlag != 0) // Loop until device is not busy
yootee 3:a9b4b2565a23 223 {
yootee 3:a9b4b2565a23 224 // Read status register to check busy flag
yootee 3:a9b4b2565a23 225 data = 0x01;//Set the status register to be read
yootee 3:a9b4b2565a23 226 int nackCatcher = i2c_.write(lidarliteAddress,&data,1,true);
yootee 3:a9b4b2565a23 227 // A nack means the device is not responding, report the error over serial
yootee 3:a9b4b2565a23 228 if(nackCatcher != 0)
yootee 3:a9b4b2565a23 229 {
yootee 3:a9b4b2565a23 230 //printf("> nack");
yootee 3:a9b4b2565a23 231 }
yootee 3:a9b4b2565a23 232
yootee 3:a9b4b2565a23 233 i2c_.read(lidarliteAddress,&data,1); // Read register 0x01
yootee 3:a9b4b2565a23 234 busyFlag = data & 0x1; // Assign the LSB of the status register to busyFlag
yootee 3:a9b4b2565a23 235
yootee 3:a9b4b2565a23 236 busyCounter++; // Increment busyCounter for timeout
yootee 3:a9b4b2565a23 237
yootee 3:a9b4b2565a23 238 // Handle timeout condition, exit while loop and goto bailout
yootee 3:a9b4b2565a23 239 if(busyCounter > 9999)
yootee 3:a9b4b2565a23 240 {
yootee 3:a9b4b2565a23 241 errer_flag = true;
yootee 3:a9b4b2565a23 242 break;
yootee 3:a9b4b2565a23 243 }
yootee 3:a9b4b2565a23 244 }
yootee 3:a9b4b2565a23 245
yootee 3:a9b4b2565a23 246 // Device is not busy, begin read
yootee 3:a9b4b2565a23 247 if(busyFlag == 0 && !errer_flag)
yootee 3:a9b4b2565a23 248 {
yootee 3:a9b4b2565a23 249 data = myAddress;// Set the register to be read
yootee 3:a9b4b2565a23 250 int nackCatcher = i2c_.write(lidarliteAddress,&data,1,true);
yootee 3:a9b4b2565a23 251 // A nack means the device is not responding, report the error over serial
yootee 3:a9b4b2565a23 252 if(nackCatcher != 0)
yootee 3:a9b4b2565a23 253 {
yootee 3:a9b4b2565a23 254 //printf("> nack");
yootee 3:a9b4b2565a23 255 }
yootee 3:a9b4b2565a23 256
yootee 3:a9b4b2565a23 257 // Perform read of 1 or 2 bytes, save in arrayToSave
yootee 3:a9b4b2565a23 258 i2c_.read(lidarliteAddress, arrayToSave, numOfBytes);
yootee 3:a9b4b2565a23 259 }
yootee 3:a9b4b2565a23 260
yootee 3:a9b4b2565a23 261 // bailout reports error over serial
yootee 3:a9b4b2565a23 262 if(busyCounter > 9999 || errer_flag)
yootee 3:a9b4b2565a23 263 {
yootee 3:a9b4b2565a23 264 busyCounter = 0;
yootee 3:a9b4b2565a23 265 //printf("> read failed");
yootee 3:a9b4b2565a23 266 }
yootee 3:a9b4b2565a23 267 } /* LIDARLite::read */
yootee 3:a9b4b2565a23 268
yootee 3:a9b4b2565a23 269 /*------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 270 Correlation Record To Serial
yootee 3:a9b4b2565a23 271 The correlation record used to calculate distance can be read from the device.
yootee 3:a9b4b2565a23 272 It has a bipolar wave shape, transitioning from a positive going portion to a
yootee 3:a9b4b2565a23 273 roughly symmetrical negative going pulse. The point where the signal crosses
yootee 3:a9b4b2565a23 274 zero represents the effective delay for the reference and return signals.
yootee 3:a9b4b2565a23 275 Process
yootee 3:a9b4b2565a23 276 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 277 1. Take a distance reading (there is no correlation record without at least
yootee 3:a9b4b2565a23 278 one distance reading being taken)
yootee 3:a9b4b2565a23 279 2. Select memory bank by writing 0xc0 to register 0x5d
yootee 3:a9b4b2565a23 280 3. Set test mode select by writing 0x07 to register 0x40
yootee 3:a9b4b2565a23 281 4. For as many readings as you want to take (max is 1024)
yootee 3:a9b4b2565a23 282 1. Read two bytes from 0xd2
yootee 3:a9b4b2565a23 283 2. The Low byte is the value from the record
yootee 3:a9b4b2565a23 284 3. The high byte is the sign from the record
yootee 3:a9b4b2565a23 285 Parameters
yootee 3:a9b4b2565a23 286 ------------------------------------------------------------------------------
yootee 3:a9b4b2565a23 287 separator: the separator between serial data words
yootee 3:a9b4b2565a23 288 numberOfReadings: Default: 256. Maximum of 1024
yootee 3:a9b4b2565a23 289 lidarliteAddress: Default 0x62. Fill in new address here if changed. See
yootee 3:a9b4b2565a23 290 operating manual for instructions.
yootee 3:a9b4b2565a23 291 ------------------------------------------------------------------------------*/
yootee 3:a9b4b2565a23 292 void LIDARLite::correlationRecordToSerial(char separator, int numberOfReadings, char lidarliteAddress)
yootee 3:a9b4b2565a23 293 {
yootee 3:a9b4b2565a23 294
yootee 3:a9b4b2565a23 295 // Array to store read values
yootee 3:a9b4b2565a23 296 char correlationArray[2];
yootee 3:a9b4b2565a23 297 // Var to store value of correlation record
yootee 3:a9b4b2565a23 298 int correlationValue = 0;
yootee 3:a9b4b2565a23 299 // Selects memory bank
yootee 3:a9b4b2565a23 300 write(0x5d,0xc0,lidarliteAddress);
yootee 3:a9b4b2565a23 301 // Test mode enable
yootee 3:a9b4b2565a23 302 write(0x40, 0x07,lidarliteAddress);
yootee 3:a9b4b2565a23 303 for(int i = 0; i<numberOfReadings; i++){
yootee 3:a9b4b2565a23 304 // Select single byte
yootee 3:a9b4b2565a23 305 read(0xd2,2,correlationArray,false,lidarliteAddress);
yootee 3:a9b4b2565a23 306 // Low byte is the value of the correlation record
yootee 3:a9b4b2565a23 307 correlationValue = correlationArray[0];
yootee 3:a9b4b2565a23 308 // if upper byte lsb is set, the value is negative
yootee 3:a9b4b2565a23 309 if((int)correlationArray[1] == 1){
yootee 3:a9b4b2565a23 310 correlationValue |= 0xff00;
yootee 3:a9b4b2565a23 311 }
yootee 3:a9b4b2565a23 312 //printf((int)correlationValue);
yootee 3:a9b4b2565a23 313 //printf(separator);
yootee 3:a9b4b2565a23 314 }
yootee 3:a9b4b2565a23 315 // test mode disable
yootee 3:a9b4b2565a23 316 write(0x40,0x00,lidarliteAddress);
yootee 3:a9b4b2565a23 317 } /* LIDARLite::correlationRecordToSerial */