Akash Vibhute / Mbed 2 deprecated LidarLite

Library for easy interface of LidarLite with mbed using I2C

Dependencies:   mbed

Dependents:   LidarLite_mbed Lidar_Magnet

Library for easy interface of LidarLite with mbed using I2C

LidarLite.cpp@1:543c0d15d3b3, 2016-06-05 (annotated)

Committer:
akashvibhute
Date:
Sun Jun 05 02:44:57 2016 +0000
Revision:
1:543c0d15d3b3
Parent:
0:8e6304ab38d2 
updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:8e6304ab38d2 1 /*
akashvibhute 0:8e6304ab38d2 2 * Library for easy interface of LidarLite with mbed using I2C
akashvibhute 0:8e6304ab38d2 3 *
akashvibhute 0:8e6304ab38d2 4 * Akash Vibhute <akash . roboticist [at] gmail . com>
akashvibhute 0:8e6304ab38d2 5 *
akashvibhute 0:8e6304ab38d2 6 * v0.1, 17/Feb/2015 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
akashvibhute 0:8e6304ab38d2 7 *
akashvibhute 0:8e6304ab38d2 8 */
akashvibhute 0:8e6304ab38d2 9
akashvibhute 0:8e6304ab38d2 10 #include "LidarLite.h"
akashvibhute 0:8e6304ab38d2 11
akashvibhute 0:8e6304ab38d2 12 LidarLite::LidarLite(PinName sda, PinName scl)
akashvibhute 0:8e6304ab38d2 13 {
akashvibhute 0:8e6304ab38d2 14 i2c_ = new I2C(sda, scl);
akashvibhute 0:8e6304ab38d2 15 i2c_->frequency(100000); //I2C @ 100kHz
akashvibhute 0:8e6304ab38d2 16 wait(0.5);
akashvibhute 0:8e6304ab38d2 17 }
akashvibhute 0:8e6304ab38d2 18
akashvibhute 0:8e6304ab38d2 19 int16_t LidarLite::getRange_cm()
akashvibhute 0:8e6304ab38d2 20 {
akashvibhute 0:8e6304ab38d2 21 return(distance_LL);
akashvibhute 0:8e6304ab38d2 22 }
akashvibhute 0:8e6304ab38d2 23
akashvibhute 0:8e6304ab38d2 24 int16_t LidarLite::getVelocity_cms()
akashvibhute 0:8e6304ab38d2 25 {
akashvibhute 0:8e6304ab38d2 26 if(velocity_LL < 127)
akashvibhute 0:8e6304ab38d2 27 return(velocity_LL*10);
akashvibhute 0:8e6304ab38d2 28 else
akashvibhute 0:8e6304ab38d2 29 return((velocity_LL-256)*10);
akashvibhute 0:8e6304ab38d2 30 }
akashvibhute 0:8e6304ab38d2 31
akashvibhute 0:8e6304ab38d2 32 void LidarLite::refreshRange()
akashvibhute 0:8e6304ab38d2 33 {
akashvibhute 0:8e6304ab38d2 34 uint8_t nackack;
akashvibhute 0:8e6304ab38d2 35
akashvibhute 0:8e6304ab38d2 36 char write[2]={SET_CommandReg, AcqMode};
akashvibhute 0:8e6304ab38d2 37 char read_dist[1]={GET_Distance2BReg};
akashvibhute 0:8e6304ab38d2 38 char read_vel[1]={GET_VelocityReg};
akashvibhute 0:8e6304ab38d2 39
akashvibhute 0:8e6304ab38d2 40 char dist[2];
akashvibhute 0:8e6304ab38d2 41 char vel[1];
akashvibhute 0:8e6304ab38d2 42
akashvibhute 0:8e6304ab38d2 43 nackack=1;
akashvibhute 0:8e6304ab38d2 44 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 45 {
akashvibhute 0:8e6304ab38d2 46 wait_ms(1);
akashvibhute 0:8e6304ab38d2 47 nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
akashvibhute 0:8e6304ab38d2 48 }
akashvibhute 0:8e6304ab38d2 49
akashvibhute 0:8e6304ab38d2 50 nackack=1;
akashvibhute 0:8e6304ab38d2 51 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 52 {
akashvibhute 0:8e6304ab38d2 53 wait_ms(1);
akashvibhute 0:8e6304ab38d2 54 nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1);
akashvibhute 0:8e6304ab38d2 55 }
akashvibhute 0:8e6304ab38d2 56
akashvibhute 0:8e6304ab38d2 57 nackack=1;
akashvibhute 0:8e6304ab38d2 58 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 59 {
akashvibhute 0:8e6304ab38d2 60 wait_ms(1);
akashvibhute 0:8e6304ab38d2 61 nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2);
akashvibhute 0:8e6304ab38d2 62 }
akashvibhute 0:8e6304ab38d2 63 distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1];
akashvibhute 0:8e6304ab38d2 64 }
akashvibhute 0:8e6304ab38d2 65
akashvibhute 0:8e6304ab38d2 66 void LidarLite::refreshVelocity()
akashvibhute 0:8e6304ab38d2 67 {
akashvibhute 0:8e6304ab38d2 68 uint8_t nackack;
akashvibhute 0:8e6304ab38d2 69
akashvibhute 0:8e6304ab38d2 70 char write[2]={SET_CommandReg, AcqMode};
akashvibhute 0:8e6304ab38d2 71 char read_dist[1]={GET_Distance2BReg};
akashvibhute 0:8e6304ab38d2 72 char read_vel[1]={GET_VelocityReg};
akashvibhute 0:8e6304ab38d2 73
akashvibhute 0:8e6304ab38d2 74 char dist[2];
akashvibhute 0:8e6304ab38d2 75 char vel[1];
akashvibhute 0:8e6304ab38d2 76
akashvibhute 0:8e6304ab38d2 77 nackack=1;
akashvibhute 0:8e6304ab38d2 78 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 79 {
akashvibhute 0:8e6304ab38d2 80 wait_ms(1);
akashvibhute 0:8e6304ab38d2 81 nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
akashvibhute 0:8e6304ab38d2 82 }
akashvibhute 0:8e6304ab38d2 83
akashvibhute 0:8e6304ab38d2 84 nackack=1;
akashvibhute 0:8e6304ab38d2 85 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 86 {
akashvibhute 0:8e6304ab38d2 87 wait_ms(1);
akashvibhute 0:8e6304ab38d2 88 nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1);
akashvibhute 0:8e6304ab38d2 89 }
akashvibhute 0:8e6304ab38d2 90
akashvibhute 0:8e6304ab38d2 91 nackack=1;
akashvibhute 0:8e6304ab38d2 92 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 93 {
akashvibhute 0:8e6304ab38d2 94 wait_ms(1);
akashvibhute 0:8e6304ab38d2 95 nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1);
akashvibhute 0:8e6304ab38d2 96 }
akashvibhute 0:8e6304ab38d2 97 velocity_LL = (uint16_t)vel[0];
akashvibhute 0:8e6304ab38d2 98 }
akashvibhute 0:8e6304ab38d2 99
akashvibhute 0:8e6304ab38d2 100 void LidarLite::refreshRangeVelocity()
akashvibhute 0:8e6304ab38d2 101 {
akashvibhute 0:8e6304ab38d2 102 uint8_t nackack;
akashvibhute 0:8e6304ab38d2 103
akashvibhute 0:8e6304ab38d2 104 char write[2]={SET_CommandReg, AcqMode};
akashvibhute 0:8e6304ab38d2 105 char read_dist[1]={GET_Distance2BReg};
akashvibhute 0:8e6304ab38d2 106 char read_vel[1]={GET_VelocityReg};
akashvibhute 0:8e6304ab38d2 107
akashvibhute 0:8e6304ab38d2 108 char dist[2];
akashvibhute 0:8e6304ab38d2 109 char vel[1];
akashvibhute 0:8e6304ab38d2 110
akashvibhute 0:8e6304ab38d2 111 nackack=1;
akashvibhute 0:8e6304ab38d2 112 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 113 {
akashvibhute 0:8e6304ab38d2 114 wait_ms(1);
akashvibhute 0:8e6304ab38d2 115 nackack = i2c_->write(LIDARLite_WriteAdr, write, 2);
akashvibhute 0:8e6304ab38d2 116 }
akashvibhute 0:8e6304ab38d2 117
akashvibhute 0:8e6304ab38d2 118 nackack=1;
akashvibhute 0:8e6304ab38d2 119 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 120 {
akashvibhute 0:8e6304ab38d2 121 wait_ms(1);
akashvibhute 0:8e6304ab38d2 122 nackack = i2c_->write(LIDARLite_WriteAdr, read_dist, 1);
akashvibhute 0:8e6304ab38d2 123 }
akashvibhute 0:8e6304ab38d2 124
akashvibhute 0:8e6304ab38d2 125 nackack=1;
akashvibhute 0:8e6304ab38d2 126 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 127 {
akashvibhute 0:8e6304ab38d2 128 wait_ms(1);
akashvibhute 0:8e6304ab38d2 129 nackack = i2c_->read(LIDARLite_ReadAdr, dist, 2);
akashvibhute 0:8e6304ab38d2 130 }
akashvibhute 0:8e6304ab38d2 131 distance_LL = ((uint16_t)dist[0] << 8) + (uint16_t)dist[1];
akashvibhute 0:8e6304ab38d2 132
akashvibhute 0:8e6304ab38d2 133
akashvibhute 0:8e6304ab38d2 134 nackack=1;
akashvibhute 0:8e6304ab38d2 135 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 136 {
akashvibhute 0:8e6304ab38d2 137 wait_ms(1);
akashvibhute 0:8e6304ab38d2 138 nackack = i2c_->write(LIDARLite_WriteAdr, read_vel, 1);
akashvibhute 0:8e6304ab38d2 139 }
akashvibhute 0:8e6304ab38d2 140
akashvibhute 0:8e6304ab38d2 141 nackack=1;
akashvibhute 0:8e6304ab38d2 142 while(nackack !=0)
akashvibhute 0:8e6304ab38d2 143 {
akashvibhute 0:8e6304ab38d2 144 wait_ms(1);
akashvibhute 0:8e6304ab38d2 145 nackack = i2c_->read(LIDARLite_ReadAdr, vel, 1);
akashvibhute 0:8e6304ab38d2 146 }
akashvibhute 0:8e6304ab38d2 147 velocity_LL = (uint16_t)vel[0];
akashvibhute 0:8e6304ab38d2 148 }