././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/.hg_archival.txt 0000644 0000000 0000000 00000000254 00000000000 017641 0 ustar 00 0000000 0000000 repo: b57a1ecda8dd20f00c3a1d6810b4c08f090ff519
node: cce1f1fab87f70814cd3ff313af32cd2a6168037
branch: default
latesttag: null
latesttagdistance: 2
changessincelatesttag: 2
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/.gitignore 0000644 0000000 0000000 00000000040 00000000000 016534 0 ustar 00 0000000 0000000 .build
.mbed
projectfiles
*.py*
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/CONTRIBUTING.md 0000644 0000000 0000000 00000000703 00000000000 017003 0 ustar 00 0000000 0000000 # 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).
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/README.md 0000644 0000000 0000000 00000006521 00000000000 016035 0 ustar 00 0000000 0000000 
# 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. Run the following command to build the example project and program the microcontroller flash memory:
```bash
$ mbed compile -m -t --flash
```
The binary is located at `./BUILD///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.
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/main.cpp 0000644 0000000 0000000 00000004225 00000000000 016205 0 ustar 00 0000000 0000000 /* 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;
Serial 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);
Serial lidar(A0, A1, 115200);
PwmOut rotation(PB_9);
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.printf("\r\nLIDAR Testing\r\n");
lidar.attach(&IT_lidar);
wait_s(1.0);
pc.printf("\r\nLIDAR OK\r\n");
getHealthLidar();
getInfoLidar();
getSampleRate();
// Start a new scan
startScan();
// Infinite Loop
while (true) {
if(trame_ok){
debug_tour = !debug_tour;
}
if(tour_ok == 6){
int maxDistance, maxAngle;
tour_ok = 0;
findMax(distance_scan_old, 0, 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();
*/
}
}
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/mbed-os.lib 0000644 0000000 0000000 00000000116 00000000000 016566 0 ustar 00 0000000 0000000 https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/mbed_app.json 0000644 0000000 0000000 00000000045 00000000000 017213 0 ustar 00 0000000 0000000 {
"requires" : ["bare-metal"]
} ././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/resources/official_armmbed_example_badge.png 0000644 0000000 0000000 00000007262 00000000000 025401 0 ustar 00 0000000 0000000 PNG
IHDR 7 e pHYs ~ dIDATx]}\U?පt6-aBa:7BY5;F Fcw#`B !JA!@dF[ : 0kK -` g͛LvwϹ{z<w={͗ZuC 9 ><ƖeDpoָ[ (͌ea+ƤVfr 0BS!͌L2/V4g%Ǒ)}`͏Mcl* ?a_p] _r'V,]t Q8z~A"D fҕzs?kpM ӿVtzh"5,.5> qU}e3c)Ng3cUmi E({xP gF*\nCMruOޙX+ o\.={MLMS%4s鞟qu sw,[W-: 'O*hFSf E\98 0)bB- t
cM,6'aq;A1'NnqElAe3c]2Jim"X7o @I,ҟIApܤm. ˃%oA>С 1ha띚 G齲BϾ\ܢjTNᒮZBk/k
?tq x]6x8Ƥe`gP&.[d,,> ;h+Ţҭ RCNO8}
2C8 m.ˢ
6*j
չ h0prZ|q+FMs ] WV6 FfzjbL+֊Щ9:Rm saQ&QrQd_\izAGEXgrF3i8֩t+OoA r˝u̱vO_jrGUǾg;c}|M뫪/I"Xҍl<%Roba\r(UzpKJۡ G wlIH 2F !rƋKR bϣ4oHx6=vTP9!gmlsO&-7j_G7mlgQv;Nל|6';zRdxkԶ>t>\2Qs&j'&XÂ0%$BtM,@"{rrVmN(byXk 䠃JEFUo(Of(`O`fz<絡z֫xE Y+?zE\>Zt#.,26#ǰjBjpW 8 ni\Xm1Jȉ v Q/nw"@^2c]r>
+1-vU.([o3A}&q ͙ & 隘z.PS\/@zFB%+XHF#01DZ@p˞@R/uq]. kG"t`C*conP5q--Ziە@ >kNN2g ERA׀
CkM q]Κa9^^(E; Jo 5AK$"qvDX
q$f Ȑ7GB1 zV`MKlL ̆EX:7d쭔_O|eb&>~a.if/?kOb#T'Ee3V7"R x9ZP)CXXPPP
LMD8/,[<]z[r(,ZB2s)Xlr f] H=j-LzƄ(N8;Mo(
[8+ t]l/b4JZ2e |B6=
PVY7>3ێ#be=\ 6 L( #)~EdསgNE[&X 2y!؊z|d: T%1O$Ik7!6l+}1tGu ={19Ejc5M
듟C:䖆#6o[o'km?{ٌ3v;h[ߦÏ,4R]j֡T;q\(ZĘ6n?(FP7hZ"/ T (T6&SEc2
I݃, ;dě5A9 20qJ&r`hVvq&6Eqƍ{kl}ж_?[
/ڋ>T2+D E~NU +$kZ(lֿ
앮A;{MbkQ^E;Mq\Ȏll*fc#n L7d&h,2Wbc(,&hSlڿZM4Ds"?iVH: IENDB` ././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/rplidar.cpp 0000644 0000000 0000000 00000011454 00000000000 016720 0 ustar 00 0000000 0000000 #include "mbed.h"
#include "rplidar.h"
#include
void print_int(const char *name, int ki){
pc.printf("\t %s = %d\r\n", name, ki);
}
void print_data(const char *name, char *datai, int sizedata){
pc.printf("\t %s = ", name);
for(int i = 0; i < sizedata; i++){
pc.printf("%x ", datai[i]);
}
pc.printf("\r\n");
}
void wait_s(float sec){
wait_us(sec*1000000);
}
void findMax(int *int_data, int angle_min, int angle_max, int *value, int *indice){
*value = 0;
*indice = 0;
for(int k = angle_min; k < angle_max; k++){
if(int_data[k] > *value){
*value = int_data[k];
*indice = k;
}
}
}
void IT_lidar(void){
char data, startt, nostartt;
debug_data = 1;
data = lidar.getc();
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.putc(data[0]);
lidar.putc(data[1]);
wait_us(10000);
}
void getHealthLidar(void){
stopScan();
mode = LIDAR_MODE_HEALTH;
char data[2] = {0xA5, LIDAR_MODE_HEALTH};
lidar.putc(data[0]);
lidar.putc(data[1]);
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.printf("\r\nGOOD\r\n");
else pc.printf("\r\nBAD\r\n");
}
void getInfoLidar(void){
stopScan();
mode = LIDAR_MODE_INFO;
char data[2] = {0xA5, LIDAR_MODE_INFO};
lidar.putc(data[0]);
lidar.putc(data[1]);
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.putc(data[0]);
lidar.putc(data[1]);
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.putc(data[0]);
lidar.putc(data[1]);
data_nb = 0;
data_scan_nb = 0;
while(data_nb != (NB_BYTE_SCAN_REQ)){__nop();}
pc.printf("over");
scan_ok = 1;
}
void stopScan(void){
mode = LIDAR_MODE_STOP;
scan_ok = 0;
char data[2] = {0xA5, LIDAR_MODE_STOP};
lidar.putc(data[0]);
lidar.putc(data[1]);
} ././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1639312617.0
ProTIS_Lidar_mbed5-cce1f1fab87f/rplidar.h 0000644 0000000 0000000 00000005361 00000000000 016365 0 ustar 00 0000000 0000000 #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 Serial lidar;
extern Serial 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 angle_min, int angle_max, 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__ */