././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/.hg_archival.txt 0000644 0000000 0000000 00000000254 00000000000 017051 0 ustar 00 0000000 0000000 repo: 439469932304cb141303836e7d6403db7de35052
node: 439469932304cb141303836e7d6403db7de35052
branch: default
latesttag: null
latesttagdistance: 1
changessincelatesttag: 1
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/.gitignore 0000644 0000000 0000000 00000000040 00000000000 015744 0 ustar 00 0000000 0000000 .build
.mbed
projectfiles
*.py*
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/CONTRIBUTING.md 0000644 0000000 0000000 00000000703 00000000000 016213 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=1616667119.0
ProTIS_Lidar_mbed6-439469932304/README.md 0000644 0000000 0000000 00000006521 00000000000 015245 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=1616667119.0
ProTIS_Lidar_mbed6-439469932304/main.cpp 0000644 0000000 0000000 00000004306 00000000000 015415 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;
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();
*/
}
}
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/mbed-os.lib 0000644 0000000 0000000 00000000121 00000000000 015772 0 ustar 00 0000000 0000000 https://github.com/ARMmbed/mbed-os.git/#96e19afdd196c6c99edd58fddd44e2c691cdca2f
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/mbed_app.json 0000644 0000000 0000000 00000000045 00000000000 016423 0 ustar 00 0000000 0000000 {
"requires" : ["bare-metal"]
} ././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/resources/official_armmbed_example_badge.png 0000644 0000000 0000000 00000007262 00000000000 024611 0 ustar 00 0000000 0000000 PNG
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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=1616667119.0
ProTIS_Lidar_mbed6-439469932304/rplidar.cpp 0000644 0000000 0000000 00000011621 00000000000 016124 0 ustar 00 0000000 0000000 #include "mbed.h"
#include "rplidar.h"
#include
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);
}
././@PaxHeader 0000000 0000000 0000000 00000000026 00000000000 011453 x ustar 00 0000000 0000000 22 mtime=1616667119.0
ProTIS_Lidar_mbed6-439469932304/rplidar.h 0000644 0000000 0000000 00000005340 00000000000 015572 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 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__ */