Pulsedlight

LidarEnhanced

Arduino Mega 2560

LidarLite v2

LidarLite v3

<h3 >LIDAR Lite v3 ENHANCED Introduction</h3>This library tends to improve the efficiency of the acquisition of LidarLite v2 (deprecated) and LidarLite v3 (release from Garmin) lasermeter.The library is actually used to flight autonomous multicopters. <h3 >Improvements over the original library</h3><ul ><li >Asynchronous acquisition</li></ul><ul ><li >Non-blocking architecture</li></ul><ul ><li >Automatic reset of the lidars if too much errors</li></ul><ul ><li >State machine for each lidar</li></ul><ul ><li >Maximum speed readings for many lidars (enable 400kHz I2C)</li></ul><ul ><li >Don't think about lasers anytime, it just make the acquisition in the background.</li></ul><h3 >Limitations</h3><ul ><li >You have to edit the <code >MAX_LIDARS</code> in <code >LidarController.h</code> to set the number of instances of lidars you will use (default : 8)</li></ul><ul ><li >There is not (yet) velocity reading, it will be implemented with software (to avoid the badly designed blocking architecture)</li></ul><ul ><li >Speed limited by the I2C bandwidth</li></ul><h3 >How fast is it ?</h3>The maximal speed is mainly limited by I2C speed more than the configuration. Therefore, I advise you to choose the most stable than the most speedy.With the **100kHz I2C**, you can expect up to 1000Hz (measure/second) across all lasers. With the **400kHz I2C**, you can expect up to 2000Hz (measure/second) across all lasers. The next way to increase acquisition frequency we will investigate is to predict the busy time to avoid polling when we are sure we will not have a new value. With this, we will probably go up to 3kHz measurement rate with the 400kHz I2C.<h3 >Usage</h3><pre ><code >#include &#34;LidarObject.h&#34; #include &#34;LidarController.h&#34; #include &#34;I2CFunctions.h&#34; #include &lt;Wire.h&gt; #define WIRE400K false #define Z1_LASER_TRIG 11 #define Z1_LASER_EN 12 #define Z1_LASER_PIN 13 #define Z1_LASER_AD 0x6E // 100Hz #define DATARATE 100 #define DELAY_SEND_MICROS 1000000/DATARATE static LidarController Controller; static LidarObject LZ1; // Delays long now, last; void initLidars() { // Initialisation of the lidars objects LZ1.begin(Z1_LASER_EN, Z1_LASER_PIN, Z1_LASER_AD, 2, 'a'); // Initialisation of the controller Controller.begin(WIRE400K); delay(100); Controller.add(&amp;LZ1, 0); } void setup() { Serial.begin(57600); while (!Serial); // for compatibility initLidars(); last = micros(); } void loop() { Controller.spinOnce(); now = micros(); if(now - last &gt; DELAY_SEND_MICROS){ last = micros(); laserprint(); } } void laserprint(){ Serial.print(&#34; Measure: &#34;); Serial.print(LZ1.distance); Serial.print(&#34; Signal strength: &#34;); Serial.println(LZ1.strength); Serial.print(&#34; Velocity: &#34;); Serial.println(LZ1.velocity); } </code></pre>APIHere is the API basis, you can check the <a href="https://github.com/AlexisTM/LIDAREnhanced/blob/master/API_depth.md">In-depth API</a> to contribute.Lidar ObjectThe lidar object represents a laser.LidarObject::begin<pre ><code >void LidarObject.begin(EnablePin, ModePin, I2CAddress, LaserConfiguration, LidarMode, OneCharName); // used as static LidarObject LZ1; LZ1.begin(12, 13, 0x64, 2, DISTANCE, 'x'); </code></pre>LIDAR_STATE enum<pre ><code >enum LIDAR_STATE { SHUTING_DOWN = 240, // Shutdown the laser to reset it NEED_RESET = 48, // Too much outliers, need to reset RESET_PENDING = 80, // Wait 15ms after you reset the Lidar, we are waiting in this state NEED_CONFIGURE = 144, // 15ms passed, we now configure the Lidar ACQUISITION_READY = 32, // I started an acquisition, need someone to read it ACQUISITION_PENDING = 64, // The acquisition in on progress ACQUISITION_DONE = 128 // I read the data, need to start an acq again }; </code></pre>LIDAR_MODE enum<pre ><code >enum LIDAR_MODE { NONE = 0, // Should not be used unless you want to disable a connected laser (could be implemented) DISTANCE = 1, // Measure distance as fast as possible VELOCITY = 2, // Measure velocity at a certain rate DISTANCE_AND_VELOCITY = 3 // Measure distance and velocity }; </code></pre>Data reading<pre ><code > int distance; // newest measure int last_distance; // last measure int velocity; // newest velocity uint8_t strength; // newest signal strength </code></pre><h3 >LidarController object</h3>LidarController::beginStart the I2C line with or without fasti2c (400kHz)LidarController::addAdd a lidar to the controller, if the id is over the maximum number of lidar (8 by default), returns false and do not add the lidar.LidarController::spinOnceMake a new step in the Lidar State Machine, store results to int LidarController::distancesThe functions below are NOT needed if you do not want to use the state machine.LidarController::lasersThe lidars object is an array with the pointers to all the lasers.<pre ><code >LidarObjects lidars[MAX_LIDARS]; // Can be used as Serial.print(Controller.lidars[0]-&gt;distance); </code></pre><h3 >Six Lasers Example</h3><pre ><code >#include &#34;LidarObject.h&#34; #include &#34;LidarController.h&#34; #include &#34;I2CFunctions.h&#34; #include &lt;Wire.h&gt; #define WIRE400K false /*** Defines : CONFIGURATION ***/ // Defines Trigger #define Z1_LASER_TRIG 11 #define Z2_LASER_TRIG 8 #define Z3_LASER_TRIG 5 #define Z4_LASER_TRIG 2 #define Z5_LASER_TRIG 16 #define Z6_LASER_TRIG 19 // Defines power enable lines of laser #define Z1_LASER_EN 12 #define Z2_LASER_EN 9 #define Z3_LASER_EN 6 #define Z4_LASER_EN 3 #define Z5_LASER_EN 15 #define Z6_LASER_EN 18 // Defines laser mode #define Z1_LASER_PIN 13 #define Z2_LASER_PIN 10 #define Z3_LASER_PIN 7 #define Z4_LASER_PIN 4 #define Z5_LASER_PIN 14 #define Z6_LASER_PIN 17 //Define address of lasers //Thoses are written during initialisation // default address : 0x62 #define Z1_LASER_AD 0x6E #define Z2_LASER_AD 0x66 #define Z3_LASER_AD 0x68 #define Z4_LASER_AD 0x6A #define Z5_LASER_AD 0x6C #define Z6_LASER_AD 0x64 #define NUMBER_OF_LASERS 6 // Maximum datarate #define DATARATE 100 // Actual wait between communications 100Hz = 10ms #define DELAY_SEND_MICROS 1000000/DATARATE // Lidars static LidarController Controller; static LidarObject LZ1; static LidarObject LZ2; static LidarObject LZ3; static LidarObject LZ4; static LidarObject LZ5; static LidarObject LZ6; // Delays long now, last; void beginLidars() { // Initialisation of the lidars objects LZ1.begin(Z1_LASER_EN, Z1_LASER_PIN, Z1_LASER_AD, 2, 'x'); LZ2.begin(Z2_LASER_EN, Z2_LASER_PIN, Z2_LASER_AD, 2, 'X'); LZ3.begin(Z3_LASER_EN, Z3_LASER_PIN, Z3_LASER_AD, 2, 'y'); LZ4.begin(Z4_LASER_EN, Z4_LASER_PIN, Z4_LASER_AD, 2, 'Z'); LZ5.begin(Z5_LASER_EN, Z5_LASER_PIN, Z5_LASER_AD, 2, 'y'); LZ6.begin(Z6_LASER_EN, Z6_LASER_PIN, Z6_LASER_AD, 2, 'Z'); // Initialisation of the controller Controller.begin(WIRE400K); delay(100); Controller.add(&amp;LZ1, 0); Controller.add(&amp;LZ2, 1); Controller.add(&amp;LZ3, 2); Controller.add(&amp;LZ4, 3); Controller.add(&amp;LZ5, 4); Controller.add(&amp;LZ6, 5); } void setup() { Serial.begin(57600); while (!Serial); beginLidars(); last = micros(); } void loop() { Controller.spinOnce(); now = micros(); if(now - last &gt; DELAY_SEND_MICROS){ last = micros(); laserprint(); } } void laserprint(){ for(uint8_t i = 0; i &lt; 6; i++){ Serial.print(i); Serial.print(&#34; - &#34;); Serial.print(Controller.lidars[i]-&gt;distance); Serial.print(&#34; - &#34;); Serial.println(Controller.lidars[i]-&gt;strength); } } </code></pre><h3 >Explanations</h3>Include the libraries and add some defines to use later<pre ><code >#include &#34;LidarObject.h&#34; #include &#34;LidarController.h&#34; #include &#34;I2CFunctions.h&#34; #include &lt;Wire.h&gt; #define WIRE400K false /*** Defines : CONFIGURATION ***/ // Defines Trigger #define Z1_LASER_TRIG 11 #define Z2_LASER_TRIG 8 #define Z3_LASER_TRIG 5 #define Z4_LASER_TRIG 2 #define Z5_LASER_TRIG 16 #define Z6_LASER_TRIG 19 // Defines power enable lines of laser #define Z1_LASER_EN 12 #define Z2_LASER_EN 9 #define Z3_LASER_EN 6 #define Z4_LASER_EN 3 #define Z5_LASER_EN 15 #define Z6_LASER_EN 18 // Defines laser mode #define Z1_LASER_PIN 13 #define Z2_LASER_PIN 10 #define Z3_LASER_PIN 7 #define Z4_LASER_PIN 4 #define Z5_LASER_PIN 14 #define Z6_LASER_PIN 17 //Define address of lasers //Thoses are written during initialisation // default address : 0x62 #define Z1_LASER_AD 0x6E #define Z2_LASER_AD 0x66 #define Z3_LASER_AD 0x68 #define Z4_LASER_AD 0x6A #define Z5_LASER_AD 0x6C #define Z6_LASER_AD 0x64 #define NUMBER_OF_LASERS 6 // Maximum datarate #define DATARATE 100 // Actual wait between communications 100Hz = 10ms #define DELAY_SEND_MICROS 1000000/DATARATE // Lidars static LidarController Controller; static LidarObject LZ1; static LidarObject LZ2; static LidarObject LZ3; static LidarObject LZ4; static LidarObject LZ5; static LidarObject LZ6; // Delays long now, last; </code></pre><h3 >Initiation</h3>Initiate Laser objects, begin the I2C and finally add lidars to the controller.<pre ><code >// Initialisation of the lidars objects LZ1.begin(Z1_LASER_EN, Z1_LASER_PIN, Z1_LASER_AD, 2, 'x'); LZ2.begin(Z2_LASER_EN, Z2_LASER_PIN, Z2_LASER_AD, 2, 'X'); LZ3.begin(Z3_LASER_EN, Z3_LASER_PIN, Z3_LASER_AD, 2, 'y'); LZ4.begin(Z4_LASER_EN, Z4_LASER_PIN, Z4_LASER_AD, 2, 'Z'); LZ5.begin(Z5_LASER_EN, Z5_LASER_PIN, Z5_LASER_AD, 2, 'y'); LZ6.begin(Z6_LASER_EN, Z6_LASER_PIN, Z6_LASER_AD, 2, 'Z'); // Initialisation of the controller Controller.begin(WIRE400K); delay(100); Controller.add(&amp;LZ1, 0); Controller.add(&amp;LZ2, 1); Controller.add(&amp;LZ3, 2); Controller.add(&amp;LZ4, 3); Controller.add(&amp;LZ5, 4); Controller.add(&amp;LZ6, 5); </code></pre><h3 >Update the state machine</h3>You just have to use Controller.spinOnce() and it updates the state machine, send/retrieves data to/from lidars.Then, every DELAY_SEND_MICROS microseconds, get the data<pre ><code >void loop(){ Controller.spinOnce(); now = micros(); if(now - last &gt; DELAY_SEND_MICROS){ last = micros(); laserprint(); } </code></pre><h3 >Data extraction</h3><pre ><code >void laserprint(){ for(uint8_t i = 0; i &lt; 6; i++){ Serial.print(i); Serial.print(&#34; - &#34;); Serial.print(Controller.lidars[i]-&gt;distance); Serial.print(&#34; - &#34;); Serial.println(Controller.lidars[i]-&gt;strength); } } </code></pre><h3 >Todo</h3><ul ><li >Velocity readings</li></ul><ul ><li >Independent callbacks for each lasers or when each are done, or one single callback for every lasers</li></ul>Pull requests Pull requests are welcome :D<h3 >Credits </h3><ul ><li >Alexis Paques (alexis[dot]paques[at]gmail[dot]com)</li></ul>

LidarEnhanced

Driver for the LIDARLite v2 and v3 on the Arduino, with many improvements over the base library (Robustness, asynchronous).