Commit 9e347c1da91cbdd9eaaa0032a5aa60b8481ad9d4 - d

reading distances! haldean 4 years ago

1 changed file(s) with 36 addition(s) and 8 deletion(s). Raw diff Collapse all Expand all

+36

-8

firmware/main.c less more

28	28
29	29	#include "lidar-lite.h"
30	30
31		static const int addr = 0x63;
	31	static const int addr = 0x62;
32	32
33	33	int t_lo = 800;
34	34	int t_hi = 2600;

36	36	int p_hi = 2600;
37	37	int period = 60000;
38	38
	39	static bool
	40	wait_while_busy()
	41	{
	42	int res;
	43	uint8_t status = 0xFF;
	44	do
	45	{
	46	if ((res = rc_i2c_read_byte(1, STATUS, &status)) != 1)
	47	{
	48	printf("failed to read status from I2C: %d\n", res);
	49	return false;
	50	}
	51	}
	52	while (status & STATUS_BUSY);
	53
	54	return true;
	55	}
	56
39	57	int main(int argc, char *argv[])
40	58	{
41		int i2c;
42		uint8_t buf[4];
	59	int res;
43	60	int phi = p_lo;
44	61	int theta = t_lo;
45	62	bool inc = true;

55	72	rc_enable_servo_power_rail();
56	73	rc_set_state(RUNNING);
57	74
58		if (!rc_i2c_init(1, addr))
	75	if ((res = rc_i2c_init(1, addr)) != 0)
59	76	{
60		fprintf(stderr, "ERROR: failed to initialize I2C\n");
	77	fprintf(stderr, "ERROR: failed to initialize I2C: %d\n", res);
61	78	return -1;
62	79	}
63	80

86	103	}
87	104	*/
88	105
89		uint8_t status = 0xFF;
90		rc_i2c_read_byte(1, STATUS, &status);
91		printf("status: %02x\n");
	106	wait_while_busy();
	107	if ((res = rc_i2c_write_byte(1, CMD, CMD_CAPTURE)) != 0)
	108	{
	109	printf("failed to write command to I2C: %d\n", res);
	110	return false;
	111	}
	112	wait_while_busy();
	113	uint16_t reading;
	114	if ((res = rc_i2c_read_word(1, 0x8F, &reading)) != 0)
	115	{
	116	printf("failed to read measurement from I2C: %d\n", res);
	117	return false;
	118	}
	119	printf("measured: %u\n", reading);
92	120
93	121	if (rc_get_state() == RUNNING)
94	122	{