LiDAR-projekti¶

An Arduino project that measures distances using a LiDAR sensor.

Features¶

Reads LiDAR data via UART
Stores to and reads measurement unit configuration from EEPROM
Unit can be changed via a button
An RGB LED displays the current measurement unit
- Green: centimetres
- Yellow: millimetres
- Red: Pixhawk-drone internal units
[UNIMPLEMENTED] Measures battery level via voltage tracking
Sends output to external USART

Hardware requirements¶

Arduino Every (x1)
TFMini Plus -LiDAR sensor (x1)
Push button (x1)
RGB LED or equivalent (x1)
Wires

For the pin layout, please see the source code or documentation for the pin numbers.

Installation¶

You can either run the source code via AVRdude yourself, or build it with PlatformIO. For the latter, a configuration file is provided within the repository itself for your convenience.

Documentation¶

An Arduino Every program.

This program reads data from a LiDAR sensor and outputs distances to objects.

Type Aliases

Rust-like aliases for numeric types

typedef uint8_t u8¶: Unsigned 8-bit integer.

typedef uint16_t u16¶: Unsigned 16-bit integer.

typedef uint32_t u32¶: Unsigned 32-bit integer.

typedef uint64_t u64¶: Unsigned 64-bit integer.

typedef int8_t i8¶: Signed 8-bit integer.

typedef int16_t i16¶: Signed 16-bit integer.

typedef int32_t i32¶: Signed 32-bit integer.

typedef int64_t i64¶: Signed 64-bit integer.

Enums

enum unit_mode¶

Represents the different modes for measuremement units supported by the LiDAR sensor.

Used to store the mode in use in the device memory.

Values:

enumerator LIDAR_CM¶: Measurements in centimetres.

enumerator LIDAR_MM¶: Measurements in millimetres.

enumerator LIDAR_PIXHAWK¶: Measurements in Pixhawk drone units.

Functions

SoftwareSerial soft_serial(LIDAR_RX, LIDAR_TX)¶: Handles serial traffic with the LiDAR sensor.

void RGB_colour(u8 red_light_value = 0, u8 green_light_value = 0, u8 blue_light_value = 0)¶

Sets the colour and brightness of the RGB LED based on the colour values of the parameters.

By mixing the colours, different colours can be created.

Yellow = red + green

Purple = red + blue

Cyan = green + blue

White = red + green + blue

Different concentrations produce different shades.

Parameters:

red_light_value – Controls the amount of red light (0-255)
green_light_value – Controls the amount of green light (0-255)
blue_light_value – Controls the amount of blue light (0-255)

void set_LED(unit_mode mode)¶

Changes the colour of the RGB LED to fixed colours based on the current LiDAR unit.

Parameters:: mode – The current LiDAR unit mode

void set_lidar_output_format(unit_mode mode)¶

Sets the lidar output format.

Parameters:: mode – The current LiDAR unit mode

void cycle_settings()¶

Changes the LiDAR unit mode.

The function cycles over all the modes available, picking the next one in the sequence, then changes the config mode to that. Afterwards it changes the RGB LED to show the new setting and stores this setting into the EEPROM.

void read_battery_level()¶: Reads the battery level and shows it via LED.

void setup()¶: Sets up the register, serial traffic, LiDAR configuration, and EEPROM config.

void loop()¶: The main program loop.

Variables

const int LIDAR_RX = 2¶: Lidar sensor data read pin, D2.

const int LIDAR_TX = 3¶: Lidar sensor data write pin, D3.

const int BUTTON_PIN = 4¶: Pin assigned for the button that controls measurement precision, D4.

const int LED_PIN_RED = 9¶: PWM pin used to control the red LED, D9.

const int LED_PIN_GREEN = 10¶: PWM pin used to control the green LED, D10.

const int LED_PIN_BLUE = 11¶: PWM pin used to control the blue LED, D11.

const int BATTERY_VOLTAGE_PIN = 14¶: ADC pin used to read battery voltage, A0 (D14) !!!!!CHECK PIN!!!!!

const u8 UNIT_MODE_CONFIG_ADDRESS = 0¶: EEPROM address where LiDAR unit mode configuration is stored.

const long LIDAR_UART_BAUDRATE = 115200¶: LiDAR serial output frequency.

const long LOG_SERIAL_BAUDRATE = 115200¶: Serial logging output frequency.

unit_mode config_mode¶: Stores the LiDAR measurement unit.

int button_state = 0¶: Stores the current state of the button (up/down, 0/1)

int previous_state = {0}¶: Stores the previous state of the button (up/down, 0/1)

TFminiPlus lidar¶: Needed to configure the LiDAR sensor.

This documentation was built using ArduinoDocs.