lidarlitev3.hpp

/*
 * Author: Saloni Jain <saloni.jain@tcs.com>
 * Author: Niti Rohilla <niti.rohilla@tcs.com>
 * Copyright (c) 2014 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#pragma once

#include <string>
#include <mraa/i2c.hpp>

#define ADDR                  0x62 // device address

// registers address
#define ACQ_COMMAND           0x00 // Device Command
#define STATUS                0x01 // System Status
#define SIG_COUNT_VAL         0x02 // Maximum Acquisition Count
#define ACQ_CONFIG_REG        0x04 // Acquisition Mode Control
#define VELOCITY              0x09 // Velocity measurement output
#define PEAK_CORR             0x0C // Peak value in correlation record
#define NOISE_PEAK            0x0D // Correaltion record noise floor
#define SIGNAL_STRENGTH       0x0E // Received signal strength
#define FULL_DELAY_HIGH       0x0F // Distance measurement high byte
#define FULL_DELAY_LOW        0x10 // Distance measurement low byte
#define OUTER_LOOP_COUNT      0x11 // Burst measurement count conttrol
#define REF_COUNT_VAL         0x12 // Reference acquisition count
#define LAST_DELAY_HIGH       0x14 // Previous distance measurement high byte
#define LAST_DELAY_LOW        0x15 // Previous distance measurement low byte
#define UNIT_ID_HIGH          0x16 // Serial number high byte
#define UNIT_ID_LOW           0x17 // Serial number low byte
#define I2C_ID_HIGH           0x18 // Write serial number high byte for I2C address unclock
#define I2C_ID_LOW            0x19 // Write serial number low byte for I2X address unlock
#define I2C_SEC_ADDR          0x1A // Write new I2C address after unlock
#define THRESHOLD_BYPASS      0x1C // Peak detection threshold bypass
#define I2C_CONFIG            0x1E // Default address response control
#define COMMAND               0x40 // State command
#define MEASURE_DELAY         0x45 // Delay between automatic measurements
#define PEAK_BCK              0x4C // Second largest peak value on correlation record
#define CORR_DATA             0x52 // Correlation record data lo byte
#define CORR_DATA_SIGN        0x53 // Correlation record data high byte
#define ACQ_SETTINGS          0x5D // Correaltion record memory bank select
#define POWER_CONTROL         0x65 // Power state control

#define HIGH               1
#define LOW                0

namespace upm {

class LIDARLITEV3 {
    public:
        LIDARLITEV3 (int bus, int devAddr=ADDR);

        int getDistance ();

        uint16_t read(int reg, bool monitorBusyFlag);

        std::string name()
        {
            return m_name;
        }

        uint8_t i2cReadReg_8 (int reg);

        uint16_t i2cReadReg_16 (int reg);

        mraa::Result i2cWriteReg (uint8_t reg, uint8_t value);

    private:
        std::string m_name;

        int m_controlAddr;
        int m_bus;
        mraa::I2c m_i2ControlCtx;
};

}