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amiro-os / include / amiro / Lidar.h @ 58fe0e0b

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#ifndef LIDAR_H_
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#define LIDAR_H_
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// Top view
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/*                                                 __________
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//                                               /     |     \
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//                                              /      O      \
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//                                             /  H O K U Y O  \
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//                                             |                |
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//                                             |                |
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//                                              \    U R G     /
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// scannedData[NUMBER_OF_STEPS] = END_STEP       \/          \/   STARTING_STEP = scannedData[0]
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//                                                \__________/
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*/
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#include <string.h> // memcpy
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#include <stdlib.h>
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#include <amiro/bus/spi/HWSPIDriver.hpp>
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#include <amiro/Constants.h> // CAN::LIGHT_RING_ID
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#include <ch.hpp>
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#include <hal.h>
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#include <chprintf.h>
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#include <evtimer.h>
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// DO CONFIGURATION HERE : START
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// Important: SD_SPEED_PREFIX + SD_SPEED has to have 6 characters: e.g. 019200 or 115200
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#define SD_SPEED_PREFIX   // Prefix < 0     | 0     |        |        |        |        >
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#define SD_SPEED 250000 // Baudrate < 19200 | 57600 | 115200 | 250000 | 500000 | 750000 >
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#define UPDATE_LIDAR_PERIOD_MSEC MS2ST(1000)  // Periodic sensor value fetch in ms
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// Scan acquire message : START
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// Uncomment the specific character decoding to make it available
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#define USE_2CHAR_CODE
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// #define USE_3CHAR_CODE  // TODO Not implemented yet
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#define DATA_ACQ_2CHAR_CODE "MS"
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#define DATA_ACQ_3CHAR_CODE "MD"
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// Important: STARTING_STEP_PREFIX + STARTING_STEP has to have 4 characters: e.g. 0005 0044 0320
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#define STARTING_STEP_PREFIX 00
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#define STARTING_STEP 44
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// Important: END_STEP_PREFIX + END_STEP has to have 4 characters: e.g. 0005 0725 0320
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#define END_STEP_PREFIX 0
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#define END_STEP 725
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#define CLUSTER_COUNT 00
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#define SCAN_INTERVALL 0
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#define NUMBER_OF_INTERVALL 01
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// Scan acquire message : END
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// DO CONFIGURATION HERE : END
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// Internal calculations and definitions
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#if defined(USE_2CHAR_CODE) && defined(USE_3CHAR_CODE)
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#  error("USE_2CHAR_CODE and USE_3CHAR_CODE are defined. Only one of them is allowed!")
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#elif !defined(USE_2CHAR_CODE) && !defined(USE_3CHAR_CODE)
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#  error("USE_2CHAR_CODE and USE_3CHAR_CODE are not defined. Define one of them!")
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#elif defined(USE_2CHAR_CODE)
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#  define DATA_ACQ_CODE DATA_ACQ_2CHAR_CODE
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#  define NUMBER_OF_CHARACTERS (END_STEP - STARTING_STEP + 1) * 2
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#elif defined(USE_3CHAR_CODE)
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#  define DATA_ACQ_CODE DATA_ACQ_3CHAR_CODE
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#  define NUMBER_OF_CHARACTERS (END_STEP - STARTING_STEP + 1) * 3
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#endif
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#define NUMBER_OF_STEPS (END_STEP - STARTING_STEP + 1)
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#define STR_HELPER(x) #x
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#define STR(x) STR_HELPER(x)
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#define LF "\n"
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namespace amiro {
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  class Lidar : public chibios_rt::BaseStaticThread<256> {
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  public:
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    /**
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    * Possible setups for the LIDAR: POWER_ONLY (The LIDAR will be powererd, but no serial IO is performed [Need for USB IO]); SERIAL_IO (Power and serial communication via lidar driver)
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    */
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    enum SETUP {POWER_ONLY, SERIAL_IO};
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    /**
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    * Writes the last scan into the given array
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    *
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    * @param scanData Array of size NUMBER_OF_STEPS which will be override
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    *                 with the scanned data
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    *
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    * @return True if scanData holds the current data, False if no data have been copied
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    */
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    bool_t getScan(uint16_t (&scanData)[NUMBER_OF_STEPS]);
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    /**
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    * Returns the value NUMBER_OF_STEPS which is the amount of datapoints per scan
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    *
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    * @return Amount of data in one scan
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    */
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    uint16_t getNumberOfValues();
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  protected:
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    virtual msg_t main();
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    /**
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    * Do a scan and update the datapoints in scanData
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    */
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    msg_t updateSensorVal();
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    /**
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    * Print received data until "\n\n" was received
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    */
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    void printData();
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    /**
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    * Receive data until "\n\n" and compare it to the given string
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    * Note: If the command did not work, use printData() instead
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    *       and compare the reply with chapter "9. Response to Invalid Commands"
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    *
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    * @param compareString String to compare with
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    *
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    * @return True if string was equal, false if not
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    */
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    bool_t checkDataString(const char compareString[]);
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    /**
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    *  Send the command which let the LIDAR send its details
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    */
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    void printDetails();
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    /**
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    *  Send the command which let the LIDAR send its specifications
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    */
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    void printSpecification();
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    /**
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    *  Send the command which let the LIDAR send its information
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    */
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    void printInformation();
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    /**
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    *  Tells you, if the sensor is ready for work
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    *
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    *  @return True for operability, False if not
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    */
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    inline bool_t getIsReady();
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    /**
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    *  Do the two character encoding after the manual
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    *
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    *  @param char1 High character
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    *  @param char2 Low character
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    *
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    *  @return Encoded data
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    */
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    inline uint16_t twoCharacterEncoding(uint8_t &char1, uint8_t &char2);
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    /**
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    *  Blocking function which writes the received character to the given variable
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    *
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    *  @param data Container for the variable
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    *  @param timeoutMs Timeout in millisecond
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    *
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    *  @return True if data was received, False if timed out (NOTE timeoutMs should by much smaller than UPDATE_LIDAR_PERIOD_MSEC)
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    */
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    bool_t getData(uint8_t &data, uint32_t timeoutMs);
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    /**
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    * Container for the scanned data
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    *
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    * @brief The "+1" character is for holding the last sum which is transmitted
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    *        by the LIDAR. It is not used, but it makes the algorithm much easier
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    *        we we do not care about it
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    */
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    static uint8_t scannedData[NUMBER_OF_CHARACTERS + 1];
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    /**
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    *  Flushes the input queue of the SD2 serial device
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    */
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    inline void flushSD2InputQueue();
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    /**
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    * Possible states for the receiver state machine
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    */
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    enum STATE {SEND_SCAN_CMD, DATA_VALID_CHECK, DATA_START_CHECK, DATA_RECORD, DATA_DECODE, DATA_SHOW, FAIL, FINISH};
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    /**
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    * Current state of the machine
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    */
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    STATE step = SEND_SCAN_CMD;
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    /**
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    * This is the status which comes after the command echo "\n99b\n"
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    */
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    const uint8_t validScanTag[5] =  {10,57,57,98,10};
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    /**
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    * Index for the received status
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    */
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    uint8_t checkStatusIdx = 0;
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    /**
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    * Index for the received status
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    */
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    /**
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    * Hold the board id
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    */
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    uint8_t boardId;
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    /**
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    * Hold the setup configuration for the lidar
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    */
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    SETUP setup;
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    /**
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    * Holds the current input
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    */
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    uint8_t newInput = 0xFF;
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    /**
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    * Holds the last input
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    */
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    uint8_t lastInput = 0xFF;
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    /**
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    * Counter for the received characters of the data points
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    */
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    uint16_t dataIdx = 0;
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    /**
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    * Temporary variable which hold the amount of receved bytes
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    */
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    uint32_t dataCounter = 0;
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    /**
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    * Holds the information, if scannedData holds the last sensor scan
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    */
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    bool_t isReady = false;
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    /**
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    * Holds the information, if the datachunk was not transmitted completely
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    */
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    bool_t isFail = false;
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  private:
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    EvTimer evtimer;
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  public:
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  /**
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    * Constructor
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    *
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    * @param boardId Board ID which can be found in ControllerAreaNetwork.h.
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    *                It is used to setup the LIDAR for exactly this board
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    */
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    Lidar(const uint8_t boardId, Lidar::SETUP setup);
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    /**
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    * Constructor
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    *
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    * Disable the LIDAR
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    * TODO Why "virtual ~Lidar() = 0;"
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    */
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    ~Lidar();
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  };
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}
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#endif /* LIDAR_H_ */