AMiRo-OS

#include <amiro/Lidar.h>

using namespace chibios_rt;

using namespace amiro;

uint8_t Lidar::scannedData[NUMBER_OF_CHARACTERS + 1] = {};

Lidar::Lidar(const uint8_t boardId, Lidar::SETUP setup)

        flushSD2InputQueue();

        // Configure LIDAR serial interface speed

        chprintf((BaseSequentialStream*) &SD2, "SS" STR(SD_SPEED_PREFIX) STR(SD_SPEED) LF);

        // Check if the switch went well, otherwise terminate the thread

        if (checkDataString("SS" STR(SD_SPEED_PREFIX) STR(SD_SPEED) "\n00P\n\n")) {

          // Configure serial interface of STM32

          sdStop(&SD2);

          SerialConfig sdLidarconf = { SD_SPEED, 0, 0, 0 };

          sdStart(&SD2, &sdLidarconf);

        } else {

          palWritePad(GPIOB, GPIOB_LASER_EN, PAL_LOW);

          return -1;

        }

            --this->dataIdx;

            this->lastInput = this->newInput;

          }

        } else {

          step = FAIL;

        }

        break;

      case DATA_SHOW:

        // Show the decoded data

        for (uint32_t idx=0; idx < this->dataIdx; idx+=2) {

        }

        step = FINISH;

        break;

      if (lastInput == 10 && newInput == 10) {

        return;

      } else {

      }

      lastInput = newInput;

    } else {

      return;

    }

  }

void Lidar::printDetails() {

  // Tell the sensor to transmit its details

  chprintf((BaseSequentialStream*) &SD2, "VV\n");

void Lidar::printSpecification() {

  // Tell the sensor to transmit its specifications

  chprintf((BaseSequentialStream*) &SD2, "PP\n");

}

void Lidar::printInformation() {

  // Tell the sensor to transmit its information

  chprintf((BaseSequentialStream*) &SD2, "II\n");