All-Lidars example

Author: Ilia O.

README.md

@@ -103,8 +103,11 @@ LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
 
 ## Release notes
 
-## v0.6.1 in debug
+## v0.6.1
 - added an all-in-one example sketch for all supported Lidar models
+  - pre-configured for LDS02RR
+- bugfixed Espressif SDK 5.x (ESP32 Arduino 3.x) build
+- examples cleanup
 
 ## v0.6.0
 - support for Espressif SDK 5.x (ESP32 Arduino 3.x)

…es/all_lidars_esp32/all_lidars_esp32.ino …s02rr_esp32/all_lidars_lds02rr_esp32.inoexamples/all_lidars_esp32/all_lidars_esp32.ino renamed to examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino examples/all_lidars_esp32/all_lidars_esp32.ino renamed to examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino

@@ -16,21 +16,21 @@
   #error This example runs on ESP32
 #endif
 
-// 1. INCREASE Arduino IDE baud
-const uint32_t SERIAL_MONITOR_BAUD = 115200;
-
-// 2. CHANGE these to match your wiring
+// 1. CHANGE these to match your wiring
 // IGNORE pins absent from your Lidar model (often EN, PWM)
 const uint8_t LIDAR_GPIO_EN = 19; // ESP32 GPIO connected to Lidar EN pin
 const uint8_t LIDAR_GPIO_RX = 16; // ESP32 GPIO connected to Lidar RX pin
 const uint8_t LIDAR_GPIO_TX = 17; // ESP32 GPIO connected to Lidar TX pin
 const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 
+// 2. UNCOMMENT if using PWM pin and PWM LOW enables the motor
+//#define INVERT_PWM_PIN
+
 // 3. UNCOMMENT your Lidar model
 //
 //#define NEATO_XV11
 //#define SLAMTEC_RPLIDAR_A1
-//#define XIAOMI_LDS02RR
+#define XIAOMI_LDS02RR
 //#define YDLIDAR_SCL
 //#define YDLIDAR_X2_X2L
 //#define YDLIDAR_X3
@@ -39,17 +39,15 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 //#define 3IROBOTIX_DELTA_2A_115200
 //#define 3IROBOTIX_DELTA_2A
 //#define 3IROBOTIX_DELTA_2B
-#define LDROBOT_LD14P
+//#define LDROBOT_LD14P
 //#define YDLIDAR_X4
 //#define YDLIDAR_X4_PRO
 
-// 4. Optional/Advanced
-float LIDAR_SCAN_FREQ_TARGET = 5.0f; // Set desired rotations-per-second for some LiDAR models
 
-// Usually you don't need to change the settings below
+const uint32_t SERIAL_MONITOR_BAUD = 115200;
 const uint32_t LIDAR_PWM_FREQ = 10000;
 const uint8_t LIDAR_PWM_BITS = 11;
-const uint8_t LIDAR_PWM_CHANNEL = 0;
+const uint8_t LIDAR_PWM_CHANNEL = 2;
 const uint16_t LIDAR_SERIAL_RX_BUF_LEN = 1024;
 
 #include "lds_all_models.h"
@@ -58,14 +56,6 @@ HardwareSerial LidarSerial(1);
 LDS *lidar;
 
 void setupLidar() {
-  #if ESP_IDF_VERSION_MAJOR >= 5
-  if (!ledcAttachChannel(LIDAR_GPIO_PWM, LIDAR_PWM_FREQ,
-    LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
-    Serial.println("setupLidar() ledcAttachChannel() error");
-  #else
-  if (!ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS))
-    Serial.println("setupLidar() ledcSetup() error");
-  #endif
 
   #if defined(NEATO_XV11)
   lidar = new LDS_NEATO_XV11();
@@ -107,8 +97,7 @@ void setupLidar() {
   lidar->setInfoCallback(lidar_info_callback);
   lidar->setErrorCallback(lidar_error_callback);
 
-  LidarSerial.begin(lidar->getSerialBaudRate(),
-    SERIAL_8N1, LIDAR_GPIO_TX, LIDAR_GPIO_RX);
+  LidarSerial.begin(lidar->getSerialBaudRate(), SERIAL_8N1, LIDAR_GPIO_TX, LIDAR_GPIO_RX);
 
   lidar->init();
   //lidar->stop();
@@ -117,22 +106,24 @@ void setupLidar() {
 void setup() {
   Serial.begin(SERIAL_MONITOR_BAUD);
 
+  Serial.println();
+  Serial.print("ESP IDF version ");
+  Serial.println(ESP_IDF_VERSION_MAJOR);
+
   setupLidar();
 
-  Serial.print("LiDAR model ");
-  Serial.println(lidar->getModelName());
+  //Serial.print("LiDAR model ");
+  //Serial.println(lidar->getModelName());
 
-  Serial.print("Lidar baud rate ");
-  Serial.println(lidar->getSerialBaudRate());
+  //Serial.print("Lidar baud rate ");
+  //Serial.println(lidar->getSerialBaudRate());
 
   LDS::result_t result = lidar->start();
   Serial.print("startLidar() result: ");
   Serial.println(lidar->resultCodeToString(result));
 
-  if (result < 0)
-    Serial.println("Is the LiDAR connected to ESP32 and powered up?");
-
-  lidar->setScanTargetFreqHz(LIDAR_SCAN_FREQ_TARGET);
+  // Set desired rotations-per-second for some LiDAR models
+  // lidar->setScanTargetFreqHz(5.0f);
 }
 
 int lidar_serial_read_callback() {
@@ -151,52 +142,88 @@ size_t lidar_serial_write_callback(const uint8_t * buffer, size_t length) {
 
 void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality,
   bool scan_completed) {
+  static int i=0;
+  
+  if (i % 20 == 0) {
+    Serial.print(i);
+    Serial.print(' ');
+    Serial.print(distance_mm);
+    Serial.print(' ');
+    Serial.println(angle_deg);
+  }
+  i++;
 
-  Serial.print(distance_mm);
-  Serial.print(' ');
-  Serial.println(angle_deg);
-
-  if (scan_completed)
-    Serial.println();
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar->getCurrentScanFreqHz());
+  }
 }
 
-void lidar_motor_pin_callback(float value, LDS::lds_pin_t lds_pin) {
-/*
-  Serial.print("Lidar pin ");
-  Serial.print(lidar->pinIDToString(lds_pin));
-  Serial.print(" set ");
-  if (lds_pin > 0)
-    Serial.print(value); // PWM value
-  else
-    Serial.print(lidar->pinStateToString((LDS::lds_pin_state_t)value));
-  Serial.print(", RPM ");
-  Serial.println(lidar->getCurrentScanFreqHz());
-*/
-  int pin = (lds_pin == LDS::LDS_MOTOR_EN_PIN) ?
-    LIDAR_GPIO_EN : LIDAR_GPIO_PWM;
+void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
+
+  int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ? LIDAR_GPIO_EN : LIDAR_GPIO_PWM;
 
-  if (int(value) <= LDS::DIR_INPUT) {
+  if (value <= (float)LDS::DIR_INPUT) {
+
+    /*
+    Serial.print("GPIO ");
+    Serial.print(pin);
+    Serial.print(' ');
+    Serial.print(lidar->pinIDToString(lidar_pin));
+    Serial.print(" mode set to ");
+    Serial.println(lidar->pinStateToString(int(pin_mode)));
+    */
 
     // Configure pin direction
-    if (int(value) == LDS::DIR_OUTPUT_PWM) {
-      #if ESP_IDF_VERSION_MAJOR >= 5
-      if (!ledcAttachChannel(pin, LIDAR_PWM_FREQ,
-        LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
-        Serial.println("lidar_motor_pin_callback() ledcAttachChannel() error");
-      #else
+    if (value == (float)LDS::DIR_OUTPUT_PWM) {
+
+      #if ESP_IDF_VERSION_MAJOR < 5
+      ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS);
       ledcAttachPin(pin, LIDAR_PWM_CHANNEL);
+      #else
+      if (!ledcAttachChannel(pin, LIDAR_PWM_FREQ, LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
+        Serial.println("lidar_motor_pin_callback() ledcAttachChannel() error");
       #endif
     } else
-      pinMode(pin, (int(value) == LDS::DIR_INPUT) ? INPUT : OUTPUT);
+      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
+
     return;
   }
 
-  if (int(value) < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (int(value) == LDS::VALUE_HIGH) ? HIGH : LOW);
-  else {
+  if (value < (float)LDS::VALUE_PWM) {
+    // Set constant output
+    // TODO invert PWM as needed
+    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
+
+    /*
+    Serial.print("GPIO ");
+    Serial.print(pin);
+    Serial.print(' ');
+    Serial.print(lidar->pinIDToString(lidar_pin));
+    Serial.print(" value set to ");
+    Serial.println(lidar->pinStateToString(int(value)));
+    */
+
+  } else {
+    //Serial.print("PWM value set to ");
+    //Serial.print(value);
+
     // set PWM duty cycle
+    #ifdef INVERT_PWM_PIN
+    value = 1 - value;
+    #endif
+
     int pwm_value = ((1<<LIDAR_PWM_BITS)-1)*value;
+
+    #if ESP_IDF_VERSION_MAJOR < 5
     ledcWrite(LIDAR_PWM_CHANNEL, pwm_value);
+    #else
+    ledcWriteChannel(LIDAR_PWM_CHANNEL, pwm_value);
+    #endif
+
+    //Serial.print(' ');
+    //Serial.println(pwm_value);
   }
 }
 

examples/ldrobot_ld14p_esp32/ldrobot_ld14p_esp32.ino

@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,7 +18,10 @@
 
 #include <LDS_LDROBOT_LD14P.h>
 
-HardwareSerial LidarSerial(2); // TX 17, RX 16
+const uint8_t LIDAR_TX_PIN = 17;
+const uint8_t LIDAR_RX_PIN = 16;
+
+HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
 void setup() {
@@ -34,13 +37,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
-  // Assign TX, RX pins
-  // LidarSerial.begin(baud_rate, SERIAL_8N1, rxPin, txPin);
-  // Details https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/HardwareSerial.h
-  // Tutorial https://www.youtube.com/watch?v=eUPAoP7xC7A
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -75,16 +72,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if ((i % 20 == 0) || scan_completed) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
     Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 

examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino

@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,6 +19,9 @@
 #include <LDS_LDROBOT_LD14P.h>
 
 // ESP32-C3
+const uint8_t LIDAR_TX_PIN = 5;
+const uint8_t LIDAR_RX_PIN = 4;
+
 HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
@@ -35,9 +38,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -72,16 +73,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if ((i % 20 == 0) || scan_completed) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
     Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 

examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino

@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,6 +19,9 @@
 #include <LDS_LDROBOT_LD14P.h>
 
 // ESP32-S3
+const uint8_t LIDAR_TX_PIN = 15;
+const uint8_t LIDAR_RX_PIN = 16;
+
 HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
@@ -35,7 +38,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate, SERIAL_8N1, 16, 15); // GPIO16 as RX1, GPIO15 as TX1  
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   //while (LidarSerial.read() >= 0);
 
@@ -72,16 +75,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if (i % 20 == 0) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
-    Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+    Serial.println(angle_deg);
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }