All-in-one models example sketch

README.md

@@ -63,11 +63,12 @@ Other models are in the works.
 Please see the `examples` folder for sample Arduino sketches.
 
 ## Connecting to Arduino
-Please follow [this tutorial](https://kaia.ai/blog/tutorial-connect-ld14p-lidar/) to connect LDROBOT LD14P to Arduino ESP32.
+- Maker's Pet offers Lidar breakout boards for ESP32 for sale in its [onine store](https://makerspet.com/store/)
+- follow [this DIY tutorial](https://kaia.ai/blog/tutorial-connect-ld14p-lidar/) to connect LDROBOT LD14P to Arduino ESP32
 
 ### Adapter Boards
-Some LiDAR/LDS models do not have built-in motor control and therefore require an additional board to operate:
-- for Xiaomi Roborock 1st gen LDS02RR use [this board](https://github.com/makerspet/pcb/tree/main/lds02rr_adapter)
+Some LiDAR models do not have built-in motor control and therefore require an additional board to operate:
+- for Xiaomi Roborock 1st gen LDS02RR use [this board](https://makerspet.com/store#!/Adapter-for-LDS02RR-LiDAR/p/697091363)
 - for Neato XV11 use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)
 - for 3irobotix Delta-2A, -2B, -2C PRO, -2D, -2G use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)
 
@@ -102,6 +103,9 @@ LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
 
 ## Release notes
 
+## v0.6.1 in debug
+- added an all-in-one example sketch for all supported Lidar models
+
 ## v0.6.0
 - support for Espressif SDK 5.x (ESP32 Arduino 3.x)
 

examples/all_lidars_esp32/all_lidars_esp32.ino

@@ -0,0 +1,223 @@
+// 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ESP32
+  #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
+// 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
+
+// 3. UNCOMMENT your Lidar model
+//
+//#define NEATO_XV11
+//#define SLAMTEC_RPLIDAR_A1
+//#define XIAOMI_LDS02RR
+//#define YDLIDAR_SCL
+//#define YDLIDAR_X2_X2L
+//#define YDLIDAR_X3
+//#define YDLIDAR_X3_PRO
+//#define 3IROBOTIX_DELTA_2G
+//#define 3IROBOTIX_DELTA_2A_115200
+//#define 3IROBOTIX_DELTA_2A
+//#define 3IROBOTIX_DELTA_2B
+#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 LIDAR_PWM_FREQ = 10000;
+const uint8_t LIDAR_PWM_BITS = 11;
+const uint8_t LIDAR_PWM_CHANNEL = 0;
+const uint16_t LIDAR_SERIAL_RX_BUF_LEN = 1024;
+
+#include "lds_all_models.h"
+
+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();
+  #elif defined(SLAMTEC_RPLIDAR_A1)
+  lidar = new LDS_RPLIDAR_A1();
+  #elif defined(XIAOMI_LDS02RR)
+  lidar = new LDS_LDS02RR();
+  #elif defined(YDLIDAR_SCL)
+  lidar = new LDS_YDLIDAR_SCL();
+  #elif defined(YDLIDAR_X2_X2L)
+  lidar = new LDS_YDLIDAR_X2_X2L();
+  #elif defined(YDLIDAR_X3)
+  lidar = new LDS_YDLIDAR_X3();
+  #elif defined(YDLIDAR_X3_PRO)
+  lidar = new LDS_YDLIDAR_X3_PRO();
+  #elif defined(_3IROBOTIX_DELTA_2G)
+  lidar = new LDS_DELTA_2G();
+  #elif defined(_3IROBOTIX_DELTA_2A_115200)
+  lidar = new LDS_DELTA_2A_115200();
+  #elif defined(_3IROBOTIX_DELTA_2A)
+  lidar = new LDS_DELTA_2A_230400();
+  #elif defined(_3IROBOTIX_DELTA_2B)
+  lidar = new LDS_DELTA_2B();
+  #elif defined(LDROBOT_LD14P)
+  lidar = new LDS_LDROBOT_LD14P();
+  #elif defined(YDLIDAR_X4)
+  lidar = new LDS_YDLIDAR_X4();
+  #elif defined(YDLIDAR_X4_PRO)
+  lidar = new LDS_YDLIDAR_X4_PRO();
+  #else
+    #error "Define a Lidar model"
+  #endif
+
+  lidar->setScanPointCallback(lidar_scan_point_callback);
+  lidar->setPacketCallback(lidar_packet_callback);
+  lidar->setSerialWriteCallback(lidar_serial_write_callback);
+  lidar->setSerialReadCallback(lidar_serial_read_callback);
+  lidar->setMotorPinCallback(lidar_motor_pin_callback);
+  lidar->setInfoCallback(lidar_info_callback);
+  lidar->setErrorCallback(lidar_error_callback);
+
+  LidarSerial.begin(lidar->getSerialBaudRate(),
+    SERIAL_8N1, LIDAR_GPIO_TX, LIDAR_GPIO_RX);
+
+  lidar->init();
+  //lidar->stop();
+}
+
+void setup() {
+  Serial.begin(SERIAL_MONITOR_BAUD);
+
+  setupLidar();
+
+  Serial.print("LiDAR model ");
+  Serial.println(lidar->getModelName());
+
+  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);
+}
+
+int lidar_serial_read_callback() {
+  return LidarSerial.read();
+/*
+  int ch = LidarSerial.read();
+  if (ch != -1)
+    Serial.println(ch);
+  return ch;
+*/
+}
+
+size_t lidar_serial_write_callback(const uint8_t * buffer, size_t length) {
+  return LidarSerial.write(buffer, length);
+}
+
+void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality,
+  bool scan_completed) {
+
+  Serial.print(distance_mm);
+  Serial.print(' ');
+  Serial.println(angle_deg);
+
+  if (scan_completed)
+    Serial.println();
+}
+
+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;
+
+  if (int(value) <= LDS::DIR_INPUT) {
+
+    // 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
+      ledcAttachPin(pin, LIDAR_PWM_CHANNEL);
+      #endif
+    } else
+      pinMode(pin, (int(value) == 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 {
+    // set PWM duty cycle
+    int pwm_value = ((1<<LIDAR_PWM_BITS)-1)*value;
+    ledcWrite(LIDAR_PWM_CHANNEL, pwm_value);
+  }
+}
+
+void lidar_info_callback(LDS::info_t code, String info) {
+  Serial.print("LiDAR info ");
+  Serial.print(lidar->infoCodeToString(code));
+  Serial.print(": ");
+  Serial.println(info);
+}
+
+void lidar_error_callback(LDS::result_t code, String aux_info) {
+  Serial.print("LiDAR error ");
+  Serial.print(lidar->resultCodeToString(code));
+  Serial.print(": ");
+  Serial.println(aux_info);
+}
+
+void lidar_packet_callback(uint8_t * packet, uint16_t length, bool scan_completed) {
+  return;
+}
+
+void loop() {
+  lidar->loop();
+}