I am trying to implement this Lidar Lite sketch for Arduino (based on the 'Arduino I2C Master Library' from DSS Circuits). Since this uses features beyond the basic Wire library, i am trying to implement it with the I2C T3 library. Not sure how to mimic the ability to handle Ack detection as well as the combined write read operation. Please see the lidar lite example below.
Code:
#include <I2C.h>
#define LIDARLite_ADDRESS 0x62 // Default I2C Address of LIDAR-Lite.
#define RegisterMeasure 0x00 // Register to write to initiate ranging.
#define MeasureValue 0x04 // Value to initiate ranging.
#define RegisterHighLowB 0x8f // Register to get both High and Low bytes in 1 call.
void setup(){
Serial.begin(9600); //Opens serial connection at 9600bps.
I2c.begin(); // Opens & joins the irc bus as master
delay(100); // Waits to make sure everything is powered up before sending or receiving data
I2c.timeOut(50); // Sets a timeout to ensure no locking up of sketch if I2C communication fails
}
void loop(){
// Write 0x04 to register 0x00
uint8_t nackack = 100; // Setup variable to hold ACK/NACK resopnses
while (nackack != 0){ // While NACK keep going (i.e. continue polling until sucess message (ACK) is received )
nackack = I2c.write(LIDARLite_ADDRESS,RegisterMeasure, MeasureValue); // Write 0x04 to 0x00
delay(1); // Wait 1 ms to prevent overpolling
}
byte distanceArray[2]; // array to store distance bytes from read function
// Read 2byte distance from register 0x8f
nackack = 100; // Setup variable to hold ACK/NACK resopnses
while (nackack != 0){ // While NACK keep going (i.e. continue polling until sucess message (ACK) is received )
nackack = I2c.read(LIDARLite_ADDRESS,RegisterHighLowB, 2, distanceArray); // Read 2 Bytes from LIDAR-Lite Address and store in array
delay(1); // Wait 1 ms to prevent overpolling
}
int distance = (distanceArray[0] << 8) + distanceArray[1]; // Shift high byte [0] 8 to the left and add low byte [1] to create 16-bit int
// Print Distance
Serial.println(distance);
}