LIDAR Lite V3 HP with ESP32 #24
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Speedy2k, thanks for providing the details on what you did to modify our Arduino library code for compatibility to the ESP32 wire library. Garmin provided the LIDAR-Lite Arduino Library as an example code base that can be ported to programming environments other than Arduino UNO. We appreciate it when people share examples of what it took to port our Arduino UNO example code to support a different programming environment! I hope that your example will be useful to others who wish to port Garmin's Arduino UNO code for use on another platform. |
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Justbto let you t’know that the modification is for arduino and should also be compatible with the Uno!
Envoyé de mon iPhone
Le 19 nov. 2020 à 13:31, BradWiseman <[email protected]> a écrit :
Speedy2k, thanks for providing the details on what you did to modify our Arduino library code for compatibility to the ESP32 wire library. Garmin provided the LIDAR-Lite Arduino Library as an example code base that can be ported to programming environments other than Arduino UNO. We appreciate it when people share examples of what it took to port our Arduino UNO example code to support a different programming environment! I hope that your example will be useful to others who wish to port Garmin's Arduino UNO code for use on another platform.
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According to the arduino reference there is no 5 parameter version of the requestFrom version in the Wire library: https://www.arduino.cc/en/Reference/WireRequestFrom Could you please fix the library upstream because the same issue is not making the library work for the Arduino BLE 3.3v too |
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gtesault, you'll notice new code added to the LIDARLite_v3HP.cpp source code that introduces a new compiler switch, LEGACY_I2C. If this variable is defined, the compiler will choose the standard 3 parameter version of the requestFrom() function. Otherwise, it defaults to the 5 parameter version. Here are the notes that were submitted with this improvement to the LIDAR-Lite v3HP source code: Arduino Due needs to the overloaded version of requestFrom() to The new code resides here: 9c68d90 |
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BradWiseman, I haven't been able to get this library to compile for the LIDAR-Lite V3 HP v3HP/v3HP_I2C sketch. I'm using an Arduino MKR WIFI 1010 board. The verbose compiler messages indicate that the problem is a call to the requestFrom function in the TwoWire class with 5 parameters instead of 3. Per your instructions, I created a platform.local.txt file with the single line build.extra_flags=-DLEGACY_I2C in the same folder as platform.txt on my Mac but the code will still not compile. Here are the error messages from the compiler. Any advice? Arduino: 1.8.13 (Mac OS X), Board: "Arduino MKR WiFi 1010" /Applications/Arduino.app/Contents/Java/arduino-builder -dump-prefs -logger=machine -hardware /Applications/Arduino.app/Contents/Java/hardware -hardware /Users/ameranda/Library/Arduino15/packages -tools /Applications/Arduino.app/Contents/Java/tools-builder -tools /Applications/Arduino.app/Contents/Java/hardware/tools/avr -tools /Users/ameranda/Library/Arduino15/packages -built-in-libraries /Applications/Arduino.app/Contents/Java/libraries -libraries /Users/ameranda/Documents/Arduino/libraries -fqbn=arduino:samd:mkrwifi1010 -vid-pid=2341_8054 -ide-version=10813 -build-path /var/folders/wq/32dsft1s2zngpbfvg_lqvjn40000gn/T/arduino_build_872686 -warnings=none -build-cache /var/folders/wq/32dsft1s2zngpbfvg_lqvjn40000gn/T/arduino_cache_540087 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.bossac.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/bossac/1.7.0-arduino3 -prefs=runtime.tools.bossac-1.7.0-arduino3.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/bossac/1.7.0-arduino3 -prefs=runtime.tools.CMSIS-Atmel.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/CMSIS-Atmel/1.2.0 -prefs=runtime.tools.CMSIS-Atmel-1.2.0.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/CMSIS-Atmel/1.2.0 -prefs=runtime.tools.CMSIS.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/CMSIS/4.5.0 -prefs=runtime.tools.CMSIS-4.5.0.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/CMSIS/4.5.0 -prefs=runtime.tools.arm-none-eabi-gcc.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/arm-none-eabi-gcc/7-2017q4 -prefs=runtime.tools.arm-none-eabi-gcc-7-2017q4.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/arm-none-eabi-gcc/7-2017q4 -prefs=runtime.tools.openocd.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/openocd/0.10.0-arduino7 -prefs=runtime.tools.openocd-0.10.0-arduino7.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/openocd/0.10.0-arduino7 -prefs=runtime.tools.arduinoOTA.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/arduinoOTA/1.2.1 -prefs=runtime.tools.arduinoOTA-1.2.1.path=/Users/ameranda/Library/Arduino15/packages/arduino/tools/arduinoOTA/1.2.1 -verbose /Users/ameranda/Documents/Arduino/libraries/LIDARLite_Arduino_Library-3.0.5/examples/v3HP/v3HP_I2C/v3HP_I2C.ino |
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@maulepilot: Please try replacing this line: build.extra_flags=-DLEGACY_I2C with this line: compiler.cpp.extra_flags=-DLEGACY_I2C |
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The V3HP_I2C and V3HP_MONITOR example sketches will still not compile after making this change. I attached the verbose compiler output for the V3HP_I2C sketch. To make sure that I am following your instructions correctly, here's what I did. I created the file /Users/ameranda/Library/Arduino15/packages/arduino/hardware/samd/1.8.9/platform.local.txt which contains the single line: compiler.cpp.extra_flags=-DLEGACY_I2C I know that the Wire.h library works correctly with the Arduino MKR WIFI 1010 board because I have an AMG8833 thermal camera example sketch thermal_cam that uses the I2C interface with these libraries: #include <Adafruit_GFX.h> // Core graphics library It compiles and runs fine. To make sure that I was using the latest LIDARLite_v3HP library, I deleted the old library folder and re-installed the Garmin LIDARLite library version 3.0.5 from the Arduino IDE. The LIDARLite_v3HP library compiles and runs fine with the example sketch V3HP_PWM. I would like to use the LIDARLite_v3HP library for the I2C interface with the v3HP if possible since it gives more control than the PWM interface. I realize that the LIDARLite_v3HP library was designed to work with the Arduino Uno and that the MKR WIFI 1010 board may be incompatible with it, but I was hoping that this was not the case. Thanks for any help that you can provide. |
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I realized that I was still using the 3.0.5 LIDARLite_v3.cpp file that the Arduino IDE Library Manager downloads when you get the latest version. So I downloaded the 3.0.6 LIDARLite_v3.cpp file from github and renamed the old file. I also deleted files from the previous compile/build from /var/ since the compiler was trying to use them rather than re-compile. It still won't compile but now it seems to be trying to use the LIDARLite_v4LED.cpp file which probably wasn't changed. I don't know why it's trying to use that file since the v3HP_I2C sketch only has #include LIDARLite_v3HP.h and no mention of the v4. I attached the new compiler error output here. |
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@maulepilot, I think you may have updated the library before the Arduino Library Manager had updated its access to all of the files that are involved in version 3.06. Please try again and make sure that you get the LIDAR-Lite v4LED files too. |
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It worked! Compiled and ran properly with the Arduino MKR WIFI 1010 board. I discovered and corrected a wiring problem that was giving me a bunch of nacks. Both the v3HP_I2C and v3HP_Monitor example sketches run great. Thanks.
… On Dec 8, 2020, at 5:36 PM, BradWiseman ***@***.***> wrote:
@maulepilot <https://github.com/maulepilot>, I think you may have updated the library before the Arduino Library Manager had updated its access to all of the files that are involved in version 3.06. Please try again and make sure that you get the LIDAR-Lite v4LED files too.
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BradWiseman, this compile problem for your example sketch v3HP_I2C returned after I updated my Arduino MKR WiFi 1010 board from 1.8.9 to 1.8.10. The updater deletes the existing ~/Library/Arduino15/packages/arduino/hardware/samd/1.8.9/libraries folder and replaces it with ~/Library/Arduino15/packages/arduino/hardware/samd/1.8.10/libraries. I re-created the platform.local.txt file in that directory with the single line compiler directive compiler.cpp.extra_flags=-DLEGACY_I2C. That didn't fix the problem. I deleted your LIDARLite_Arduino_Library-master directory and re-installed version 3.0.6 with the Arduino IDE library manager. That didn't fix the problem either. I'm guessing that something else happened when I updated the board to 1.8.10 but I don't know what that might be. Any advice about what to try next? Attached is the verbose compiler output. |
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I modified the LIDARLite_v3HP.cpp and LIDARLite_v4LED.cpp library files to include the line #define LEGACY_I2C under the #include directives and the library compiles and executes properly now. The method that you commented in these files of creating a platform.local.txt file with the compiler directive compiler.cpp.extra_flags=-DLEGACY_I2C doesn't work. |
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@maulepilot, glad to hear that you were able to modify Garmin's example code to fit your needs. That's the purpose of their LIDARLite_Arduino_Library - to serve as examples of how to interface with Garmin's LIDAR-Lite series sensors. I think that the more flexible way to fix the issue would be to create a text file named "platform.local.txt" that contains the following text: compiler.cpp.extra_flags=-DLEGACY_I2C That file should be stored to this folder on your machine: /Users/ameranda/Library/Arduino15/packages/arduino/hardware/samd/1.8.10 Please note that different users will have a different path, depending on the folder that the Arduino IDE uses for compiling the project for your board. For instance, I stored the platform.local.txt file to my C:\Users\wiseman\AppData\Local\Arduino15\packages\arduino\hardware\samd\1.8.10 folder. (I'm on a Windows machine.) The way you can identify the correct folder into which the platform.local.txt file should be placed is to:
It's the platform.txt file that identifies which compiler and build flags are available for override. In the case of the samd boards, we used the compiler.cpp.extra_flags flag to override with the -D directive that defines LEGACY_I2C. According to the comments in the platform.txt file, that flag can be overridden in the platform.local.txt file, so that's the name of the file that we use to override the compiler.cpp.extra_flags flag and to ensure that LEGACY_I2C is defined. I hope this helps. Again, the most important thing to remember is that the LIDARLite_Arduino_Library is intended to provide examples of how to interface with Garmin's LIDAR-Lite series of sensors. It's not intended to be a production-ready source of code for all variants of Arduino boards. It's kind of a one size fits most sort of thing. |
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@BradWiseman , @maulepilot , the solution presented also solved compilation issues with Arduino Nano 33 BLE Sense board, Garmins LIDARLite v3HP, I2C example, using IDE 1.8.13 on Win10. Similar error output as observed by maulepilot. |
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@BradWiseman I am using esp32 wroom s3 module and DA module. I am aware that the wire library in esp32 is not compatible with the lidar v3 sensor. I want to use this code below provided by garmin. How can i fix this code for esp32 module
#include <Wire.h> // Globals void setup() lidarLite.begin(0, true); // Set configuration to default and I2C to 400 kHz void loop() // At the beginning of every 100 readings, // Increment reading counter // Display distance delay(10); |
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@BradWiseman @maulepilot : I am getting this error for esp 32 and could not find a way to solve : :c:\Users\Admin\Documents\Arduino\libraries\LIDAR-Lite\src\LIDARLite_v3HP.cpp: In member function 'void LIDARLite_v3HP::read(uint8_t, uint8_t*, uint8_t, uint8_t)': exit status 1 Compilation error: exit status 1 |
Currently it seems that the ESP32 wire library doesn support the 5 params requestFrom() command. So as it is now, your library isn't compatible with ESP32. I have modified your read() function to be compatible on the ESP32, i am unshure it is the best way to do it, but it is working on my setup.!
`void LIDARLite_v3HP::read(uint8_t regAddr, uint8_t * dataBytes,
uint8_t numBytes, uint8_t lidarliteAddress)
{
// This single function performs the following actions -
// 1) I2C START
// 2) I2C write to set the address
// 3) I2C REPEATED START
// 4) I2C read to fetch the required data
// 5) I2C STOP
Wire.beginTransmission(lidarliteAddress);
Wire.write(regAddr);
if(!Wire.endTransmission()){
Wire.requestFrom
(
lidarliteAddress, // Slave address
numBytes, // number of consecutive bytes to read
//regAddr, // address of first register to read
//1, // number of bytes in regAddr
true // true = set STOP condition following I2C read
);
} /* LIDARLite_v3HP::read */`
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