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ll40ls: Increase the number of samples used for every measurement #9247

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merged 2 commits into from
Apr 19, 2018
Merged

ll40ls: Increase the number of samples used for every measurement #9247

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4393ce2
ll40ls: increase the number of samples used to find a correlation pea…
CarlOlsson Apr 5, 2018
3080c3b
ll40ls: increase the sleep time after resetting registers
CarlOlsson Apr 5, 2018
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13 changes: 11 additions & 2 deletions src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -329,17 +329,26 @@ int LidarLiteI2C::measure()
}

/*
reset the sensor to power on defaults
reset the sensor to power on defaults plus additional configurations
*/
int LidarLiteI2C::reset_sensor()
{
int ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET);
int ret;
ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET);

if (ret != OK) {
return ret;
}

// wait for sensor reset to complete
usleep(50000);
ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX);

if (ret != OK) {
return ret;
}

// wait for register write to complete
usleep(1000);

return OK;
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3 changes: 3 additions & 0 deletions src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
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Expand Up @@ -68,6 +68,9 @@
#define LL40LS_SW_VERSION 0x4f
#define LL40LS_SIGNAL_STRENGTH_REG 0x5b

#define LL40LS_SIG_COUNT_VAL_REG 0x02 /* Maximum acquisition count register */
#define LL40LS_SIG_COUNT_VAL_MAX 0xFF /* Maximum acquisition count max value */

class LidarLiteI2C : public LidarLite, public device::I2C
{
public:
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