From cbf3cee0961fbe8c17fb0aa9468f25564f286c08 Mon Sep 17 00:00:00 2001
From: CarlOlsson <carlolsson.co@gmail.com>
Date: Thu, 5 Apr 2018 14:46:45 +0200
Subject: [PATCH] ll40ls: increase the number of samples used to find a
correlation peak for LitarLite
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
---
.../distance_sensor/ll40ls/LidarLiteI2C.cpp | 14 +++++++++++---
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h | 3 +++
2 files changed, 14 insertions(+), 3 deletions(-)
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
index 5c829e85ab..c5a9066c18 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
@@ -329,18 +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(1000);
+ 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;
}
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
index e99042897f..f2252ab19a 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
@@ -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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