ESP32-S3, ESP32-C3 examples

examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino

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+// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+//
+// 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 ESP32C3
+#endif
+
+#include <LDS_LDROBOT_LD14P.h>
+
+// ESP32-C3
+HardwareSerial LidarSerial(1);
+LDS_LDROBOT_LD14P lidar;
+
+void setup() {
+  Serial.begin(115200);
+
+  Serial.print("LiDAR model ");
+  Serial.println(lidar.getModelName());
+
+  Serial.print("LiDAR RX buffer size "); // default 128 hw + 256 sw
+  Serial.print(LidarSerial.setRxBufferSize(1024)); // must be before .begin()
+
+  uint32_t baud_rate = lidar.getSerialBaudRate();
+  Serial.print(", baud rate ");
+  Serial.println(baud_rate);
+
+  LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
+
+  //while (LidarSerial.read() >= 0);
+
+  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.init();
+
+  LDS::result_t result = lidar.start();
+  Serial.print("LiDAR start() result: ");
+  Serial.println(lidar.resultCodeToString(result));
+
+  if (result < 0)
+    Serial.println("Is the LiDAR connected to ESP32?");
+}
+
+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) {
+  static int i=0;
+
+  if ((i++ % 20 == 0) || scan_completed) {
+    Serial.print(i);
+    Serial.print(' ');
+    Serial.print(distance_mm);
+    Serial.print(' ');
+    Serial.print(angle_deg);
+    if (scan_completed)
+      Serial.println('*');
+    else
+      Serial.println();
+  }
+}
+
+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_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
+  // This LiDAR has only TX, RX pins
+//}
+
+void lidar_packet_callback(uint8_t * packet, uint16_t length, bool scan_completed) {
+  return;
+}
+
+void loop() {
+  lidar.loop();
+}

examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino

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+// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+//
+// 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 ESP32S3
+#endif
+
+#include <LDS_LDROBOT_LD14P.h>
+
+// ESP32-S3
+HardwareSerial LidarSerial(1);
+LDS_LDROBOT_LD14P lidar;
+
+void setup() {
+  Serial.begin(115200);
+
+  Serial.print("LiDAR model ");
+  Serial.println(lidar.getModelName());
+
+  Serial.print("LiDAR RX buffer size "); // default 128 hw + 256 sw
+  Serial.print(LidarSerial.setRxBufferSize(1024)); // must be before .begin()
+
+  uint32_t baud_rate = lidar.getSerialBaudRate();
+  Serial.print(", baud rate ");
+  Serial.println(baud_rate);
+
+  LidarSerial.begin(baud_rate, SERIAL_8N1, 16, 15); // GPIO16 as RX1, GPIO15 as TX1  
+
+  //while (LidarSerial.read() >= 0);
+
+  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.init();
+
+  LDS::result_t result = lidar.start();
+  Serial.print("LiDAR start() result: ");
+  Serial.println(lidar.resultCodeToString(result));
+
+  if (result < 0)
+    Serial.println("Is the LiDAR connected to ESP32?");
+}
+
+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) {
+  static int i=0;
+
+  if ((i++ % 20 == 0) || scan_completed) {
+    Serial.print(i);
+    Serial.print(' ');
+    Serial.print(distance_mm);
+    Serial.print(' ');
+    Serial.print(angle_deg);
+    if (scan_completed)
+      Serial.println('*');
+    else
+      Serial.println();
+  }
+}
+
+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_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
+  // This LiDAR has only TX, RX pins
+//}
+
+void lidar_packet_callback(uint8_t * packet, uint16_t length, bool scan_completed) {
+  return;
+}
+
+void loop() {
+  lidar.loop();
+}