Open-source software for Robotec LiDAR sensor

The project is the software, used in Robotec LiDAR. It is dedicated to control a sensor and a motor, communicate with a master device using different protocols (RS485, UART, SPI, I2C).

Table of contents

• Device
  • Specifications
  • Schematic
  • Datasheet
• Guide
  • Compilation
  • Installation
• Project Structure
  • Folders description
  • Files description

Device

TODO

Specifications

TODO

Schematic

TODO

Datasheet

TODO

Guide

The guide will help you build and use the project in your Robotec LiDAR device.

Compilation

To build the project and get the SW for the STM32F1XX run the following :

$ make

All the built files will be inside of the build folder.

Installation

To install the SW use the file build/robotec_lidar_firmware.bin and the following tools:

• ST-LINK Utility : link
• stm32flash : link
• dfu-utils : link

Project Structure

.
├── include
│   ├── commands.h
│   ├── lidar.h
│   ├── main.h
│   ├── motor.h
│   ├── responses.h
│   ├── stm32f1xx_hal_conf.h
│   ├── stm32f1xx_it.h
│   └── tfmini.h
├── lib
├── src
│   ├── lidar.c
│   ├── main.c
│   ├── motor.c
│   ├── startup_stm32f103xb.s
│   ├── stm32f1xx_hal_msp.c
│   ├── stm32f1xx_it.c
│   ├── system_stm32f1xx.c
│   └── tfmini.c
├── tools
│   └── STM32F103C8Tx_FLASH.ld
├── Makefile
└── README.md

Folders

• include : project headers
• lib : STM32F1XX headers
• src : source code

Files

• commands.h : set of Robotec LiDAR predefined commands
• responses.h : set of Robotec LiDAR predefined responses
• lidar.* : device-specific functions
• main.* : the main block of the SW
• motor.* : contol the motor using PWM
• tfmini.* : communication with the ToF sensor
• stm32f1xx* : STM32-specific code
• STM32F103C8Tx_FLASH.ld : linker script for the STM32F1XX