lidar.ino

#define POINT_PER_PACK 12
#define HEADER 0x54
#define SERIAL_BUFFER_SIZE 256  // Ajuste o tamanho conforme necessário

typedef struct __attribute__((packed)) {
  uint16_t distance;
  uint8_t intensity;
} LidarPointStructDef;

typedef struct __attribute__((packed)) {
  int8_t header;
  int8_t len;
  int16_t speed;
  int16_t start_angle;
  LidarPointStructDef point[POINT_PER_PACK];
  int16_t end_angle;
  int16_t timestamp;
  int8_t crc8;
} LiDARFrameTypeDef;

void setup() {
  Serial.begin(9600);   // Inicialize a porta serial USB para monitoramento
  Serial1.begin(230400, SERIAL_8N1);
  Serial.println(SERIAL_BUFFER_SIZE);
}

void loop() {
  if (Serial1.available() >= sizeof(LiDARFrameTypeDef)) {
    LiDARFrameTypeDef lidarFrame;
    Serial1.readBytes((uint8_t *)&lidarFrame, sizeof(LiDARFrameTypeDef));

    // Verificar o cabeçalho
    if (lidarFrame.header == HEADER) {
      // Verificar o CRC
      uint8_t calculatedCRC = CalCRC8((uint8_t *)&lidarFrame, sizeof(LiDARFrameTypeDef) - 1);
      if (calculatedCRC == lidarFrame.crc8) {
        // Os dados são válidos, processe o frame conforme necessário

        // Exemplo: Imprimir a distância do primeiro ponto no frame
        char result[50]; // Buffer para armazenar a string resultante
        sprintf(result, "Ângulo: %d graus, Distância: %d centímetros", lidarFrame.start_angle, lidarFrame.point[0].distance);
        
        // Enviar a string resultante pela porta serial USB
        Serial.println(result);
        

      } else {
        //Serial.println("Falha na Verificação CRC!");
      }
    } else {
      Serial.println("Cabeçalho Inválido!");
    }
  }
  // Adicione um atraso ou outro processamento conforme necessário
}

// Função de cálculo do CRC
uint8_t CalCRC8(uint8_t *p, uint8_t len) {
  static const uint8_t CrcTable[256]={
  0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34,0xe3,
  0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0xe4, 0x33,
  0x7e, 0xd0, 0x9d, 0x4a, 0x07, 0x5b, 0x16, 0xc1, 0x8c, 0x22, 0x6f, 0xb8,
  0xf5, 0x1f, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xb1, 0xed, 0xa0, 0x77,
  0x3a, 0x94, 0xd9, 0x0e, 0x43, 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55,
  0x18, 0x44, 0x09, 0xde, 0x93, 0x3d, 0x70, 0xa7, 0xea, 0x3e, 0x73, 0xa4,
  0xe9, 0x47, 0x0a, 0xdd, 0x90, 0xcc, 0x81, 0x56, 0x1b, 0xb5, 0xf8, 0x2f,
  0x62, 0x97, 0xda, 0x0d, 0x40, 0xee, 0xa3, 0x74, 0x39, 0x65, 0x28, 0xff,
  0xb2, 0x1c, 0x51, 0x86, 0xcb, 0x21, 0x6c, 0xbb, 0xf6, 0x58, 0x15, 0xc2,
  0x8f, 0xd3, 0x9e, 0x49, 0x04, 0xaa, 0xe7, 0x30, 0x7d, 0x88, 0xc5, 0x12,
  0x5f, 0xf1, 0xbc, 0x6b, 0x26, 0x7a, 0x37, 0xe0, 0xad, 0x03, 0x4e, 0x99,
  0xd4, 0x7c, 0x31, 0xe6, 0xab, 0x05, 0x48, 0x9f, 0xd2, 0x8e, 0xc3, 0x14,
  0x59, 0xf7, 0xba, 0x6d, 0x20, 0xd5, 0x98, 0x4f, 0x02, 0xac, 0xe1, 0x36,
  0x7b, 0x27, 0x6a, 0xbd, 0xf0, 0x5e, 0x13, 0xc4, 0x89, 0x63, 0x2e, 0xf9,
  0xb4, 0x1a, 0x57, 0x80, 0xcd, 0x91, 0xdc, 0x0b, 0x46, 0xe8, 0xa5, 0x72,
  0x3f, 0xca, 0x87, 0x50, 0x1d, 0xb3, 0xfe, 0x29, 0x64, 0x38, 0x75, 0xa2,
  0xef, 0x41, 0x0c, 0xdb, 0x96, 0x42, 0x0f, 0xd8, 0x95, 0x3b, 0x76, 0xa1,
  0xec, 0xb0, 0xfd, 0x2a, 0x67, 0xc9, 0x84, 0x53, 0x1e, 0xeb, 0xa6, 0x71,
  0x3c, 0x92, 0xdf, 0x08, 0x45, 0x19, 0x54, 0x83, 0xce, 0x60, 0x2d, 0xfa,
  0xb7, 0x5d, 0x10, 0xc7, 0x8a, 0x24, 0x69, 0xbe, 0xf3, 0xaf, 0xe2, 0x35,
  0x78, 0xd6, 0x9b, 0x4c, 0x01, 0xf4, 0xb9, 0x6e, 0x23, 0x8d, 0xc0, 0x17,
  0x5a, 0x06, 0x4b, 0x9c, 0xd1, 0x7f, 0x32, 0xe5, 0xa8
  };

  uint8_t crc = 0;
  for (uint16_t i = 0; i < len; i++) {
    crc = CrcTable[(crc ^ *p++) & 0xff];
  }
  return crc;
}